A rollover pedal calibration method, device, equipment and medium

Abstract

The present invention discloses a method, device, equipment and medium for verifying a rollover pedal. When the rollover pedal is in a naturally stored state, the method determines the fixed point coordinates, the first orbiting point coordinates and the first endpoint coordinates; when the line between a fixed point and the orbiting connection point deviates by a preset angle, the method determines the second endpoint coordinates corresponding to the target point on the pedal body after the deflection; the method determines the actual distance between the second endpoint coordinates and the plane corresponding to the bottom of the target vehicle door during the door opening and closing process; and based on the actual distance and a preset distance threshold, determines whether the rollover pedal has passed verification when deviated by the preset angle. The present invention can verify the rollover pedal, and vehicles with rollover pedals that pass the verification can be shipped normally. Furthermore, when the rollover pedal collides, the method can reduce the probability of the rollover pedal being over-closed and affecting the opening or closing of the vehicle door, thereby ensuring a better driving experience for users.

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 facilitate getting in and out of the vehicle, taller cars are often equipped with running boards. These boards include fixed and electric running boards. Electric running boards can be categorized as either bottom running boards or side-mounted running boards, depending on their placement. Bottom running boards are located at the bottom of the vehicle's chassis, while side-mounted running boards are located on the side of the chassis, below the doors.

[0003] Regarding the side-tip pedal, if the vertical distance between the side-tip pedal and the vehicle door is too close, when the side-tip pedal collides with the vehicle during driving, it may cause the side-tip pedal to close too far, thereby affecting the opening or closing of the door and affecting the user's driving experience. Therefore, how to detect whether the side-tip pedal has passed the verification is an urgent problem that needs 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 side rollover pedal and the vehicle door in the vertical direction is too close, that is, it is impossible to detect whether the side rollover pedal has passed the verification, by providing a side rollover pedal verification method, device, equipment and medium. It achieves the technical effect of detecting whether the distance between the side rollover pedal and the vehicle door in the vertical direction is too close and determining whether the side rollover pedal has passed the verification.

[0005] In a first aspect, the present application provides a method for calibrating a rollover pedal, wherein the rollover pedal includes a connector fixed to a vehicle chassis and a pedal body rotatably connected to the connector. The method includes:

[0006] When the side-flipping step is in a naturally stored state, determining the fixed point coordinates corresponding to the two fixed points on the connecting member, determining the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member and the step body, and determining the first endpoint coordinate of the target point on the step 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 step;

[0007] When a line connecting 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 after the offset according to the two fixed point coordinates, the first orbiting point coordinates, and the first endpoint coordinates;

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

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

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

[0011] 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;

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

[0013] Furthermore, 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] Determining the coordinates of the second orbiting point corresponding to the offset of the orbiting connection point based on 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 the two fixed points, the second connecting line is a connecting line between the coordinates of one fixed point and the coordinates of the first orbiting point, and the third connecting line is a connecting line between the coordinates of another fixed point and the coordinates of the first orbiting point.

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

[0017] Determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset based on 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 fixed points, the second connecting line is a connecting line between one fixed point coordinate and the first orbiting point coordinate, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

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

[0020] Determining a bottom plane corresponding to the bottom of the target door during the door opening and closing process based on coordinates of at least two points on 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] Furthermore, the determining, based on the actual distance and the preset distance threshold, whether the rollover pedal passes verification when offset by the preset angle includes:

[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 step fails verification when deviated from the preset angle.

[0025] Furthermore, the target door is each door of the vehicle in sequence, and determining whether the rollover step passes verification when offset by the preset angle based on the actual distance and the preset distance threshold includes:

[0026] Determining 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 includes a connector fixed to a vehicle chassis and a pedal body rotatably connected to the connector, the device comprising:

[0029] a natural state coordinate determination module, for determining, when the side-flipping step is in the natural storage state, the fixed point coordinates corresponding to the two fixed points on the connecting member, the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member and the step body, and the first endpoint coordinate of the target point on the step 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 step;

[0030] a post-offset coordinate determination module, configured to determine, when a line connecting one of the fixed point and the orbiting connection point is offset by a preset angle, a second endpoint coordinate corresponding to the target point on the pedal body after the offset based on the two fixed point coordinates, the first orbiting point coordinate, and the first endpoint coordinate;

[0031] a distance determination module, configured to determine an actual distance between the coordinates of the second endpoint and a 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] 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;

[0035] The second endpoint coordinate corresponding to the target point on the pedal body after the offset is determined based on 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] Determining the coordinates of the second orbiting point corresponding to the offset of the orbiting connection point based on 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 the two fixed points, the second connecting line is a connecting line between the coordinates of one fixed point and the coordinates of the first orbiting point, and the third connecting line is a connecting line between the coordinates of another fixed point and the coordinates of the first orbiting point.

