Side pedal control method, system and equipment and vehicle

Abstract

The invention discloses a side pedal control method, system and device and a vehicle, adjustment parameters of a side pedal are obtained by responding to the situation that vehicle state information meets a camping mode starting condition, the side pedal comprises a first-layer structure and a second-layer structure, the second-layer structure comprises a plurality of polyhedral grooves, and the first-layer structure is connected with the second-layer structure; the first layer structure comprises a plurality of polyhedral structures matched with the polyhedral grooves of the second layer structure; and adjusting the position of the first layer structure and / or the position of the second layer structure of the side pedal based on the adjustment parameters so as to widen the side pedal. The position of the two-layer structure of the side pedal is adjusted based on the adjusting instruction, so that the position and the shape of the side pedal meet the requirements of the adjusting instruction, the side pedal can be used as a bench under the condition that seats are not enough, the position of the side pedal is flexibly adjusted, and the requirements of passengers in a vehicle and the actual application scene of the side pedal are better met. And the control flexibility of the side pedal is improved.

Description

Technical Field

[0001] The present application relates to the field of automotive electronics technology, and in particular, to a side pedal control method, system, device, and vehicle. Background Art

[0002] Currently, with the improvement of people's living standards, more and more vehicles are equipped with electric side pedals. The electric side pedal of an automobile is a device for assisting in getting in and out of the vehicle, which can be driven by an electric motor to automatically extend and retract the pedal beside the vehicle door, facilitating passengers to get in and out of the vehicle. The electric side pedal can enhance the technological sense and luxury sense of the whole vehicle.

[0003] Weekend family self-driving tours and outdoor picnics are an entertainment and pastime way for more and more people. When having a meal in the side tent of the vehicle, there will be a situation where there are not enough seats. In the existing solutions, the position of the side pedal cannot be flexibly adjusted according to the actual application scenario of the side pedal, and the flexible utilization of the side pedal cannot be achieved.

[0004] Therefore, how to improve the flexibility of the side pedal during application is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0005] Based on the above problems, the present application provides a side pedal control method, system, device, and vehicle to achieve the flexible application of the side pedal.

[0006] To solve the above problems, the technical solutions provided by the present application are as follows:

[0007] The first aspect of the present application provides a side pedal control method, including:

[0008] In response to the vehicle status information meeting the camping mode startup condition, obtaining adjustment parameters of the side pedal, where the side pedal includes a first-layer structure and a second-layer structure, the second-layer structure includes a plurality of polyhedron grooves, and the first-layer structure includes a plurality of polyhedron structures that fit with the polyhedron grooves of the second-layer structure;

[0009] Based on the adjustment parameters, adjusting the position of the first-layer structure and / or the second-layer structure of the side pedal to make the side pedal meet the personnel seating requirements.

[0010] Optionally, the camping mode startup condition includes at least one of the following: there are people with a stagnation duration meeting the preset duration condition within the preset range of the vehicle, the vehicle awning is in the open state, the vehicle charging port is in use, and the camping mode switch is in the startup state.

[0011] Optionally, the step of obtaining the adjustment parameters of the side pedal in response to the vehicle status information meeting the camping mode startup condition includes:

[0012] In response to the presence of a person within a preset range of the vehicle whose stagnation duration meets the preset duration condition, perform image recognition on the person to obtain the feature information of the person;

[0013] Determine the adjustment parameter according to the feature information.

[0014] Optionally, the adjustment parameter includes the target side pedal width and the target side pedal height. The adjustment of the position of the first layer structure and / or the second layer structure of the side pedal based on the adjustment parameter includes:

[0015] Control the side pedal to move to the target side pedal height;

[0016] During the process of the side pedal unfolding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the vehicle, so that the distance between the first edge and the second edge of the side step is the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction.

[0017] Optionally, the adjustment parameter includes the target side pedal length and the target side pedal height. The adjustment of the position of the first layer structure and / or the second layer structure of the side pedal based on the adjustment parameter includes:

[0018] Control the side pedal to move to the target side pedal height;

[0019] During the process of the side pedal unfolding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the ground, so that the height difference between the first layer structure and the second layer structure is a first preset value;

[0020] Control at least one of the first layer structure and the second layer structure of the side pedal to move in the direction of the vehicle head or the vehicle tail with the direction parallel to the vehicle as a reference, so that the distance between the third edge and the fourth edge of the side pedal increases to the target side pedal length, and both the third edge and the fourth edge are perpendicular to the vehicle direction.

[0021] Optionally, the control of at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the vehicle so that the distance between the first edge and the second edge of the side step is the target side pedal width includes one of the following methods:

[0022] Control the second - layer structure of the side pedal to move in a direction away from the vehicle with respect to the horizontal direction, so as to widen the distance between the first edge and the second edge of the side pedal to the target side - pedal width, where the first edge and the second edge are both parallel to the vehicle direction;

[0023] Control the first - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction, so as to widen the distance between the first edge and the second edge of the side pedal to the target side - pedal width, where the first edge and the second edge are both parallel to the vehicle direction;

[0024] Control the first - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction, and control the second - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction, so as to widen the distance between the first edge and the second edge of the side pedal to the target side - pedal width;

[0025] Control the first - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction; control the second - layer structure of the side pedal to move in a direction away from the vehicle with respect to the horizontal direction, so as to widen the distance between the first edge and the second edge of the side pedal to the target side - pedal width;

[0026] And control the first - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction, and control the second - layer structure of the side pedal to move in the vehicle direction with respect to the horizontal direction, so as to widen the distance between the first edge and the second edge of the side pedal to the target side - pedal width.

