Rollover type pedal verification method, device, equipment and medium

Abstract

The invention discloses a rollover type pedal verification method, device and equipment and a medium, and the method comprises the steps: determining a fixed point coordinate, a first winding point coordinate and a first end point coordinate under the condition that a rollover type pedal is in a natural storage state; under the condition that a connecting line between one fixed point location and the winding connecting point location deviates by a preset angle, a second end point coordinate corresponding to a target point location on the pedal body after deviation is determined; the actual distance between the second end point coordinate and the plane corresponding to the bottom of the target vehicle door in the door opening and closing process is determined; and according to the actual distance and a preset distance threshold value, whether the rollover type pedal passes the verification under the condition that the rollover type pedal deviates from the preset angle is determined. According to the invention, the rollover type pedal can be verified, and the vehicle passing the verification of the rollover type pedal can be normally delivered, so that the probability that the rollover type pedal is excessively closed to influence the opening or closing of the vehicle door can be reduced under the condition that the rollover type pedal is collided, and the driving experience of a user is ensured to be better.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle pedal calibration, and in particular to a rollover type pedal calibration method, device, equipment and medium. Background Art

[0002] Cars are a common means of transportation for people to travel. In order to facilitate people to get on and off the car, pedals are usually arranged on cars with high bodies. The pedals include fixed pedals and electric pedals. Among them, according to the different locations of the electric pedals, the electric pedals can be divided into bottom pedals and side-flip pedals. Bottom pedals refer to pedals stored at the bottom of the car chassis, and side-flip pedals refer to pedals stored at the side of the car chassis and below the door.

[0003] Regarding the side-flip pedal, if the side-flip pedal is too close to the door in the vertical direction, when the side-flip pedal collides with the vehicle during driving, it may cause the side-flip pedal to close excessively, thereby affecting the opening or closing of the door and affecting the user's driving experience. Therefore, how to detect whether the side-flip pedal has passed the verification is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application solve the technical problem in the prior art that it is impossible to determine whether the distance between the rollover pedal and the vehicle door in the vertical direction is too close, that is, it is impossible to detect whether the rollover pedal has passed the verification, by providing a rollover pedal verification method, device, equipment and medium. This achieves the technical effect of detecting whether the distance between the rollover pedal and the vehicle door in the vertical direction is too close and determining whether the rollover pedal has passed the verification.

[0005] In a first aspect, the present application provides a method for verifying a rollover pedal, wherein the rollover pedal comprises a connecting member fixed to a vehicle chassis, and a pedal body rotatably connected to the connecting member, and the method comprises:

[0006] When the side-flipping pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member and the pedal body are determined, and the first endpoint coordinates of the target point on the pedal body that is closest to the target door of the vehicle are determined; wherein the two fixed points, the orbiting connection point and the target point are all located on the same cross-section of the side-flipping pedal;

[0007] In the case where the line between one of the fixed points and the orbiting connection point is offset by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body after the offset are determined according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates;

[0008] Determine the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process;

[0009] According to the actual distance and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

[0010] Further, the determining, based on the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates, of the second endpoint coordinates corresponding to the target point on the pedal body after the offset comprises:

[0011] Determine, according to the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs;

[0012] The second endpoint coordinate corresponding to the target point on the pedal body after the offset is determined according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates and the first endpoint coordinates.

[0013] Further, the determining, based on the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs, includes:

[0014] Determine the coordinates of the second orbiting point corresponding to the orbiting connection point after the offset according to the coordinates of the two fixed points, the coordinates of the first orbiting point, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0015] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the third connecting line is a connecting line between another of the fixed point coordinates and the first orbiting point coordinates.

[0016] Further, the determining, based on one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates and the first endpoint coordinates, the second endpoint coordinates corresponding to the target point on the pedal body after the offset comprises:

[0017] Determine the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates, the first endpoint coordinates, the length of the second connecting line, the length of the fourth connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0018] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

[0019] Further, the determining of the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process includes:

[0020] Determine the bottom plane corresponding to the bottom of the target door during the door opening and closing process according to the point coordinates corresponding to at least two points of the bottom of the target door during the door opening and closing process;

[0021] The actual distance between the second endpoint coordinate and the bottom plane is determined.