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

[0040] Determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset based on 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 fixed points, the second connecting line is a connecting line between one fixed point coordinate and the first orbiting point coordinate, 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] Determining a bottom plane corresponding to the bottom of the target door during the door opening and closing process based on coordinates of at least two points on 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 step fails verification when deviated from the preset angle.

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

[0049] Determining 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, comprising:

[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 this 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 is offset 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 the preset distance threshold, it is determined whether the flip-over pedal passes the verification when it is offset by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the side rollover pedal and the vehicle door in the vertical direction is too close, so as to verify the side rollover pedal. Vehicles with side rollover pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the side rollover pedal, the chance of the side rollover 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 is a brief introduction to 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 paying any creative work.

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

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

[0061] Figure 3The embodiment of this application provides Figure 1 The obtained schematic diagram of the line structure of the rollover pedal before and after the collision;

[0062] Figure 4 A schematic structural diagram of a rollover pedal calibration 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 solves the technical problem in the prior art that it is impossible to determine whether the distance between the side-rolling pedal and the vehicle door in the vertical direction is too close, that is, it is impossible to determine whether the side-rolling pedal has passed the verification by providing a side-rolling pedal verification method.

[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 an embodiment of the present application, when the side-flip 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 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; 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 side-flip pedal passes the verification when it is offset by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the side rollover pedal and the vehicle door in the vertical direction is too close, so as to verify the side rollover pedal. Vehicles with side rollover pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the side rollover pedal, the chance of the side rollover 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 with reference to the accompanying drawings and specific implementation methods.

[0070] First, the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

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

[0072] like Figure 1 The figure shows a simplified structural diagram obtained by cross-sectioning a certain side-flip pedal. The side-flip pedal includes a connector 1 and a pedal body 2. The connector 1 is fixed to the vehicle chassis, and the pedal body 2 and the connector 1 are connected together by orbiting. Points A and 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 side-flip 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 remains unchanged. The components between points AB can revolve around point A. No matter how point B moves, the distance between AB remains unchanged. The components between points DB can revolve around point D. When the components between points AB revolve around point A, the components between BE can achieve Figure 1 Rotation in the direction of the double-headed arrow means that the pedal body 2 can be Figure 1 Rotate in the direction of the double arrow.

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

[0075] When the side-tip 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, causing point E to rise, this may cause point E to exceed the lowest position of the vehicle door, making the door unable to open or close, affecting the user experience. The side-rollover pedal verification method provided in the embodiment of the application is to determine whether the side-rollover pedal will affect the opening and closing of the vehicle door after a collision, so as to verify the side-rollover pedal.

[0076] The embodiment of the present application provides a rollover pedal calibration method, which can be used to Figure 1 The side-flip pedal shown in the figure is checked. The side-flip 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 step 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 coordinates corresponding to the orbiting connection point between the connecting member 1 and the step body 2, and determining the first endpoint coordinates of the target point on the step 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 located on the same cross-section of the side-flipping step;

[0078] Step S22, when the line connecting 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 based on 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 from the preset angle based on 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-flip pedal refers to the storage state of the side-flip pedal when it is not subjected to external force collision. Figure 1 The status shown.

[0083] When the side-flip pedal is in the 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 Figure 1 . A and D are two fixed points on the connector 1 , with A being the first fixed point and D being the second fixed point. Point B is the orbiting connection point, and point E is the target point on the pedal body 2 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 positions of the side-flipping step in its naturally retracted state, the coordinates of A, B, D, and E are all measurable, meaning they are known. For example, they can be measured using a simulation model of the side-flipping step, or they can be measured using an actual side-flipping step.

[0085] Regarding step S22, when the line between one of the fixed point positions and the orbiting connection point position is offset by a preset angle, the second endpoint coordinates corresponding to the target point position 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 be the first fixed point A, and the corresponding other fixed point may be the second fixed point B. If the line connecting A and B deviates by a preset angle, this simulates a side-turning pedal encountering an external force, causing the pedal body 2 and connector 1 to deviate. In the event of a side-turning pedal deviating, the coordinates of the second endpoint of point E after the deviating point can be determined based on the coordinates of points A, D, B, and E.

[0087] Specifically, step S22 may include steps S221 and 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 the fixed point coordinate, the first orbiting point coordinate, the second orbiting point coordinate and the first endpoint coordinate.

