SOA-based electric pedal control method, device and equipment and storage medium

Abstract

The invention discloses an SOA-based electric pedal control method, apparatus and device, and a storage medium. The method comprises the steps of calling a control service API corresponding to an electric pedal control instruction through a terminal device; analyzing the control service API through a service-oriented gateway to obtain an analysis result; the analysis result is sent to an electric pedal controller through a CAN bus, and based on the analysis result, the electric pedal controller controls an electric pedal through a hard-wired controller. By means of the control method and device, the technical problem that in the related technology, due to the fact that the efficiency and flexibility of information transmission are seriously limited, the electric pedal of the automobile cannot be controlled in a diversified mode is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive architecture function development, and in particular to an SOA-based electric pedal control method, device, equipment, and storage medium. Background Art

[0002] Currently, the electric pedal function under a distributed architecture mainly transmits signals through the CAN bus. The broadcast communication characteristic of the CAN bus means that once a node sends information, it will occupy the entire network. Moreover, the fixed communication load requires the system to re-plan messages when adding a new controller, which limits the expandability of the automotive electric pedal function. In this mode, the efficiency and flexibility of information transmission are severely restricted, resulting in the inability to achieve the goal of diversifying the control of the automotive electric pedal. Summary of the Invention

[0003] The present invention provides an SOA-based electric pedal control method, device, equipment, and storage medium, which can solve the technical problem of the inability to diversify the control of the automotive electric pedal in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention provides an SOA-based electric pedal control method, the method comprising:

[0006] Invoking, by a terminal device, a control service API corresponding to an electric pedal control instruction;

[0007] Parsing, by a service gateway, the control service API to obtain a parsing result;

[0008] Sending the parsing result to an electric pedal controller through the CAN bus, and based on the parsing result, the electric pedal controller controls the electric pedal through a hardwired controller.

[0009] Optionally, the electric pedal control instruction includes: retracting the left electric pedal, deploying the left electric pedal, querying the status of the left electric pedal retracting motor, querying the jammed state of the left electric pedal, breaking ice on the left electric pedal, jamming of the left electric pedal, retracting the right pedal, deploying the right pedal, querying the status of the right pedal retracting motor, breaking ice on the right pedal, jamming of the right pedal, or querying the jammed state of the right pedal.

[0010] Optionally, the invoking, by a terminal device, a control service API corresponding to an electric pedal control instruction includes:

[0011] Validating, by a terminal device, an electric pedal control instruction;

[0012] If the verification is successful, call the control service API corresponding to the electric pedal control instruction.

[0013] Optionally, the verification of the electric pedal control instruction by the terminal device includes:

[0014] Compare the ID of the electric pedal control instruction with the parameters corresponding to the electric pedal control instruction in the electric pedal control service through the terminal device;

[0015] If they are the same, determine that the verification is successful.

[0016] Optionally, the parsing of the control service API by the service gateway to obtain the parsing result includes:

[0017] Parse the control service API through the service gateway to obtain the action to be executed corresponding to the control service API.

[0018] Optionally, the method further includes:

[0019] The electric pedal controller collects the hardwired controller signal and feeds back the real-time state of the electric pedal to the electric pedal controller;

[0020] The electric pedal controller uploads the real-time state of the electric pedal to the service gateway through the CAN bus, so that the terminal device can obtain the real-time state of the electric pedal by subscribing to the electric pedal state control service.

[0021] In a second aspect, an embodiment of the present invention provides an SOA-based electric pedal control device, which includes: a terminal device, a service gateway, and an electric pedal controller;

[0022] The terminal device is configured to: call the control service API corresponding to the electric pedal control instruction;

[0023] The service gateway is configured to: parse the control service API to obtain a parsing result;

[0024] The electric pedal controller is configured to: control the electric pedal through the hardwired controller based on the parsing result;

[0025] Among them, the electric pedal control instruction includes: retract the left electric pedal, deploy the left electric pedal, query the state of the left electric pedal retraction motor, query the jammed state of the left electric pedal, break the ice of the left electric pedal, jam the left electric pedal, retract the right pedal, deploy the right pedal, query the state of the right pedal retraction motor, break the ice of the right pedal, jam the right pedal, or query the jammed state of the right pedal.