[0022] Further, the determining, based on the actual distance and the preset distance threshold, whether the rollover pedal passes the verification when it deviates from the preset angle comprises:

[0023] When the actual distance is greater than the preset distance threshold, determining that the rollover pedal passes the verification when offset by the preset angle;

[0024] When the actual distance is less than or equal to the preset distance threshold, it is determined that the rollover pedal fails verification when deviated from the preset angle.

[0025] Further, the target door is each door of the vehicle in turn, and determining whether the rollover pedal passes the verification when offset by the preset angle according to the actual distance and the preset distance threshold includes:

[0026] Determine the actual distance corresponding to each door of the vehicle;

[0027] According to the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

[0028] In a second aspect, the present application provides a rollover pedal verification device, wherein the rollover pedal comprises a connecting member fixed to a vehicle chassis, and a pedal body rotatably connected to the connecting member, and the device comprises:

[0029] A coordinate determination module in a natural state, for determining the fixed point coordinates corresponding to the two fixed points on the connecting member, respectively, when the side-flipping pedal is in a natural storage state, determining the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member and the pedal body, and determining the first endpoint coordinates of the target point on the pedal body that is closest to the target door of the vehicle; wherein the two fixed points, the orbiting connection point and the target point are all located on the same cross-section of the side-flipping pedal;

[0030] a post-offset coordinate determination module, for determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates, when a line between the fixed point and the orbiting connection point is offset by a preset angle;

[0031] A distance determination module, used to determine the actual distance between the coordinates of the second endpoint and the plane corresponding to the bottom of the target door during the door opening and closing process;

[0032] The verification judgment module is used to determine whether the rollover pedal passes the verification when it deviates from the preset angle according to the actual distance and the preset distance threshold.

[0033] Furthermore, the post-shift coordinate determination module is used to:

[0034] Determine, according to the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs;

[0035] The second endpoint coordinate corresponding to the target point on the pedal body after the offset is determined according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates and the first endpoint coordinates.

[0036] Furthermore, the post-shift coordinate determination module is used to:

[0037] Determine the coordinates of the second orbiting point corresponding to the orbiting connection point after the offset according to the coordinates of the two fixed points, the coordinates of the first orbiting point, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0038] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the third connecting line is a connecting line between another of the fixed point coordinates and the first orbiting point coordinates.

[0039] Furthermore, the post-shift coordinate determination module is used to:

[0040] Determine the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates, the first endpoint coordinates, the length of the second connecting line, the length of the fourth connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0041] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

[0042] Furthermore, the distance determination module is used to:

[0043] Determine the bottom plane corresponding to the bottom of the target door during the door opening and closing process according to the point coordinates corresponding to at least two points of the bottom of the target door during the door opening and closing process;

[0044] The actual distance between the second endpoint coordinate and the bottom plane is determined.

[0045] Furthermore, the verification and judgment module is used to:

[0046] When the actual distance is greater than the preset distance threshold, determining that the rollover pedal passes the verification when offset by the preset angle;

[0047] When the actual distance is less than or equal to the preset distance threshold, it is determined that the rollover pedal fails verification when deviated from the preset angle.

[0048] Furthermore, the target door is each door of the vehicle in turn, and the verification and judgment module is used to:

[0049] Determine the actual distance corresponding to each door of the vehicle;

[0050] According to the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

[0051] In a third aspect, the present application provides an electronic device, including:

[0052] processor;

[0053] a memory for storing instructions executable by the processor;

[0054] Wherein, the processor is configured to execute to implement a rollover pedal verification method as provided in the first aspect.

[0055] In a fourth aspect, the present application provides a non-temporary computer-readable storage medium, which, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to implement a rollover pedal verification method as provided in the first aspect.