[0027] Optionally, controlling at least one of the first - layer structure and the second - layer structure to move in a direction perpendicular to the ground so that the height difference between the first - layer structure and the second - layer structure is a first preset value includes one of the following methods:

[0028] Control the first - layer structure of the side pedal to move upward by a first preset value with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is a first preset value;

[0029] Control the second - layer structure of the side pedal to move downward by a first preset value with respect to the horizontal direction, so that there is a height difference of a first preset value between the first - layer structure and the second - layer structure;

[0030] Control the first - layer structure of the side pedal to move downward by a first distance, and control the second - layer structure of the side pedal to move downward by a second distance with respect to the horizontal direction, so that there is a height difference of a first preset value between the first - layer structure and the second - layer structure;

[0031] Control the first - layer structure of the side step to move upward by a third distance with respect to the horizontal direction, and control the second - layer structure of the side step to move upward by a fourth distance with respect to the horizontal direction, so that there is a height difference of a first preset value between the first - layer structure and the second - layer structure;

[0032] And control the first - layer structure of the side step to move upward by a fifth distance with respect to the horizontal direction, and control the second - layer structure of the side step to move downward by a sixth distance with respect to the horizontal direction, so that there is a height difference of a first preset value between the first - layer structure and the second - layer structure.

[0033] Optionally, the adjusting the position of the first - layer structure of the side step and / or the position of the second - layer structure based on the adjustment parameter includes:

[0034] In response to a closing instruction, control the first - layer structure and the second - layer structure of the side step to move to the default parking position of the side step simultaneously.

[0035] The second aspect of the present application provides a side - step control system, including:

[0036] An acquisition unit, configured to acquire an adjustment parameter of a side step in response to the vehicle state information meeting the camping - mode startup condition, where the side step includes a first - layer structure and a second - layer structure, the second - layer structure includes a plurality of polyhedron grooves, and the first - layer structure includes a plurality of polyhedron structures that fit with the polyhedron grooves of the second - layer structure;

[0037] An adjustment unit, configured to adjust the position of the first - layer structure of the side step and / or the position of the second - layer structure based on the adjustment parameter, so that the side step meets the personnel riding requirements.

[0038] The third aspect of the present application provides a side - step control device, including: a processor, a memory, and a system bus;

[0039] The processor and the memory are connected through the system bus;

[0040] The memory is used to store one or more programs, and the one or more programs include instructions that, when executed by the processor, cause the processor to execute the side - step control implementation method according to any one of the foregoing first aspects.

[0041] The fourth aspect of the present application provides a vehicle, where the vehicle includes a side - step control device provided in the third aspect of the embodiments of the present application.

[0042] Compared with the prior art, the present application has the following beneficial effects:

[0043] The present application provides a side pedal control method, system, device and vehicle. By responding to the vehicle state information meeting the camping mode startup condition, adjustment parameters of the side pedal are obtained. The side pedal includes a first layer structure and a second layer structure. The second layer structure includes a plurality of polyhedron grooves, and the first layer structure includes a plurality of polyhedron structures that fit the polyhedron grooves of the second layer structure. Based on the adjustment parameters, the position of the first layer structure of the side pedal and / or the position of the second layer structure are adjusted to widen the side pedal. That is, based on the adjustment instruction, the positions of the two-layer structures of the side pedal are adjusted so that the position and form of the side pedal meet the requirements of the adjustment instruction. The side pedal can be used as a bench when the seats are not enough. Compared with the fixed side pedal position in the prior art, the side pedal position in the present application is flexibly adjusted, which better meets the requirements of the vehicle occupants and the actual application scenario of the side pedal. Thus, the flexibility of side pedal control is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] To more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0045] Figure 1 It is a flowchart of a side pedal control method provided by an embodiment of the present application;

[0046] Figure 2 It is an axonometric view of the side pedal after deployment provided by an embodiment of the present application;

[0047] Figure 3 It is a top view of the side pedal after deployment provided by an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the upper and lower separation of the side pedal provided by an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of the side pedal control process provided by an embodiment of the present application;

[0050] Figure 6 It is a structure diagram of a side pedal control system provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0052] As mentioned above, with the improvement of people's living standards, more and more vehicles are equipped with electric side steps. The electric side step of a vehicle is a device to assist in getting in and out of the vehicle. It can be driven by an electric motor to automatically extend and retract the step beside the door, facilitating passengers to get in and out of the vehicle. The electric side step can enhance the technological sense and luxurious sense of the whole vehicle. The traditional side step adopts the traditional four-link mechanism + drive motor to drive to a fixed deployment position. However, in actual application scenarios, weekend family self-driving tours and outdoor picnics are increasingly popular forms of entertainment for people. When having a meal in a vehicle side tent, there will be a situation where there are not enough seats.

[0053] In view of this, this application provides a side step control method, system, device and vehicle. By adjusting the positions of the two-layer structure of the side step based on an adjustment instruction, the position of the side step can meet the requirements of the adjustment instruction. Compared with the fixed side step position in the prior art, the position of the side step in this application is flexibly adjusted, and the side step is extended to a certain height and length to meet the comfort of passengers, which is more in line with the requirements of vehicle occupants and the actual application scenarios of the side step. Thus, the flexibility and safety of side step control are improved.

[0054] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0055] The following will illustrate a side step control method provided by this application through an embodiment. Refer to Figure 1 , the Figure 1 is a flowchart of a side step control method provided by an embodiment of this application. The method provided by the embodiment of this application can be executed by a controller or a control unit. The method includes:

[0056] S101. In response to the vehicle state information meeting the camping mode startup condition, obtain the adjustment parameters of the side step.