[0026] Optionally, the terminal device is specifically configured to:

[0027] Compare the ID of the electric pedal control instruction sent through the terminal device with the parameters corresponding to the electric pedal control instruction in the electric pedal control service;

[0028] If they are the same, call the control service API corresponding to the electric pedal control instruction.

[0029] In a third aspect, an embodiment of the present invention further provides an electronic device, including: a memory, a processor; the processor is configured to read and execute a computer program stored in the memory to implement the steps of the foregoing method for controlling an electric pedal based on SOA.

[0030] In a fourth aspect, an embodiment of the present invention further provides a computer storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed, the steps of the foregoing method for controlling an electric pedal based on SOA are implemented.

[0031] In a fifth aspect, an embodiment of the present invention further provides a computer program product, including a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of the foregoing method for controlling an electric pedal based on SOA are implemented.

[0032] The beneficial effects brought by the technical solutions provided in the embodiments of the present invention include:

[0033] By using the Ethernet protocol to call the control service API corresponding to the electric pedal control instruction, each controller is connected, realizing more efficient point-to-point communication, avoiding the problem of signal channel blockage, improving the efficiency of information transmission, and as long as the device has an electric pedal control atomic service developed based on the SOA architecture, multi-scenario applications of electric pedal control can be realized without changing the software of the electric pedal controller, significantly enhancing the expandability of the electric pedal function.

[0034] Through the present invention, the technical problem in the related art that due to the severely limited efficiency and flexibility of information transmission, the electric pedal of the vehicle cannot be controlled diversely is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0036] Figure 1 It is a schematic flowchart of an embodiment of the method for controlling an electric pedal based on SOA of the present invention;

[0037] Figure 2Schematic diagram of the overall architecture of the electric pedal control method based on SOA of the present invention;

[0038] Figure 3 Schematic diagram of the overall process of the electric pedal control method based on SOA of the present invention;

[0039] Figure 4 Schematic diagram of the retraction control process of the left electric pedal of the present invention;

[0040] Figure 5 Schematic diagram of the functional modules of an embodiment of the electric pedal control device based on SOA of the present invention;

[0041] Figure 6 Schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] To make the purpose, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0044] In a first aspect, an embodiment of the present invention provides an electric pedal control method based on SOA.

[0045] In one embodiment, referring to Figure 1 , Figure 1 is the schematic diagram of the process of an embodiment of the electric pedal control method based on SOA of the present invention. As Figure 1 shown, the electric pedal control method based on SOA includes:

[0046] Step S10, calling the control service API corresponding to the electric pedal control instruction through the terminal device;

[0047] Optionally, in some specific embodiments, step S10 includes:

[0048] Step S101, verifying the electric pedal control instruction through the terminal device;

[0049] Optionally, in some specific embodiments, step S101 includes:

[0050] Comparing the ID of the electric pedal control instruction with the parameters corresponding to the electric pedal control instruction in the electric pedal control service through the terminal device;

[0051] If they are the same, it is determined that the verification is successful.

[0052] In this embodiment, each electric pedal control instruction in the electric pedal control service and the parameters corresponding to each electric pedal control instruction are shown in Table 1.

[0053] Table 1

[0054]

[0055] The control service APIs corresponding to each electric pedal control instruction in Table 1 are shown in Table 2.

[0056] Table 2

[0057]

[0058]

[0059] During the process of controlling the electric pedal, the meanings corresponding to each signal are shown in Table 3.

[0060]

[0061] Among them, LeftPedal_Spread_Control, LeftPedal_LockedRotor_Control, RightPedal_Spread_Control, and RightPedal_LockedRotor_Control are of the structure type, and CEM_ReturnCode is of the enumeration type.