[0056] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0057] In an embodiment of the present application, when the flip-over pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member and the pedal body are determined, and the first endpoint coordinates of the target point on the pedal body that is closest to the target door of the vehicle are determined; when the line between one of the fixed points and the orbiting connection point deviates by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body after the offset are determined based on the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates; the actual distance between the second endpoint coordinates and the plane corresponding to the bottom of the target door during the door opening and closing process is determined; and based on the actual distance and a preset distance threshold, it is determined whether the flip-over pedal passes the verification when it deviates by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the roll-over pedal and the vehicle door in the vertical direction is too close, so as to verify the roll-over pedal. Vehicles with roll-over pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the roll-over pedal, the probability of the roll-over pedal being over-closed and affecting the opening or closing of the vehicle door can be reduced, thereby ensuring a better driving experience for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 A simplified structural diagram of a side-flipping pedal provided in an embodiment of the present application;

[0060] Figure 2 A schematic diagram of a flow chart of a rollover pedal calibration method provided in an embodiment of the present application;

[0061] Figure 3Based on the embodiments of the present application Figure 1 The obtained schematic diagram of the line structure of the rollover pedal before and after the collision;

[0062] Figure 4 A schematic diagram of the structure of a rollover type pedal inspection device provided in an embodiment of the present application;

[0063] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0064] Reference numerals:

[0065] 1-connector, 2-pedal body. DETAILED DESCRIPTION

[0066] The embodiment of the present application provides a roll-over pedal verification method, thereby solving the technical problem in the prior art that it is impossible to determine whether the vertical distance between the roll-over pedal and the vehicle door is too close, that is, it is impossible to determine whether the roll-over pedal has passed the verification.

[0067] The technical solution of the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows:

[0068] In the embodiment of the present application, when the flip-over pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member 1 are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member 1 and the pedal body 2 are determined, and the first endpoint coordinates of the target point on the pedal body 2 that is closest to the target door of the vehicle are determined; when the line between one of the fixed points and the orbiting connection point deviates by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset are determined based on the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates; the actual distance between the second endpoint coordinates and the plane corresponding to the bottom of the target door during the door opening and closing process is determined; and based on the actual distance and the preset distance threshold, it is determined whether the flip-over pedal passes the verification when it deviates by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the roll-over pedal and the vehicle door in the vertical direction is too close, so as to verify the roll-over pedal. Vehicles with roll-over pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the roll-over pedal, the probability of the roll-over pedal being over-closed and affecting the opening or closing of the vehicle door can be reduced, thereby ensuring a better driving experience for users.

[0069] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0070] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0071] Before explaining the rollover pedal calibration method provided in the embodiment of the present application, the structure of the rollover pedal is first described as follows.

[0072] like Figure 1 As shown, it is a simplified structural diagram obtained by sectioning a certain rollover pedal. The rollover pedal includes a connector 1 and a pedal body 2, wherein the connector 1 is fixed on the vehicle chassis, and the pedal body 2 is connected to the connector 1 by orbiting. Among them, point A and point D refer to two fixed points on the connector 1, point B is the orbiting connection point, and point C is the point associated with point D and point B. Point E is the target point on the pedal body 2 that is closest to the target door of the vehicle when the rollover pedal is in the stored state (that is, not unfolded).

[0073] Points A and D are fixed on the vehicle and cannot be moved, but the two points can rotate, which means that the distance between AD is constant. The parts between points AB can revolve around point A. No matter how point B moves, the distance between AB remains constant. The parts between points DB can revolve around point D. When the parts between points AB revolve around point A, the parts between BE can be realized. Figure 1 The pedal body 2 can be rotated in the direction of the double-headed arrow. Figure 1 Rotate in the direction of the double-headed arrow.

[0074] When the pedal body 2 moves along the lower right arrow direction to the preset extension position, it means that the side-flip pedal is in the extended state, and the user can step on the side-flip pedal to get on and off the vehicle. When the pedal body 2 moves along the upper left arrow direction to the preset storage position, it means that the side-flip pedal is in the storage state, and the user cannot step on the side-flip pedal. Figure 1 Status shown.

[0075] When the side-flip pedal is in the stowed state, that is, Figure 1 In the state shown, if the connector 1 and / or the pedal body 2 encounters a collision, etc., causing the position of point E to rise, it may cause the position of point E to exceed the lowest position of the door, making the door unable to open and close, affecting the user experience. The side-flip pedal verification method provided in the embodiment of the present application is to determine whether the side-flip pedal will affect the opening and closing of the door after a collision, so as to verify the side-flip pedal.