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

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

[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. This 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, if 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) to 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 formulas (5) to (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] So far, 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 fixed points, the second connecting line is a connecting line between one fixed point coordinate and the first orbiting point coordinate, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

[0108] Specifically, if 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', B'E' and the angles of each angle are known, and 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 coordinates of the point E' are 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 based on the coordinates of the points corresponding to at least two points on 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 can then be determined using a distance formula between a point and a plane.

[0115] For example, when the target door is closed, the area between the door hinge axis and the end point of the door's rear end constitutes the door's bottom area. During the door opening and closing process, the area swept by the door's bottom is the bottom plane. This plane can be determined using the plane formula, as long as the coordinates of at least three non-collinear points are known. In this embodiment, A1X+B1Y+C1Z+D=0 is used to represent this bottom plane.

[0116] In this embodiment of the present application, the coordinates of the door hinge axis are labeled (X6, Y6, Z6). The coordinates of the door hinge axis remain unchanged regardless of whether the door is open or closed. The coordinates of the endpoint of the door when open are labeled (X6, Y6, Z6), and the coordinates of the endpoint of the door when closed are labeled (X8, Y8, Z8). Substituting (X6, Y6, Z6), (X6, Y6, Z6), and (X8, Y8, Z8) into A1X+B1Y+C1Z+D=0 yields A1, B1, C1, and D, which in turn yields an expression for the bottom plane.

[0117] The coordinates of the point E' have been determined above. 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 a point and a plane.

[0118] Regarding step S24, it is determined whether the rollover step passes the verification when deviating from 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 side-tipping pedal has passed the verification when offset by the preset angle, which means that even if the side-tipping 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 side-tip pedal fails verification when offset from the preset angle, which means that the side-tip pedal may affect the normal opening and closing of the vehicle door in the event of a collision.

[0121] Furthermore, a vehicle typically has multiple doors. Steps S21 to S23 can be performed sequentially using each door of the vehicle as the target door. Specifically, the actual distance corresponding to each door of the vehicle is determined. Based on the actual distance corresponding to each door of the vehicle and the preset distance threshold, it is determined whether the rollover step passes verification when 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 side-tip pedal has passed the verification when offset from the preset angle, which means that even if the side-tip pedal collides, it will not affect the normal opening and closing of the door.

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

[0124] Furthermore, a vehicle typically has multiple doors located on both sides of the vehicle, with each side of the vehicle corresponding to a rollover step. Therefore, each door on the same side of the vehicle may be sequentially used as the target door to perform steps S21-S23, that is, to determine the actual distance corresponding to each door on the same side of the vehicle. Based on the actual distance corresponding to each door on the same side of the vehicle and the preset distance threshold, it is determined whether the rollover step on that side of the vehicle passes verification when 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 side-tip pedal on that side has passed the verification when offset from the preset angle, which means that even if the side-tip 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 side-tip pedal on that side fails the verification when it is offset from the preset angle, which means that the side-tip pedal may affect the normal opening and closing of the vehicle door in the event of a collision.

[0127] To sum up, in the embodiment of the present application, when the side-flip 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 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; 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 side-flip pedal passes the verification when it is offset by the preset angle. It can be seen that the embodiment of the present application can determine whether the distance between the side rollover pedal and the vehicle door in the vertical direction is too close, so as to verify the side rollover pedal. Vehicles with side rollover pedals that pass the verification can be shipped normally. Furthermore, in the event of a collision with the side rollover pedal, the chance of the side rollover 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 provides the following embodiments: Figure 4 A rollover pedal calibration 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. The device comprises:

[0129] The natural state coordinate determination module 41 is used to determine, when the side-flipping step is in the natural storage state, the fixed point coordinates corresponding to the two fixed points on the connecting member 1, the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member 1 and the step body 2, and the first endpoint coordinate of the target point on the step 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 located on the same cross-section of the side-flipping step;

[0130] a post-offset coordinate determination module 42 for determining, when a line connecting one of the fixed point and the orbiting connection point is offset by a preset angle, a second endpoint coordinate corresponding to the target point on the pedal body 2 after the offset based on the two fixed point coordinates, the first orbiting point coordinate, and the first endpoint coordinate;

[0131] a distance determination module 43, configured to determine an actual distance between the coordinates of the second endpoint and a 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 based on the actual distance and the preset distance threshold.

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

[0134] 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;

[0135] The second endpoint coordinate corresponding to the target point on the pedal body 2 after the offset is determined based on 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 configured to:

[0137] Determining the coordinates of the second orbiting point corresponding to the offset of the orbiting connection point based on 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 the two fixed points, the second connecting line is a connecting line between the coordinates of one fixed point and the coordinates of the first orbiting point, and the third connecting line is a connecting line between the coordinates of another fixed point and the coordinates of the first orbiting point.