[0057] Among them, the adjustment parameters can be the width and height of the target side pedal. In an actual application scenario, the adjustment parameters can be set by the vehicle occupants during the extension start process of the side pedal this time. For example, the target side pedal height, that is, the height of the side pedal from the ground is set to 20 cm, and the target side pedal width is 25 cm. The system queries according to the data set by the occupants. If the current data is reasonable and feasible, the data set by the user is obtained as the adjustment parameter.

[0058] In a possible implementation manner, in response to the vehicle status information meeting the camping mode startup condition, obtain the adjustment parameters of the side pedal, including:

[0059] Step A1: In response to a person with a stagnation duration meeting the preset duration condition existing within the preset range of the vehicle, perform image recognition on the person to obtain the person's characteristic information.

[0060] Step A2: Determine the adjustment parameter according to the characteristic information.

[0061] In an actual application scenario, the height of a person can be judged by the infrared reception of the reflective infrared tube module, and the height of the side pedal body from the ground set in advance can be selected according to the person's height, that is, the target side pedal height can be obtained.

[0062] It is also possible to obtain the facial information of the person through a camera, and read the most recently stored parameter associated with the person's characteristic information from the storage area as the adjustment parameter for this time.

[0063] In a possible implementation manner, the camping mode startup condition includes at least one of the following: a person with a stagnation duration meeting the preset duration condition exists within the preset range of the vehicle, the vehicle awning is in the open state, the vehicle charging port is in use, and the camping mode switch is in the startup state.

[0064] In an actual application scenario, when the vehicle body is equipped with a tent awning and the awning is in the open state, relevant signals can be transmitted to the controller, and the controller drives the extension motor to perform subsequent side pedal adjustment. It can be when having a picnic and vehicle power supply is needed. After the plug is inserted into the vehicle power take-off port, that is, the vehicle can detect that the vehicle power plug is in use, and relevant signals are transmitted to the controller, and the controller drives the extension motor. It can be that when the vehicle automatically recognizes that a person is within the preset range of the vehicle and stands for a duration meeting the preset condition, the extension motor is driven by the controller. For example, the preset range of the vehicle can be set to within 1 meter to the side of the vehicle door, and the preset duration condition can be that the standing duration is greater than 1 minute. It can be that the in-vehicle occupant manually controls the intelligent switch to directly control the driving of the extension motor, and the side step extends. During the application process, at least one of the above situations can be adopted to judge whether the current vehicle status information meets the camping mode start condition. To prevent misjudgment, any several of the above situations can be combined and used. For example, when it is simultaneously judged that the vehicle awning is in the open state and the power plug is in use, the side pedal is extended.

[0065] When it is judged that the vehicle status information meets the camping mode start condition, an inquiry instruction can be generated. For example, the inquiry instruction can be displayed on the in-vehicle display screen to ask the in-vehicle occupant whether to start the side pedal extension.

[0066] S102. Adjust the position of the first layer structure and / or the position of the second layer structure of the side pedal based on the adjustment parameters so that the side pedal meets the seating requirements of the person.

[0067] The side pedal includes a first layer structure and a second layer structure. The second layer structure includes a plurality of polyhedron grooves, and the first layer structure includes a plurality of polyhedron structures that fit into the polyhedron grooves of the second layer structure. Among them, the first layer structure and the second layer structure can be independent of each other. For example, the first layer structure includes ten cuboids connected to a connecting rod, and the second layer structure includes ten cuboid grooves connected to the connecting rod. In an actual application scenario, the cuboids and the cuboid grooves can be completely fitted. That is, when the first layer structure and the second layer structure are spliced together, the upper surface of the side pedal formed by the combination of the cuboids and the cuboid grooves is flat, and there is no height difference between the first layer structure and the second layer structure. See Figure 2 , Figure 2 is the axonometric view of the side pedal unfolded provided by the embodiment of the present application. Figure 3 is the top view of the side pedal unfolded provided by the embodiment of the present application.

[0068] In an actual application scenario, different settings can be made for the adjustment strategies corresponding to each adjustment instruction. For example, different adjustment target positions can be controlled according to the identity of the occupant who issues the adjustment instruction. For example, when occupant A issues an instruction to indicate widening the footrest, the footrest is widened to width a, and when occupant B issues an instruction to indicate widening the footrest, the footrest is widened to width b. The same applies to other adjustment instructions.

[0069] In a possible implementation manner, the adjustment parameters include the target side pedal width and the target side pedal height. Adjusting the position of the first layer structure and / or the second layer structure of the side pedal based on the adjustment instruction includes:

[0070] Controlling the side pedal to move to the target side pedal height. During the process of the side pedal unfolding to the target side pedal height or after the side pedal is located at the target side pedal height for a first preset time, controlling the second layer structure of the side pedal to move in a direction away from the vehicle with the horizontal direction as the reference, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction.

[0071] The target side pedal height is a position perpendicular to the horizontal plane and lower than the default parking position of the side pedal. That is, through the CEM (Central Electronic Module, vehicle electronic module), also known as the body control module, an opening instruction for indicating the unfolding of the side pedal is generated. At this time, the first layer structure and the second layer structure of the side pedal are controlled to unfold within a first preset time, and the unfolding target position is the target side pedal height. This position can be set independently by the vehicle occupant or be the default unfolding position of the vehicle. This position is between the lowest edge of the car door and the ground. The distance between the inner edge of the side pedal and the vehicle can be adjusted according to actual needs. For example, different distances can be set for different occupants. For occupant A, the first preset position is set to a distance of a1 from the ground and a distance of a2 from the car door; for occupant B, the first preset position is set to a distance of b1 from the ground and a distance of b2 from the car door. Among them, the process of confirming the occupant identity can be to identify the identity of the instruction issuer according to the in-vehicle camera and / or the voice recognition device.