[0076] The present invention provides a method for verifying a rollover pedal. Figure 1 The side-flipping pedal shown in the figure is calibrated. The side-flipping pedal comprises a connecting member 1 fixed on the vehicle chassis, and a pedal body 2 rotatably connected to the connecting member 1. The method comprises the following steps: Figure 2 Steps S21 to S24 are shown.

[0077] Step S21, when the side-flipping pedal is in a naturally stored state, determining the fixed point coordinates corresponding to the two fixed points on the connecting member 1, determining the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member 1 and the pedal body 2, and determining the first endpoint coordinate of the target point on the pedal body 2 that is closest to the target door of the vehicle; wherein the two fixed points, the orbiting connection point and the target point are all on the same cross-section of the side-flipping pedal;

[0078] Step S22, when the line between one of the fixed point and the orbiting connection point is offset by a preset angle, determining the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates;

[0079] Step S23, determining the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process;

[0080] Step S24, determining whether the rollover pedal passes verification when offset by the preset angle according to the actual distance and the preset distance threshold.

[0081] Regarding step S21, when the flip-over pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member 1 are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member 1 and the pedal body 2 are determined, and the first endpoint coordinates of the target point on the pedal body 2 that is closest to the target door of the vehicle are determined; wherein the two fixed points, the orbiting connection point and the target point are all on the same cross-section of the flip-over pedal.

[0082] The natural storage state of the side-flipping pedal refers to the storage state of the side-flipping pedal when it is not hit by external force. Figure 1 Status shown.

[0083] When the side-flip pedal is in a naturally stored state, it is necessary to determine the coordinates of several points in the same coordinate system, including Figure 1The coordinates of points A, B, D, and E are shown in . A and D are two fixed points on the connecting member 1, A is recorded as the first fixed point, and D is recorded as the second fixed point. Point B is the orbiting connection point, and point E is the target point on the pedal body 2 that is closest to the target door of the vehicle.

[0084] The coordinates of points A, B, D, and E are recorded as (A X , A Y , A Z ), (B X , B Y , B Z ), (D X , D Y , D Z ), (E X , E Y , E Z ). Since A, B, D, and E refer to the points when the side-flipping pedal is in a naturally stored state, it means that the coordinates of the points A, B, D, and E can be measured, that is, the coordinates of the points A, B, D, and E are all known. For example, they can be measured based on a simulation model of the side-flipping pedal, or they can be measured based on the actual side-flipping pedal.

[0085] Regarding step S22, when the line between a fixed point and the orbiting connection point is offset by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset are determined based on the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates.

[0086] One of the fixed points in step S22 may refer to the first fixed point A, and the corresponding other fixed point may refer to the second fixed point B. When the line between A and B deviates by a preset angle, it simulates the side-flipping pedal encountering an external force collision, resulting in the pedal body 2 and the connecting member 1 being offset. When the side-flipping pedal is offset, the coordinates of the second endpoint of point E after the offset can be determined based on the coordinates of points A, D, B, and E.

[0087] Specifically, step S22 may include step S221 - step S222.

[0088] Step S221, determining the second orbiting point coordinates corresponding to the orbiting connection point after the offset according to the two fixed point coordinates and the first orbiting point coordinates;

[0089] Step S222, determining the second endpoint coordinate corresponding to the target point on the pedal body 2 after the offset according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates and the first endpoint coordinates.

[0090] Regarding step S221, specifically, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occur are determined based on the coordinates of the two fixed points, the coordinates of the first orbiting point, the length of the first line (AD), the length of the second line (AB), the length of the third line (BD), the angle (BAD) between the first line and the second line, and the preset angle (α).

[0091] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the third connecting line is a connecting line between another of the fixed point coordinates and the first orbiting point coordinates.

[0092] The known point coordinates include: the two fixed point coordinates A and D, the first orbiting point coordinates B, the length AD of the first connecting line, the length AB of the second connecting line, the length BD of the third connecting line, the angle BAD between the first connecting line and the second connecting line, and the preset angle α. The preset angle refers to the corresponding angle between AB before and after the offset, and the preset angle α can be set according to the actual verification requirements. For example, when simulating a larger collision force, the preset angle α can be set larger, and when simulating a smaller collision force, the preset angle α can be set smaller.