[0062] Refer to Figure 2 , the devices associated with the present invention include: terminal devices (such as a central control screen, TBOX, etc.), a service gateway, an electric pedal controller, and an electric pedal. The terminal device calls the service gateway, that is, the electric pedal control service (API), through the Ethernet SOMEIP protocol, subscribes to the electric pedal control event to obtain the real-time state of the electric pedal, and then converts the electric pedal control service into CAN information through the service gateway and sends it to the electric pedal controller, and then the electric pedal controller controls the electric pedal through the hardwired controller. Among them, the service gateway is an integrated component of an Ethernet switch and a gateway.

[0063] Exemplarily, refer to Figure 3, taking the terminal device as the central control screen as an example, the electric pedal control instruction input by the user is obtained through the central control screen. The electric pedal control instruction includes: retracting the left electric pedal, deploying the left electric pedal, querying the status of the left electric pedal retraction motor, querying the jammed state of the left electric pedal, ice breaking of the left electric pedal, jamming of the left electric pedal, retracting the right pedal, deploying the right pedal, querying the status of the right pedal retraction motor, ice breaking of the right pedal, jamming of the right pedal, or querying the jammed state of the right pedal.

[0064] Taking the electric pedal control instruction as the left electric pedal deployment instruction as an example, after obtaining the left electric pedal deployment instruction CEM_LeftPedal_Spread, the input parameters of the left electric pedal deployment instruction CEM_LeftPedal_Spread are verified through the terminal device. Specifically, the ID of the left electric pedal deployment instruction: CEM_LeftPedalId, is compared with the parameter 0x0002 corresponding to the left electric pedal deployment instruction in the electric pedal control service through the terminal device. If they are the same, that is, if CEM_LeftPedalId = 0x0002, it is determined that the verification of the electric pedal control instruction is successful; otherwise, CEM_ReturnCode = 0x3 is returned, and it is determined that the verification of the electric pedal control instruction fails.

[0065] Step S102, if the verification is successful, the control service API corresponding to the electric pedal control instruction is called.

[0066] In this embodiment, if the verification of the electric pedal control instruction is successful, the electric pedal deployment service API "LeftPedal_Spread_Method" in the electric pedal control service "LeftPedal_Control_Service" corresponding to the left electric pedal deployment instruction CEM_LeftPedal_Spread is called through the central control screen.

[0067] Step S20, the control service API is parsed through the service gateway to obtain the parsing result;

[0068] Optionally, in some specific embodiments, step S20 includes:

[0069] The control service API is parsed through the service gateway to obtain the action to be executed corresponding to the control service API.

[0070] In this embodiment, continue to refer to Figure 3 , after calling the control service API corresponding to the left electric pedal deployment instruction through the central control screen, the status of the service gateway is verified, that is, it is detected whether the service gateway is online. If the service gateway is not online, CEM_ReturnCode = 0x5 is returned, and it is determined that the service gateway is abnormal.

[0071] If the service gateway is online, the control service API "LeftPedal_Spread_Method" corresponding to the left electric pedal deployment instruction is parsed through the service gateway to obtain the action corresponding to the left electric pedal deployment instruction, that is, the action to be executed by the left electric pedal.

[0072] Among them, during the process of parsing the control service API "LeftPedal_Spread_Method" corresponding to the left electric pedal deployment instruction through the service gateway, it is also necessary to verify the execution status. Specifically, it is detected whether g_XXXXSending_Flag is the initial value false. If so, it is determined that the service gateway parsing is successful and the parsing result is obtained. If g_XXXXSending_Flag is not the initial value false, then CEM_ReturnCode = 0x1 is returned, and it is determined that the service gateway parsing fails.

[0073] Step S30: Send the parsing result to the electric pedal controller through the CAN bus. Based on the parsing result, the electric pedal controller controls the electric pedal through the hardwired controller.