[0072] The process of extending the side pedal can be during the process of controlling the side pedal to move to the target side pedal height or after the process of moving the side pedal to the target side pedal height is completed.

[0073] Both the first edge and the second edge are parallel to the vehicle direction. The first edge and the second edge are the inner and outer edges of the side step respectively. That is, the first edge can be the inner edge of the side step on the side close to the vehicle, and the second edge can be the outer edge of the side step on the side parallel to the vehicle direction.

[0074] In the first case, when the side step moves from the default parking position and during the process of moving to the target side step height, control the first layer structure of the side step to move in a direction away from the vehicle with the horizontal direction as the reference, so as to widen the distance between the first edge and the second edge of the side step. When the side step moves to the target side step height, the distance between the first edge and the second edge of the side step has also been widened to the target side step width. Such an adjustment process is highly efficient and can quickly complete the extension of the side step.

[0075] In the second case, when the electric side step receives an instruction to widen the side step, while the normal side step drive motor drives the active four-link of the side step to rotate, control the first layer structure of the side step to extend. When the side step moves from the default parking position and after moving to the target side step height, start timing. After the side step is located at the target side step height for the first preset time, control the first layer structure of the side step to move in a direction away from the vehicle with the horizontal direction as the reference, so as to widen the distance between the first edge and the second edge of the side step to the target side step width. Such an adjustment process is highly safe and can avoid scratching the personnel around the vehicle. In actual application scenarios, if a person or an object is touched during the unfolding process, the anti-pinch protection is triggered.

[0076] For example, set the first preset time to 2 seconds. When the electric side step receives an instruction to widen the side step, the normal side step drive motor drives the active four-link of the side step to rotate to first realize the unfolding of the side step until the side step is unfolded to the target side step height. After a delay of 2 seconds, control the first layer structure of the side step to move to widen the side step.

[0077] In a possible implementation manner, the adjustment parameters include the target side step width and the target side step height. Adjusting the position of the first layer structure and / or the position of the second layer structure of the side step based on the adjustment instruction includes:

[0078] Control the side step to move to the target side step height. During the process of the side step unfolding to the target side step height or after the side step is located at the target side step height for the fifth preset time, control the first layer structure of the side step to move in the vehicle direction with the horizontal direction as the reference, so as to widen the distance between the first edge and the second edge of the side step to the target side step width, and both the first edge and the second edge are parallel to the vehicle direction.

[0079] That is, controlling the first - layer structure to extend towards the vehicle direction is applicable to the situation where the control instruction issued by the user indicates both pulling in the side - step position and operating the side - step widening mode. Such an extension method makes the extended side - pedal closer to the door direction, avoiding physical harm to passengers due to the excessive distance between the side - step and the vehicle, and is suitable for children to ride.

[0080] For the process analysis of the extension during the process of the side - pedal being deployed to the target side - pedal height or after the side - pedal has been at the target side - pedal height for a fifth preset time, refer to the previous text. The extension process in this part is the same, so it will not be elaborated here.

[0081] In a possible implementation manner, the adjustment parameters include the target side - pedal width and the target side - pedal height. Adjusting the position of the first - layer structure of the side - pedal and / or the position of the second - layer structure based on the adjustment parameters includes:

[0082] Controlling the side - pedal to move to the target side - pedal height; during the process of the side - pedal being deployed to the preliminary deployment position or after the side - pedal has been at the preliminary deployment position for a second preset time, controlling the first - layer structure of the side - pedal to move towards the vehicle direction with the horizontal direction as the reference, and controlling the second - layer structure of the side - pedal to move towards the vehicle direction with the horizontal direction as the reference, so that the distance between the first edge and the second edge of the side - pedal is widened to the target side - pedal width.

[0083] Such an extension method makes the extended side - pedal closer to the door direction, avoiding physical harm to passengers due to the excessive distance between the side - step and the vehicle, and is suitable for children to ride.

[0084] That is, both the first - layer structure and the second - layer structure translate towards the direction of the whole vehicle, and the distance difference between the movements of the two layers is the target side - pedal width, so that the distance between the first edge and the second edge of the side - step is widened.

[0085] In a possible implementation manner, the adjustment parameters include the target side - pedal width and the target side - pedal height. Adjusting the position of the first - layer structure of the side - pedal and / or the position of the second - layer structure based on the adjustment parameters includes:

[0086] Controlling the side - pedal to move to the target side - pedal height; during the process of the side - pedal being deployed to the preliminary deployment position or after the side - pedal has been at the preliminary deployment position for a sixth preset time, controlling the first - layer structure of the side - pedal to move towards the vehicle direction with the horizontal direction as the reference; controlling the second - layer structure of the side - pedal to move in the direction opposite to the vehicle with the horizontal direction as the reference, so that the distance between the first edge and the second edge of the side - pedal is widened to the target side - pedal width.

[0087] That is, the first - layer structure is translated in the direction opposite to the vehicle body, and the second - layer structure is translated in the direction of the vehicle body, so as to widen the distance between the first edge and the second edge of the side step. This is applicable to the situation where the control instruction issued by the user indicates both pulling in the side - step position and operating the side - step widening mode. The process of extending the side step can be during the process of controlling the side step to move to the target side - step height, or after the process of moving the side step to the target side - step height is completed.

[0088] For the process analysis of extension during the process of the side step being deployed to the target side - step height or after the side step has been at the target side - step height for a sixth preset time, please refer to the previous text. The extension process in this part is the same and will not be elaborated here.