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

[0140] Determine the second endpoint coordinates corresponding to the target point on the pedal body 2 after the offset based on 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 fixed points, the second connecting line is a connecting line between one fixed point coordinate and the first orbiting point coordinate, 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 configured to:

[0143] Determining a bottom plane corresponding to the bottom of the target door during the door opening and closing process based on coordinates of at least two points on 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 step fails verification when deviated from the preset angle.

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

[0149] Determining 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 provides the following embodiments: 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 and implement a rollover pedal verification 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 is enabled to execute a rollover pedal verification method as provided above.

[0156] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiment of this application, based on the information processing method described in the embodiment of this application, those skilled in the art will be able to understand the specific implementation of the electronic device of this embodiment and its various variations, so how the electronic device implements the method in the embodiment of this application will not be described in detail here. As long as those skilled in the art implement the electronic device used by the information processing method in the embodiment of this application, it falls within the scope of protection to be provided by this application.

[0157] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic 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 flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, 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 flowcharts and / or block diagrams. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device 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 additional 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 may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A rollover pedal calibration method, characterized in that: The side-flipping pedal comprises a connecting member fixed to a vehicle chassis, and a pedal body rotatably connected to the connecting member. The method comprises: When the side-flipping step is in a naturally stored state, determining the fixed point coordinates corresponding to the two fixed points on the connecting member, determining the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member and the step body, and determining the first endpoint coordinate of the target point on the step 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 step; When a line connecting 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 after the offset according to the two fixed point coordinates, the first orbiting point coordinates, and the first endpoint coordinates; Determining an actual distance between the second endpoint coordinate and a plane corresponding to the bottom of the target door during the door opening and closing process; According to the actual distance and a preset distance threshold, it is determined whether the rollover pedal passes the verification when it deviates from the preset angle.

2. The method according to claim 1, wherein The step of determining the second endpoint coordinates corresponding to the target point on the pedal body after the target point is offset based on the two fixed point coordinates, the first orbiting point coordinates, and the first endpoint coordinates includes: 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; The second endpoint coordinate corresponding to the target point on the pedal body after the offset is determined based on 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, wherein 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, includes: Determining the coordinates of the second orbiting point corresponding to the offset of the orbiting connection point based on 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 the two fixed points, the second connecting line is a connecting line between the coordinates of one fixed point and the coordinates of the first orbiting point, and the third connecting line is a connecting line between the coordinates of another fixed point and the coordinates of the first orbiting point.

4. The method according to claim 2, wherein The step of determining the second endpoint coordinate corresponding to the target point on the pedal body after the target point on the pedal body is offset based on the fixed point coordinate, the first orbiting point coordinate, the second orbiting point coordinate, and the first endpoint coordinate includes: Determining the second endpoint coordinates corresponding to the target point on the pedal body after the offset based on 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 fixed points, the second connecting line is a connecting line between one fixed point coordinate and the first orbiting point coordinate, and the fourth connecting line is a connecting line before and after the orbiting connection point moves.

5. The method according to claim 1, wherein Determining the actual distance between the second endpoint coordinate and a plane corresponding to the bottom of the target door during the door opening and closing process includes: Determining a bottom plane corresponding to the bottom of the target door during the door opening and closing process based on coordinates of at least two points on 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, wherein The determining, based on the actual distance and the preset distance threshold, whether the rollover pedal passes verification when offset by the preset angle includes: 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 step fails verification when deviated from the preset angle.

7. The method according to claim 1, wherein The target door is each door of the vehicle in sequence, and determining whether the rollover step passes verification when offset by the preset angle based on the actual distance and the preset distance threshold includes: Determining 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 calibration device, characterized in that: The side-flipping pedal comprises a connecting member fixed to a vehicle chassis, and a pedal body rotatably connected to the connecting member. The device comprises: a natural state coordinate determination module, for determining, when the side-flipping step is in the natural storage state, the fixed point coordinates corresponding to the two fixed points on the connecting member, the first orbiting point coordinate corresponding to the orbiting connection point between the connecting member and the step body, and the first endpoint coordinate of the target point on the step 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 step; a post-offset coordinate determination module, configured to determine, when a line connecting one of the fixed point and the orbiting connection point is offset by a preset angle, a second endpoint coordinate corresponding to the target point on the pedal body after the offset based on the two fixed point coordinates, the first orbiting point coordinate, and the first endpoint coordinate; a distance determination module, configured to determine an actual distance between the coordinates of the second endpoint and a 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; The processor is configured to execute and implement a rollover pedal calibration method as claimed in any one of claims 1 to 7.

10. A non-transitory 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 claimed in any one of claims 1 to 7.

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