[0074] In this embodiment, continue to refer to Figure 3 , after determining that the service gateway parsing is successful and obtaining the parsing result, an asynchronous CAN message is sent, and the parsing result is sent to the electric pedal controller through the CAN bus. Specifically, the global variable g_XXXXSending_Flag is assigned the value true, and the relevant signal values are modified, and then a CANID: CEM_LeftPedal_Control message with a cycle of 50 ms for 16 frames is sent. Finally, the global variable g_XXXXSending_Flag is assigned the value false.

[0075] After sending the parsing result to the electric pedal controller through the CAN bus, the electric pedal controller controls the electric pedal through the hardwired controller and returns CEM_ReturnCode = 0x0, indicating that the control of the electric pedal is successful. Among them, the hardwired controller, also known as the combinational logic controller, is composed of basic logic circuits, decodes the operation code in the instruction, and generates the corresponding timing control signals.

[0076] It should be noted that g_XXXXSending_Flag is a global variable with an initial value of false. One CAN message corresponds to one such global variable, and its function is the CAN message sending enable flag. When this global variable is false, the corresponding CAN message can be sent. When this variable is true, the corresponding CAN message cannot be sent. The purpose of defining this variable is to avoid unpredictable results caused by being interrupted by other requests before 16 frames are sent.

[0077] In this embodiment, the control service API corresponding to the electric pedal control instruction is called through the terminal device; the control service API is parsed through the service gateway to obtain a parsing result; the parsing result is sent to the electric pedal controller through the CAN bus, and based on the parsing result, the electric pedal controller controls the electric pedal through the hardwired controller. Through this embodiment, the control service API corresponding to the electric pedal control instruction is called by using the Ethernet protocol, so as to connect each controller, realize more efficient point-to-point communication, avoid the problem of signal channel blockage, improve the efficiency of information transmission, and as long as the device with the electric pedal control atomic service developed based on the SOA architecture can realize the multi-scenario application of electric pedal control without changing the software of the electric pedal controller, and the expandability of the electric pedal function is significantly enhanced, solving the technical problem in the related art that the electric pedal of the vehicle cannot be controlled diversely due to the serious limitation of the efficiency and flexibility of information transmission.

[0078] Optionally, in one embodiment, the method further includes:

[0079] The electric pedal controller collects the hardwired controller signal and feeds back the real-time state of the electric pedal to the electric pedal controller;

[0080] The electric pedal controller uploads the real-time state of the electric pedal to the service gateway through the CAN bus for the terminal device to obtain the real-time state of the electric pedal by subscribing to the electric pedal state control service.

[0081] In this embodiment, referring to Figure 4 , Figure 4 is a schematic diagram of the control process for retracting the left electric pedal of the present invention. As Figure 4 shown, when the user needs to retract the electric pedal, the user clicks the "Retract Left Electric Pedal" button on the central control screen, obtains the left electric pedal retraction instruction input by the user through the central control screen, and after successfully verifying the left electric pedal retraction instruction, calls the left electric pedal retraction service API "LeftPedal_retract_back_Method" in the electric pedal control service "LeftPedal_Control_Service".

[0082] Then, the status of the service gateway is verified. If the verification is successful, that is, after it is determined that the service gateway is online, the "LeftPedal_retract_back_Method" service API for retracting the left electric pedal is sent to the service gateway. After receiving it, the service gateway parses the service and obtains the parsing result "CEM_LeftPedal_Control: CLOSE" signal. Then, the parsing result is sent to the electric pedal controller via the CAN bus. The algorithm in the electric pedal controller performs logical control on the parsing result and sends it to the left electric pedal through the hardwired controller. At this time, the left electric pedal retraction action can be executed.

[0083] After the left electric pedal executes the retraction action, the hardwired controller signal is collected, and the real-time status of the left electric pedal retraction is fed back to the electric pedal controller. The electric pedal controller uploads "CEM_LeftPedal_ControlStatus" to the service gateway via the CAN bus. The service gateway encapsulates the left electric pedal status information returned by the CAN bus into an EVENT event.