[0089] In an actual application scenario, a time limit can be set for each movement. For example, it is set to complete controlling the first - layer structure of the side step to move in the direction of the vehicle within 3 seconds, with the horizontal direction as the reference, and it is set to complete controlling the second - layer structure of the side step to move in the direction opposite to the vehicle within 5 seconds, with the horizontal direction as the reference. Among them, 3 seconds and 5 seconds are preset times that can be adaptively adjusted.

[0090] In a possible implementation manner, the adjustment parameters include the target side - step width and the target side - step height. Adjusting the position of the first - layer structure of the side step and / or the position of the second - layer structure based on the adjustment parameters includes:

[0091] Controlling the side step to move to the target side - step height; during the process of the side step being deployed to the preparatory deployment position or after the side step has been at the preparatory deployment position for a second preset time, controlling the first - layer structure of the side step to move in the direction opposite to the vehicle with the horizontal direction as the reference, and controlling the second - layer structure of the side step to move in the direction opposite to the vehicle with the horizontal direction as the reference, so as to widen the distance between the first edge and the second edge of the side step to the target side - step width.

[0092] That is, both the first - layer structure and the second - layer structure are translated in the direction opposite to the vehicle body, and the distance difference between the two - layer structures' movements is the target side - step width, so as to widen the distance between the first edge and the second edge of the side step. This is applicable to the situation where the control instruction issued by the user indicates both pushing the side - step position away and operating the side - step widening mode. The process of extending the side step can be during the process of controlling the side step to move to the target side - step height, or after the process of moving the side step to the target side - step height is completed.

[0093] In a possible implementation, the adjustment parameters include the target side pedal length and the target side pedal height. Adjusting the position of the first layer structure and / or the second layer structure of the side pedal based on the adjustment parameters includes:

[0094] Step B1: During the process of moving the side pedal to the target side pedal height or after the side pedal has been at the target side pedal height for a third preset time, control the first layer structure of the side pedal to move upward by a third distance with the horizontal direction as the reference, so that there is a height difference between the first layer structure and the second layer structure.

[0095] Step B2: Control at least one of the first layer structure and the second layer structure of the side pedal to move in the direction of the vehicle head or the vehicle tail with the direction parallel to the vehicle as the reference, so that the distance between the third edge and the fourth edge of the side pedal increases to the target side pedal length.

[0096] In a possible implementation, the adjustment parameters include the target side pedal length and the target side pedal height. Adjusting the position of the first layer structure and / or the second layer structure of the side pedal based on the adjustment parameters includes:

[0097] Step C1: During the process of expanding the side pedal to the target side pedal height or after the side pedal has been at the target side pedal height for a fourth preset time, control the second layer structure of the side pedal to move downward with the horizontal direction as the reference, so that there is a height difference between the first layer structure and the second layer structure.

[0098] Step C2: Control at least one of the first layer structure and the second layer structure of the side pedal to move in the direction of the vehicle head or the vehicle tail with the direction parallel to the vehicle as the reference, so that the distance between the third edge and the fourth edge of the side pedal increases to the target side pedal length, where both the third edge and the fourth edge are perpendicular to the vehicle direction.

[0099] That is, in the above two possible implementations, the process of separating the side pedal up and down can be during the process of controlling the side pedal to move to the target side pedal height, or after the process of moving the side pedal to the target side pedal height is completed.

[0100] In the first case, when the side pedal moves from the default parking position and during the process of moving to the target side pedal height, control the first layer structure of the side pedal to move upward with the horizontal direction as the reference or control the second layer structure of the side pedal to move downward with the horizontal direction as the reference, so that there is a height difference between the first layer structure and the second layer structure. Such an adjustment process is highly efficient and can quickly complete the up and down separation of the side pedal.

[0101] In the second case, when the electric side step receives an instruction to widen the side step, while the normal side step drive motor drives the active four-link of the side step to rotate, the control separates the first layer structure and the second layer structure of the side step. When the side step moves from the default parking position and starts timing after moving to the target side step height, after the side step remains at the target side step height for a third preset time, the control moves the first layer structure of the side step upward with the horizontal direction as the reference, or after a fourth preset time, the control moves the second layer structure of the side step downward with the horizontal direction as the reference, so that there is a height difference between the first layer structure and the second layer structure. Such an adjustment process has high safety and can avoid rubbing against the personnel around the vehicle. In the actual application scenario, if a person or an object is touched during the unfolding process, the anti-pinch protection is triggered.

[0102] In the actual application scenario, the separation of the first layer structure and the second layer structure can adopt the following several forms: controlling the first layer structure of the side step to move upward by a first preset value with the horizontal direction as the reference, so that the height difference between the first layer structure and the second layer structure is the first preset value;

[0103] controlling the second layer structure of the side step to move downward by a first preset value with the horizontal direction as the reference, so that the height difference between the first layer structure and the second layer structure is the first preset value;

[0104] controlling the first layer structure of the side step to move downward by a first distance and controlling the second layer structure of the side step to move downward by a second distance with the horizontal direction as the reference, so that the height difference between the first layer structure and the second layer structure is the first preset value;

[0105] controlling the first layer structure of the side step to move upward by a third distance and controlling the second layer structure of the side step to move upward by a fourth distance with the horizontal direction as the reference, so that the height difference between the first layer structure and the second layer structure is the first preset value;

[0106] and controlling the first layer structure of the side step to move upward by a fifth distance and controlling the second layer structure of the side step to move downward by a sixth distance with the horizontal direction as the reference, so that the height difference between the first layer structure and the second layer structure is the first preset value.