[0093] In the embodiment of the present application, the position corresponding to point B after the offset is recorded as B', and the point coordinates of B' are the coordinates of the second endpoint corresponding to the offset of the orbiting connection point, so the preset angle is ∠BAB'.

[0094] Specifically, Figure 3 As shown, Figure 1 Schematic diagram of the lines of each point before and after the preset angle offset occurs. For triangle ABD, the coordinates of the three vertices and the lengths of the three sides are known. For triangle AB'D, AB=AB', the coordinates of the AD vertex, the length of AB', the length of AD, and the angles of ∠DAB and α are known, and combined with the cosine theorem, the relationship shown in the following formula (1)-formula (4) can be obtained, where the coordinates of the point B' are defined as (B X ', B Y ', B Z ').

[0095]

[0096] According to the above formula (1) to formula (4), the length of the BB' segment can be determined.

[0097] Continuing with the distance formula between the coordinates of each point, we can obtain the relationship shown in the following formula (5) to formula (8).

[0098] (B′x-Bx) 2 +(B′y-By) 2 +(B′z-Bz) 2 =BB′ 2 (5)

[0099] (B′x-Ax) 2 +(B′y-Ay) 2 +(B′z-Az) 2 =AB′ 2 (6)

[0100] (B′x-Dx) 2 +(B′y-Dy) 2 +(B′z-Dz) 2 =DB′ 2 (7)

[0101]

[0102] Combining the above formulas (1) to (8), the coordinates of point B' can be obtained as follows:

[0103]

[0104] B′z=(((B′D 2 -BA 2 )-(Dy 2 -Ay 2 )-(Dz 2 -Az 2 ))*(-2*Az+2*Bz)-((BA 2 -BB′ 2 )-(Ay 2 -By 2 )-(Az 2 -Bz 2 ))*(-2*Dz+2*Az)) / ((-2*Az+2*Bz)*(-2*Dy+2*Ay)-(-2*Dz+2*Az)*(-2*Ay+2*By));

[0105] At this point, the coordinates of point B' (B X ', B Y ', B Z ').

[0106] Regarding step S222, specifically, the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset are determined based on the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates, the first endpoint coordinates, the length of the second connecting line (AB), the length of the fourth connecting line (BB'), the angle (BAD) between the first connecting line and the second connecting line, and the preset angle (α).

[0107] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

[0108] Specifically, Figure 3 As shown, Figure 1 Schematic diagram of the lines of each point before and after the preset angle offset occurs. For triangle ABE, the coordinates of the three vertices and the lengths of the three sides are known. For triangle AB'E', AB=AB', BE=B'E'. The coordinates of the vertices A and B', the lengths of the sides AB' and B'E', and the angles of each angle are known. Combined with the distance formula between the coordinates of each point, the relationship shown in the following formula (9)-formula (11) can be obtained, where the point coordinate of E' is defined as (E X ', E Y ', E Z ').

[0109] (B′xE′x) 2 +(B′yE′y) 2 +(B′zE′z) 2 =E′B′ 2 (9)

[0110] (B′x-Ax) 2 +(B′y-Ay) 2 +(B′z-Az) 2 =AB′ 2 (10)

[0111] (E′x-Ax) 2 +(E′y-Ay) 2 +(E′z-Az) 2 =AE′ 2 (11)

[0112] Combining the above formulas (9) to (11), the coordinates of point E' can be obtained.

[0113] Regarding step S23, the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process is determined.

[0114] The bottom plane corresponding to the bottom of the target door during the door opening and closing process can be determined according to the point coordinates corresponding to at least two points of the bottom of the target door during the door opening and closing process, and then the actual distance between the second endpoint coordinate and the bottom plane can be determined using the distance formula between the point and the plane.

[0115] For example, when the target door is closed, the area between the door hinge axis and the end point of the door constitutes the bottom area of ​​the door. During the door opening and closing process, the plane where the area swept by the bottom of the door is located is the bottom plane. As long as the coordinates of at least three points that are not on the same straight line are known, the plane can be determined according to the plane formula. In the embodiment of the present application, A1X+B1Y+C1Z+D=0 is used to represent the bottom plane.