[0084] The central control screen subscribes to the "CEM_LeftPedal_notifyRetract_back_Event" event in the electric pedal control service "LeftPedal_Control_Service" to obtain the status of the left electric pedal retraction in real time.

[0085] It should be noted that the control service APIs corresponding to other electric pedal control instructions: CEM_LeftPedal_notifyretract_Event (query the status of the left electric pedal retraction motor), LeftPedal_is_breaking_ice_Method (the left electric pedal is breaking ice), LeftPedal_break_ice_successfully_Method (the left electric pedal has broken ice successfully), CEM_LeftPedal_notifyLockedRotor_Event (query the locked rotor status of the left electric pedal), RightPedal_retract_back_Method (retract the right electric pedal), RightPedal_spread_Method (deploy the right electric pedal), CEM_RightPedal_notifyretract_Event (query the retraction status of the right electric pedal), RightPedal_is_breaking_ice_Method (the right electric pedal is breaking ice), RightPedal_break_ice_successfully_Method (the right electric pedal has broken ice successfully), and CEM RightPedal_notifyLockedRotor_Event (query the locked rotor status of the right electric pedal) for the control process of the electric pedal correspond to the respective steps in the above embodiments, and their functions and implementation processes will not be elaborated here one by one.

[0086] In a second aspect, an embodiment of the present invention further provides an electric pedal control device based on SOA.

[0087] In one embodiment, referring to Figure 5 , Figure 5 is a schematic diagram of the functional modules of an embodiment of the electric pedal control device based on SOA of the present invention. As Figure 5 shown, the electric pedal control device based on SOA includes: a terminal device, a service gateway, and an electric pedal controller;

[0088] The terminal device is configured to: call the control service API corresponding to the electric pedal control instruction;

[0089] The service gateway is configured to: parse the control service API to obtain a parsing result;

[0090] The electric pedal controller is configured to: based on the parsing result, control the electric pedal through a hardwired controller;

[0091] Among them, the electric pedal control instructions include: retracting the left electric pedal, deploying the left electric pedal, querying the status of the left electric pedal retraction motor, querying the jammed state of the left electric pedal, ice breaking of the left electric pedal, jamming of the left electric pedal, retracting the right pedal, deploying the right pedal, querying the status of the right pedal retraction motor, ice breaking of the right pedal, jamming of the right pedal, or querying the jammed state of the right pedal.

[0092] Optionally, in one embodiment, the terminal device is specifically configured to:

[0093] Verify the parameters in the electric pedal control instruction through the terminal device;

[0094] If the verification is successful, call the control service API corresponding to the electric pedal control instruction.

[0095] Optionally, in one embodiment, the terminal device is specifically configured to:

[0096] Compare the ID of the electric pedal control instruction with the parameters corresponding to the electric pedal control instruction in the electric pedal control service through the terminal device;

[0097] If they are the same, it is determined that the verification is successful.

[0098] Optionally, in one embodiment, the service gateway is configured to:

[0099] Parse the control service API through the service gateway to obtain the action to be executed corresponding to the control service API.

[0100] Optionally, in one embodiment, the SOA-based electric pedal control device further includes an electric pedal status query module, which is configured to:

[0101] The electric pedal controller collects the hardwired controller signal and feeds back the real-time status of the electric pedal to the electric pedal controller;

[0102] The electric pedal controller uploads the real-time status of the electric pedal to the service gateway through the CAN bus for the terminal device to obtain the real-time status of the electric pedal by subscribing to the electric pedal status control service.

[0103] Among them, the function implementation of each module in the above SOA-based electric pedal control device corresponds to each step in the above SOA-based electric pedal control method embodiment, and its function and implementation process will not be elaborated here one by one.

[0104] In a third aspect, an embodiment of the present invention further provides an electronic device, the structure of which is as Figure 6As shown, it includes: a memory and a processor. The processor is configured to read and execute the computer program stored in the memory to implement the foregoing electric pedal control method based on SOA.