[0107] First, move the first - layer structure upward; second, move the second - layer structure downward. Among them, the first preset value is not less than the thicknesses of the first - layer structure and the second - layer structure. Such separation of the upper and lower structures can enable the subsequent dislocation placement of the first - layer structure and the second - layer structure, thereby increasing the length of the side pedal and allowing more vehicle occupants to sit. Such upward and downward separation movement can, to a certain extent, increase the friction force, making the bench formed by the current side pedal more suitable for occupants to sit. For the schematic diagram after the up - and - down separation of the side pedal, reference can be made to Figure 4 , Figure 4 which is the schematic diagram of the up - and - down separation of the side pedal provided by the embodiment of the present application.

[0108] In a possible implementation manner, a third method can be adopted, that is, while moving the first - layer structure upward, move the second - layer structure downward. That is, the distance between the first layer and the second layer requires the movement of the two - layer structures.

[0109] In a possible implementation manner, a fourth method can be adopted, that is, move the first - layer structure and the second - layer structure upward simultaneously, and the upward movement distance of the first - layer structure is greater than that of the second - layer structure; a fifth method is to move the first - layer structure and the second - layer structure downward simultaneously, and the downward movement distance of the second - layer structure is greater than that of the first - layer structure.

[0110] Both the third edge and the fourth edge are perpendicular to the vehicle direction. The third edge and the fourth edge are the left - and - right side edges of the side pedal. That is, the third edge can be the side edge of the side pedal perpendicular to the vehicle direction and close to the vehicle head side, and the fourth edge can be the side edge of the side pedal perpendicular to the vehicle direction and close to the vehicle tail side.

[0111] Control at least one of the first - layer structure and the second - layer structure of the side pedal to move in the vehicle - head direction or the vehicle - tail direction with the vehicle - parallel direction as the reference, so that the distance between the third edge and the fourth edge of the side pedal is increased to the target side - pedal length. In actual application scenarios, the following situations may exist: First, the first - layer structure moves in the vehicle - head direction on the premise of being parallel to the vehicle direction; second, the second - layer structure moves in the vehicle - tail direction on the premise of being parallel to the vehicle direction; third, both the second - layer structure and the first - layer structure move in the vehicle - tail direction on the premise of being parallel to the vehicle direction; fourth, both the second - layer structure and the first - layer structure move in the vehicle - head direction on the premise of being parallel to the vehicle direction; fifth, the second - layer structure moves in the vehicle - head direction on the premise of being parallel to the vehicle direction, and the first - layer structure moves in the vehicle - tail direction on the premise of being parallel to the vehicle direction; sixth, the second - layer structure moves in the vehicle - tail direction on the premise of being parallel to the vehicle direction, and the first - layer structure moves in the vehicle - head direction on the premise of being parallel to the vehicle direction.

[0112] That is, the above data movement method is used to realize the left - right separation of the first - layer structure and the second - layer structure. The original distance between the third edge and the fourth edge is the length of the first - layer structure or the second - layer structure. After movement, the distance between the third edge and the fourth edge becomes larger, and in the maximum case, it can be greater than the sum of the lengths of the first - layer structure and the second - layer structure.

[0113] In an actual application scenario, after the distance between the third edge and the fourth edge of the side pedal is increased to the target side - pedal length, the first - layer structure or the second - layer structure can be moved up and down so that there is no height difference between the first - layer structure and the second - layer structure.

[0114] In a possible implementation manner, during the movement of the first - layer structure of the side pedal and / or the second - layer structure of the side pedal, when it is detected that there is a target object within the target range of the first - layer structure of the side pedal and / or the second - layer structure of the side pedal, the side pedal is adjusted to a stationary state. That is, the anti - pinch protection mode is activated to prevent damage to the target object. Subsequently, the first - layer structure and the second - layer structure can be adjusted to the default parking position of the side pedal.

[0115] In an actual application scenario, the current obstruction situation of the side pedal can be fed back to the head - up display system, and the position of the target object and the side - pedal obstruction warning can be displayed on the front windshield.

[0116] When it is detected that the current temperature of the side pedal is higher than the first preset temperature value or the temperature of the motor controlling the operation of the side pedal is higher than the second preset temperature value, the side pedal is adjusted to a stationary state and no subsequent adjustment process is performed.

[0117] Regarding the control process of the electric side pedal in this mode, reference can be made to Figure 5 , Figure 5This is a schematic diagram of the side pedal control process provided by the embodiments of the present application. Among them, the CEM (Central Electronic Module, vehicle electronic module) is used to feedback the power mode of the vehicle and the adjustment instruction for indicating the widened side pedal to the side pedal controller. The adjustment instruction is obtained through manual recognition. That is, when the vehicle occupants recognize that the current application scenario requires a widened side pedal, a mode selection instruction is sent to the CEM, and then the CEM sends an adjustment instruction for indicating the widened side pedal to the side pedal controller. The controller uses the side pedal drive motor and the side pedal intelligent bench drive motor to drive the side pedal motor, so as to perform relevant control on the position adjustment of the first layer and / or the second layer of the side pedal. When the side pedal is blocked during the movement process, the blocked situation is feedback to the head-up display system. Among them, the drive motor records the target adjustment position based on Hall position memory. Hall position memory is a technology for storing and reading digital information, which uses the Hall effect to achieve. On a magnetic material, by applying magnetic fields at different positions, the material can have different magnetic properties at different positions. In this way, digital information can be encoded into magnetic states at different positions, and then the digital information can be obtained by reading the magnetic states at different positions.

[0118] In a possible implementation manner, the adjusting the position of the first layer structure and / or the second layer structure of the side pedal according to the adjustment instruction includes:

[0119] When the adjustment instruction is used to indicate closing the side pedal, control the first layer structure and the second layer structure of the side pedal to move to the default parking position of the side pedal.

[0120] That is, after receiving the closing signal, all the movement controls of the side pedal are synchronously closed and move to the default parking position of the side pedal within a preset time. Among them, the default parking position can be set by the vehicle occupants according to actual needs.