[0116] In the embodiment of the present application, the point coordinates of the door hinge axis are marked as (X6, Y6, Z6), and the point coordinates of the door hinge axis are unchanged regardless of whether the door is open or closed. The point coordinates of the end point of the door when the door is open are marked as (X6, Y6, Z6), and the point coordinates of the end point of the door when the door is closed are marked as (X8, Y8, Z8). Substituting (X6, Y6, Z6), (X6, Y6, Z6), (X8, Y8, Z8) into A1X+B1Y+C1Z+D=0, A1, B1, C1, D can be obtained, and then the expression of the bottom plane is obtained.

[0117] In the foregoing, the point coordinates of E' have been determined. Combined with the expression of the bottom plane, the actual distance between E' and the bottom plane A1X+B1Y+C1Z+D=0 can be determined according to the distance formula between the point and the plane.

[0118] Regarding step S24, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle according to the actual distance and the preset distance threshold.

[0119] When the actual distance is greater than the preset distance threshold, it is determined that the rollover pedal has passed the verification when offset by the preset angle, which means that even if the rollover pedal collides, it will not affect the normal opening and closing of the vehicle door.

[0120] When the actual distance is less than or equal to the preset distance threshold, it is determined that the rollover pedal fails verification when offset by the preset angle, which means that the rollover pedal may affect the normal opening and closing of the vehicle door in the event of a collision.

[0121] Furthermore, a vehicle usually has multiple doors, and each door of the vehicle can be used as the target door in turn to perform steps S21 to S23, that is, to determine the actual distance corresponding to each door of the vehicle. According to the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

[0122] When the actual distances corresponding to each door are greater than the preset distance threshold, it is determined that the rollover pedal has passed the verification when offset by the preset angle, which means that even if the rollover pedal collides, it will not affect the normal opening and closing of the door.

[0123] When the actual distance corresponding to at least one door among the doors is less than or equal to the preset distance threshold, it is determined that the side-flip pedal fails the verification when it is offset from the preset angle, which means that the side-flip pedal may affect the normal opening and closing of the door in the event of a collision.

[0124] In addition, a vehicle usually has multiple doors distributed on both sides of the vehicle, and each side of the vehicle corresponds to a rollover pedal. Therefore, each door on the same side of the vehicle can be used as the target door in turn to perform steps S21 to S23, that is, to determine the actual distances corresponding to each door on the same side of the vehicle. According to the actual distances corresponding to each door on the same side of the vehicle and the preset distance threshold, it is determined whether the rollover pedal on the side of the vehicle passes the verification when it is offset by the preset angle.

[0125] When the actual distances corresponding to the doors on the same side are all greater than the preset distance threshold, it is determined that the rollover pedal on this side has passed the verification when offset from the preset angle, which means that even if the rollover pedal collides, it will not affect the normal opening and closing of the door.

[0126] When the actual distance corresponding to at least one door among the doors on the same side is less than or equal to the preset distance threshold, it is determined that the flip-over pedal on this side fails the verification when it is offset from the preset angle, which means that the flip-over pedal may affect the normal opening and closing of the door in the event of a collision.

[0127] To summarize, in the embodiment of the present application, when the flip-over pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member 1 are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member 1 and the pedal body 2 are determined, and the first endpoint coordinates of the target point on the pedal body 2 that is closest to the target door of the vehicle are determined; when the line between one of the fixed points and the orbiting connection point deviates by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset are determined according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates; the actual distance between the second endpoint coordinates and the plane corresponding to the bottom of the target door during the door opening and closing process is determined; and according to the actual distance and the preset distance threshold, it is determined whether the flip-over pedal passes the verification when it deviates by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the roll-over pedal and the vehicle door in the vertical direction is too close, so as to verify the roll-over pedal. Vehicles with roll-over pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the roll-over pedal, the probability of the roll-over pedal being over-closed and affecting the opening or closing of the vehicle door can be reduced, thereby ensuring a better driving experience for users.