[0105] In a fourth aspect, an embodiment of the present invention further provides a computer storage medium. A computer-executable instruction is stored in the computer storage medium. When the computer-executable instruction is executed, it implements the foregoing electric pedal control method based on SOA.

[0106] In a fifth aspect, an embodiment of the present invention provides a computer program product. The program product is stored in a storage medium. The program product is executed by at least one processor to implement each process of the foregoing embodiment of the electric pedal control method based on SOA, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0107] Finally, it should be noted that: in some processes described in the embodiments of the present invention, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present invention or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0108] The foregoing are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An electric pedal control method based on SOA, characterized in that: The method comprises: Call the control service API corresponding to the electric pedal control command through the terminal device; Parsing the control service API through a service-oriented gateway to obtain a parsing result; The analysis result is sent to the electric pedal controller via the CAN bus. Based on the analysis result, the electric pedal controller controls the electric pedal via a hard-wired controller.

2. The electric pedal control method based on SOA according to claim 1, characterized in that: The electric pedal control instructions include: retracting the left electric pedal, extending the left electric pedal, querying the status of the left electric pedal retraction motor, querying the blocked status of the left electric pedal, breaking ice of the left electric pedal, blocking of the left electric pedal, retracting the right pedal, extending the right pedal, querying the status of the right pedal retraction motor, breaking ice of the right pedal, blocking of the right pedal or querying the blocked status of the right pedal.

3. The electric pedal control method based on SOA according to claim 1, characterized in that: The control service API corresponding to the electric pedal control instruction is called by the terminal device, including: Verify the electric pedal control command through the terminal device; If the verification is successful, the control service API corresponding to the electric pedal control instruction is called.

4. The electric pedal control method based on SOA according to claim 3 is characterized in that: The verifying of the electric pedal control instruction by the terminal device includes: Compare the ID of the electric pedal control instruction with the parameters corresponding to the electric pedal control instruction in the electric pedal control service through the terminal device; If they are the same, the verification is determined to be successful.

5. The electric pedal control method based on SOA according to claim 1, characterized in that: The control service API is parsed by the service-oriented gateway to obtain the parsing result, including: The control service API is parsed through a service-oriented gateway to obtain the to-be-executed action corresponding to the control service API.

6. The electric pedal control method based on SOA according to claim 1, characterized in that: The method further comprises: The electric pedal controller collects hard-wired controller signals and feeds back the real-time status of the electric pedal to the electric pedal controller; The electric pedal controller uploads the real-time status of the electric pedal to the service-oriented gateway via the CAN bus, so that the terminal device can obtain the real-time status of the electric pedal by subscribing to the electric pedal status control service.

7. An electric pedal control device based on SOA, characterized in that: The device comprises: a terminal device, a service-oriented gateway and an electric pedal controller; The terminal device is configured to: call a control service API corresponding to an electric pedal control instruction; The service-oriented gateway is configured to: parse the control service API to obtain a parsing result; The electric pedal controller is configured to: control the electric pedal through a hard-wired controller based on the analysis result; Among them, the electric pedal control instructions include: retracting the left electric pedal, extending the left electric pedal, querying the status of the left electric pedal retraction motor, querying the left electric pedal jam status, breaking ice with the left electric pedal, jamming the left electric pedal, retracting the right pedal, extending the right pedal, querying the status of the right pedal retraction motor, breaking ice with the right pedal, jamming the right pedal or querying the jam status of the right pedal.

8. The device according to claim 7, characterized in that The terminal device is specifically configured to: Compare the ID of the electric pedal control instruction with the parameters corresponding to the electric pedal control instruction in the electric pedal control service through the terminal device; If they are the same, the control service API corresponding to the electric pedal control instruction is called.

9. An electronic device, characterized in that: include: Memory and processor; The processor is used to read and execute the computer program stored in the memory to implement the steps of the SOA-based electric pedal control method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, the steps of the SOA-based electric pedal control method as described in any one of claims 1-6 are implemented.

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