[0121] It should be noted that the above-mentioned several preset times or preset positions can be adjusted and set according to actual needs.

[0122] The above are some specific implementation manners of the side pedal control implementation method provided by the embodiments of the present application. Based on this, the present application also provides a corresponding system for side pedal control implementation. Next, the system provided by the embodiments of the present application will be introduced from the perspective of functional modularization. Figure 6 This is a structure diagram of a side pedal control system provided by the embodiments of the present application.

[0123] The system includes:

[0124] An acquisition unit 110, configured to obtain adjustment parameters of a side pedal in response to the vehicle state information meeting the camping mode activation condition, where the side pedal includes a first-layer structure and a second-layer structure, the second-layer structure includes a plurality of polyhedron grooves, and the first-layer structure includes a plurality of polyhedron structures that fit the polyhedron grooves of the second-layer structure;

[0125] An adjustment unit 111, configured to adjust the position of the first-layer structure of the side pedal and / or the position of the second-layer structure based on the adjustment parameters, so that the side pedal meets the personnel riding requirements.

[0126] Optionally, the camping mode activation condition includes at least one of: there is a person within a preset range of the vehicle whose stagnation duration meets a preset duration condition, the vehicle awning is in an open state, the vehicle charging port is in a use state, and the camping mode switch is in an activated state.

[0127] Optionally, the acquisition unit is specifically configured to:

[0128] In response to there being a person within a preset range of the vehicle whose stagnation duration meets a preset duration condition, perform image recognition on the person to obtain the feature information of the person;

[0129] Determine the adjustment parameters according to the feature information.

[0130] Optionally, the adjustment unit is specifically configured to:

[0131] Control the side pedal to move to a target side pedal height;

[0132] During the process of the side pedal expanding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first-layer structure and the second-layer structure to move in a direction perpendicular to the vehicle, so that the distance between the first edge and the second edge of the side step is the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction.

[0133] Optionally, the adjustment unit is specifically configured to:

[0134] Control the side pedal to move to a target side pedal height;

[0135] During the process of the side pedal expanding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first-layer structure and the second-layer structure to move in a direction perpendicular to the ground, so that the height difference between the first-layer structure and the second-layer structure is a first preset value;

[0136] Control at least one of the first layer structure and the second layer structure of the side pedal to move in the direction of the vehicle head or the vehicle tail with respect to the direction parallel to the vehicle, so that the distance between the third edge and the fourth edge of the side pedal is increased to the target side pedal length, and both the third edge and the fourth edge are perpendicular to the vehicle direction.

[0137] Optionally, controlling at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the vehicle so that the distance between the first edge and the second edge of the side step is the target side pedal width includes one of the following methods:

[0138] Control the second layer structure of the side pedal to move in a direction away from the vehicle with respect to the horizontal direction, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction;

[0139] Control the first layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction;

[0140] Control the first layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction, and control the second layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width;

[0141] Control the first layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction; control the second layer structure of the side pedal to move in a direction away from the vehicle with respect to the horizontal direction, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width;

[0142] And control the first layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction, and control the second layer structure of the side pedal to move in the direction of the vehicle with respect to the horizontal direction, so that the distance between the first edge and the second edge of the side pedal is widened to the target side pedal width.

[0143] Optionally, controlling at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the ground so that the height difference between the first layer structure and the second layer structure is a first preset value includes one of the following methods:

[0144] Control the first - layer structure of the side pedal to move upward by a first preset value with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is the first preset value;

[0145] Control the second - layer structure of the side pedal to move downward by a first preset value with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is the first preset value;

[0146] Control the first - layer structure of the side pedal to move downward by a first distance with respect to the horizontal direction, and control the second - layer structure of the side pedal to move downward by a second distance with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is the first preset value;

[0147] Control the first - layer structure of the side pedal to move upward by a third distance with respect to the horizontal direction, and control the second - layer structure of the side pedal to move upward by a fourth distance with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is the first preset value;

[0148] And control the first - layer structure of the side pedal to move upward by a fifth distance with respect to the horizontal direction, and control the second - layer structure of the side pedal to move downward by a sixth distance with respect to the horizontal direction, so that the height difference between the first - layer structure and the second - layer structure is the first preset value.

[0149] Optionally, the adjustment unit is specifically configured to:

[0150] In response to the closing instruction, control the first - layer structure and the second - layer structure of the side pedal to move to the default parking position of the side pedal simultaneously.

[0151] The embodiment of the present application also provides a corresponding device and a computer storage medium for implementing the side - pedal control implementation method provided by the embodiment of the present application.

[0152] Wherein, the device includes a memory and a processor. The memory is used to store instructions or codes, and the processor is used to execute the instructions or codes so that the device executes the side - pedal control implementation method described in any embodiment of the present application.

[0153] The computer storage medium stores codes. When the codes are run, the device running the codes implements the side - pedal control implementation method described in any embodiment of the present application.

[0154] The present application also provides a vehicle, and the vehicle includes the side - pedal control implementation method described in any embodiment of the present application.

[0155] It should be noted that the embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other. For the systems or devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0156] It should be understood that in this application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0157] It should also be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0158] The steps of the methods or algorithms described in connection with the embodiments disclosed herein can be implemented directly in hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0159] The foregoing description of the disclosed embodiments enables those skilled in the art to practice or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A side pedal control method, characterized in that, it includes: In response to the vehicle status information meeting the camping mode startup condition, obtain the adjustment parameters of the side pedal. The side pedal includes a first layer structure and a second layer structure. The second layer structure includes a plurality of polyhedron grooves, and the first layer structure includes a plurality of polyhedron structures that fit the polyhedron grooves of the second layer structure; Based on the adjustment parameters, adjust the position of the first layer structure of the side pedal and / or the position of the second layer structure, so that the side pedal meets the seating requirements of people.