[0128] Based on the same inventive concept, the present application embodiment provides the following Figure 4 A rollover pedal inspection device is shown, wherein the rollover pedal comprises a connecting member 1 fixed to a vehicle chassis, and a pedal body 2 rotatably connected to the connecting member 1, and the device comprises:

[0129] The coordinate determination module 41 in the natural state is used to determine the fixed point coordinates corresponding to the two fixed points on the connecting member 1, determine the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member 1 and the pedal body 2, and determine the first endpoint coordinates of the target point on the pedal body 2 that is closest to the target door of the vehicle; wherein the two fixed points, the orbiting connection point and the target point are all on the same cross-section of the flip-over pedal;

[0130] The post-offset coordinate determination module 42 is used to determine the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates when the connection line between the fixed point and the orbiting connection point is offset by a preset angle;

[0131] A distance determination module 43, used to determine the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process;

[0132] The verification judgment module 44 is used to determine whether the rollover pedal passes the verification when it deviates from the preset angle according to the actual distance and the preset distance threshold.

[0133] Furthermore, the post-shift coordinate determination module 42 is used to:

[0134] Determine, according to the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs;

[0135] The second endpoint coordinate corresponding to the target point on the pedal body 2 after the offset is determined according to the fixed point coordinate, the first orbiting point coordinate, the second orbiting point coordinate and the first endpoint coordinate.

[0136] Furthermore, the post-shift coordinate determination module 42 is used to:

[0137] Determine the coordinates of the second orbiting point corresponding to the orbiting connection point after the offset according to the coordinates of the two fixed points, the coordinates of the first orbiting point, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0138] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the third connecting line is a connecting line between another of the fixed point coordinates and the first orbiting point coordinates.

[0139] Furthermore, the post-shift coordinate determination module 42 is used to:

[0140] Determine the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates, the first endpoint coordinates, the length of the second connecting line, the length of the fourth connecting line, the angle between the first connecting line and the second connecting line, and the preset angle;

[0141] Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

[0142] Furthermore, the distance determination module 43 is used to:

[0143] Determine the bottom plane corresponding to the bottom of the target door during the door opening and closing process according to the point coordinates corresponding to at least two points of the bottom of the target door during the door opening and closing process;

[0144] The actual distance between the second endpoint coordinate and the bottom plane is determined.

[0145] Furthermore, the verification and judgment module 44 is used to:

[0146] When the actual distance is greater than the preset distance threshold, determining that the rollover pedal passes the verification when offset by the preset angle;

[0147] When the actual distance is less than or equal to the preset distance threshold, it is determined that the rollover pedal fails verification when deviated from the preset angle.

[0148] Furthermore, the target door is each door of the vehicle in turn, and the verification and judgment module 44 is used to:

[0149] Determine the actual distance corresponding to each door of the vehicle;

[0150] According to the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

[0151] Based on the same inventive concept, the present application embodiment provides the following Figure 5 An electronic device as shown includes:

[0152] Processor 51;

[0153] A memory 52 for storing instructions executable by the processor 51;

[0154] The processor 51 is configured to execute to implement a rollover pedal calibration method as provided above.

[0155] Based on the same inventive concept, an embodiment of the present application provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor 51 of the electronic device, the electronic device can execute a rollover pedal verification method as provided above.

[0156] Since the electronic device introduced in this embodiment is an electronic device used to implement the information processing method in the embodiment of the present application, based on the information processing method introduced in the embodiment of the present application, a person skilled in the art can understand the specific implementation of the electronic device of the present embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present application is not described in detail here. As long as a person skilled in the art implements the electronic device used by the information processing method in the embodiment of the present application, it belongs to the scope of protection of this application.

[0157] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0158] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce 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.

[0159] 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.

[0160] 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 1A step that specifies a function in one or more boxes.

[0161] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0162] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A rollover pedal calibration method, characterized in that: The rollover pedal comprises a connecting member fixed on a vehicle chassis and a pedal body rotatably connected to the connecting member, and the method comprises: When the side-flipping pedal is in a naturally stored state, the fixed point coordinates corresponding to the two fixed points on the connecting member are determined, the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member and the pedal body are determined, and the first endpoint coordinates of the target point on the pedal body that is closest to the target door of the vehicle are determined; wherein the two fixed points, the orbiting connection point and the target point are all located on the same cross-section of the side-flipping pedal; In the case where the line between one of the fixed points and the orbiting connection point is offset by a preset angle, the second endpoint coordinates corresponding to the target point on the pedal body after the offset are determined according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates; Determine the actual distance between the second endpoint coordinate and the plane corresponding to the bottom of the target door during the door opening and closing process; According to the actual distance and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

2. The method according to claim 1, characterized in that The step of determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates comprises: Determine, according to the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs; The second endpoint coordinate corresponding to the target point on the pedal body after the offset is determined according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates and the first endpoint coordinates.

3. The method according to claim 2, characterized in that The step of determining, based on the two fixed point coordinates and the first orbiting point coordinates, the second orbiting point coordinates corresponding to the orbiting connection point after the offset occurs, comprises: Determine the coordinates of the second orbiting point corresponding to the orbiting connection point after the offset according to the coordinates of the two fixed points, the coordinates of the first orbiting point, the length of the first connecting line, the length of the second connecting line, the length of the third connecting line, the angle between the first connecting line and the second connecting line, and the preset angle; Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the third connecting line is a connecting line between another of the fixed point coordinates and the first orbiting point coordinates.

4. The method according to claim 2, characterized in that The step of determining the second endpoint coordinate corresponding to the target point on the pedal body after the offset according to the fixed point coordinate, the first orbiting point coordinate, the second orbiting point coordinate and the first endpoint coordinate comprises: Determine the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to one of the fixed point coordinates, the first orbiting point coordinates, the second orbiting point coordinates, the first endpoint coordinates, the length of the second connecting line, the length of the fourth connecting line, the angle between the first connecting line and the second connecting line, and the preset angle; Among them, the first connecting line is a connecting line between two of the fixed points, the second connecting line is a connecting line between one of the fixed point coordinates and the first orbiting point coordinates, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

5. The method according to claim 1, characterized in that The determining of the actual distance between the coordinate of the second endpoint and a plane corresponding to the bottom of the target door during the door opening and closing process includes: Determine the bottom plane corresponding to the bottom of the target door during the door opening and closing process according to the point coordinates corresponding to at least two points of the bottom of the target door during the door opening and closing process; The actual distance between the second endpoint coordinate and the bottom plane is determined.

6. The method according to claim 1, characterized in that The step of determining, based on the actual distance and the preset distance threshold, whether the rollover pedal passes the verification when offset from the preset angle comprises: When the actual distance is greater than the preset distance threshold, determining that the rollover pedal passes the verification when offset by the preset angle; When the actual distance is less than or equal to the preset distance threshold, it is determined that the rollover pedal fails verification when deviated from the preset angle.

7. The method according to claim 1, characterized in that The target door is each door of the vehicle in turn, and determining whether the rollover pedal passes the verification when it is offset by the preset angle according to the actual distance and the preset distance threshold includes: Determine the actual distance corresponding to each door of the vehicle; According to the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover pedal passes the verification when it is offset by the preset angle.

8. A rollover pedal inspection device, characterized in that: The side-flipping pedal comprises a connecting member fixed on a vehicle chassis and a pedal body rotatably connected to the connecting member, and the device comprises: A coordinate determination module in a natural state, for determining the fixed point coordinates corresponding to the two fixed points on the connecting member, respectively, when the side-flipping pedal is in a natural storage state, determining the first orbiting point coordinates corresponding to the orbiting connection point between the connecting member and the pedal body, and determining the first endpoint coordinates of the target point on the pedal body that is closest to the target door of the vehicle; wherein the two fixed points, the orbiting connection point and the target point are all located on the same cross-section of the side-flipping pedal; a post-offset coordinate determination module, for determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset according to the two fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates, when a line between the fixed point and the orbiting connection point is offset by a preset angle; A distance determination module, used to determine the actual distance between the coordinates of the second endpoint and the plane corresponding to the bottom of the target door during the door opening and closing process; The verification judgment module is used to determine whether the rollover pedal passes the verification when it deviates from the preset angle according to the actual distance and the preset distance threshold.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute to implement a rollover pedal calibration method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a rollover pedal verification method as described in any one of claims 1 to 7.

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