2. The method according to claim 1, characterized in that, The camping mode startup conditions include at least one of the following: there are people within the preset range of the vehicle whose stagnation time meets the preset time condition, the vehicle awning is in the open state, the vehicle charging port is in use, and the camping mode switch is in the startup state.

3. The method according to claim 1, characterized in that, The step of in response to the vehicle status information meeting the camping mode startup condition and obtaining the adjustment parameters of the side pedal includes: In response to there being people within the preset range of the vehicle whose stagnation time meets the preset time condition, perform image recognition on the people to obtain the characteristic information of the people; Determine the adjustment parameters according to the characteristic information.

4. The method according to claim 1, characterized in that, The adjustment parameters include the target side pedal width and the target side pedal height. The step of adjusting the position of the first layer structure of the side pedal and / or the position of the second layer structure based on the adjustment parameters includes: Control the side pedal to move to the target side pedal height; During the process of the side pedal expanding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the vehicle, so that the distance between the first edge and the second edge of the side step is the target side pedal width, and both the first edge and the second edge are parallel to the vehicle direction.

5. The method according to claim 1, characterized in that, The adjustment parameters include the target side pedal length and the target side pedal height. The step of adjusting the position of the first layer structure of the side pedal and / or the position of the second layer structure based on the adjustment parameters includes: Control the side pedal to move to the target side pedal height; During the process of the side pedal expanding to the target side pedal height or after the side pedal is at the target side pedal height for a first preset time, control at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the ground, so that the height difference between the first layer structure and the second layer structure is a first preset value; Control at least one of the first layer structure and the second layer structure of the side pedal to move in the direction of the vehicle head or the vehicle tail with the direction parallel to the vehicle as the reference, so that the distance between the third edge and the fourth edge of the side pedal increases to the target side pedal length, and both the third edge and the fourth edge are perpendicular to the vehicle direction.

6. The method according to claim 4, characterized in that, Controlling at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the vehicle so that the distance between the first edge and the second edge of the side step is the target side step width includes one of the following methods: Controlling the second layer structure of the side step to move in a direction away from the vehicle with respect to the horizontal direction so that the distance between the first edge and the second edge of the side step is widened to the target side step width, and both the first edge and the second edge are parallel to the vehicle direction; Controlling the first layer structure of the side step to move in the vehicle direction with respect to the horizontal direction so that the distance between the first edge and the second edge of the side step is widened to the target side step width, and both the first edge and the second edge are parallel to the vehicle direction; Controlling the first layer structure of the side step to move in the vehicle direction with respect to the horizontal direction, and controlling the second layer structure of the side step to move in the vehicle direction with respect to the horizontal direction so that the distance between the first edge and the second edge of the side step is widened to the target side step width; Controlling the first layer structure of the side step to move in the vehicle direction with respect to the horizontal direction; controlling the second layer structure of the side step to move in a direction away from the vehicle with respect to the horizontal direction so that the distance between the first edge and the second edge of the side step is widened to the target side step width; And controlling the first layer structure of the side step to move in the vehicle direction with respect to the horizontal direction, and controlling the second layer structure of the side step to move in the vehicle direction with respect to the horizontal direction so that the distance between the first edge and the second edge of the side step is widened to the target side step width.

7. The method according to claim 5, wherein, Controlling at least one of the first layer structure and the second layer structure to move in a direction perpendicular to the ground so that the height difference between the first layer structure and the second layer structure is a first preset value includes one of the following methods: Controlling the first layer structure of the side step to move upward by a first preset value with respect to the horizontal direction so that the height difference between the first layer structure and the second layer structure is the first preset value; Controlling the second layer structure of the side step to move downward by a first preset value with respect to the horizontal direction so that there is a height difference between the first layer structure and the second layer structure of the first preset value; Controlling the first layer structure of the side step to move downward by a first distance, and controlling the second layer structure of the side step to move downward by a second distance with respect to the horizontal direction so that there is a height difference between the first layer structure and the second layer structure of the first preset value; Controlling the first layer structure of the side step to move upward by a third distance, and controlling the second layer structure of the side step to move upward by a fourth distance with respect to the horizontal direction so that there is a height difference between the first layer structure and the second layer structure of the first preset value; Control the first - layer structure of the side pedal to move upward by a fifth distance with respect to the horizontal direction, and control the second - layer structure of the side pedal to move downward by a sixth distance with respect to the horizontal direction, so that there is a height difference of a first preset value between the first - layer structure and the second - layer structure.

8. The method according to claim 1, wherein, the adjustment of the position of the first - layer structure of the side pedal and / or the position of the second - layer structure based on the adjustment parameter includes: In response to a closing instruction, control the first - layer structure and the second - layer structure of the side pedal to move to the default parking position of the side pedal simultaneously.

9. A side - pedal control system, wherein, it includes: An acquisition unit, configured to acquire an adjustment parameter of the side pedal in response to the vehicle state information meeting the camping - mode startup condition. The side pedal includes a first - layer structure and a second - layer structure. The second - layer structure includes a plurality of polyhedron grooves, and the first - layer structure includes a plurality of polyhedron structures that fit the polyhedron grooves of the second - layer structure; An adjustment unit, configured to adjust the position of the first - layer structure of the side pedal and / or the position of the second - layer structure based on the adjustment parameter, so that the side pedal meets the seating requirements of personnel.

10. A vehicle, wherein, the vehicle includes a central electronic control module, and the central electronic control module is configured to execute the side - pedal control method according to any one of claims 1 - 8.

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