Vehicle pedal control method, vehicle, computer readable storage medium and computer program product

Abstract

The invention relates to a vehicle pedal control method, a vehicle, a computer readable storage medium and a computer program product. The method comprises the steps that vehicle door state data of a vehicle door are obtained, and the vehicle door state data comprise the vehicle door opening and closing speed and the vehicle door opening and closing direction corresponding to the vehicle door; determining a vehicle door opening and closing scene corresponding to the vehicle door according to the vehicle door opening and closing speed and the vehicle door opening and closing direction; according to the vehicle door opening and closing scene and the vehicle door opening and closing speed, the stretching speed of a vehicle pedal corresponding to the vehicle door is generated; and controlling the vehicle pedal to move at the telescopic speed. By adopting the method, the vehicle pedal can be flexibly controlled to move.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle pedal control method, a vehicle, a computer-readable storage medium, and a computer program product. Background Art

[0002] With the development of vehicle control technology, electric vehicle pedals have gradually emerged. Electric vehicle pedals do not need to be manually triggered by the user and can move autonomously.

[0003] However, currently vehicle pedals usually move autonomously at a fixed speed, so the vehicle pedals cannot be moved flexibly according to specific circumstances. This often causes the vehicle pedals to interfere with the vehicle doors, causing damage to the doors and vehicle pedals, or the user to be tripped by the pedals that are not fully extended. Summary of the Invention

[0004] Based on this, it is necessary to provide a vehicle pedal control method, a vehicle, a computer-readable storage medium and a computer program product that can flexibly control the movement of the vehicle pedal to address the above technical problems.

[0005] In a first aspect, the present application provides a vehicle pedal control method, comprising:

[0006] Acquiring door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door;

[0007] determining a door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction;

[0008] generating an extension and retraction speed of a vehicle pedal corresponding to the vehicle door according to the vehicle door opening and closing scene and the vehicle door opening and closing speed;

[0009] The vehicle pedal is controlled to move at the extension and retraction speed.

[0010] In one embodiment, generating the extension and retraction speed of the vehicle pedal corresponding to the vehicle door according to the vehicle door opening and closing scene and the vehicle door opening and closing speed includes:

[0011] When the door opening and closing scenario is an abnormal opening and closing scenario, obtaining a nonlinear parameter corresponding to the abnormal opening and closing scenario, and generating an extension and retraction speed of the vehicle pedal according to the nonlinear parameter and the door opening and closing speed;

[0012] When the door opening and closing scene is a normal opening and closing scene, a linear parameter corresponding to the normal opening and closing scene is obtained, and an extension and retraction speed of the vehicle pedal is generated according to the linear parameter and the door opening and closing speed.

[0013] In one embodiment, controlling the vehicle pedal to move at the telescopic speed includes:

[0014] Obtaining a reference extension length corresponding to the vehicle pedal and detecting a distance between the vehicle door and an external obstacle;

[0015] determining a current extension length according to the interval distance and the reference extension length;

[0016] The vehicle pedal is controlled to be extended at the extension speed and the current extension length.

[0017] In one embodiment, determining the current extension length according to the interval distance and the reference extension length includes:

[0018] determining a first length correction value according to the interval distance;

[0019] detecting a slope of an area in which the vehicle is located, and determining a second length correction value based on the slope;

[0020] The reference extension length is corrected according to the first length correction value and the second length correction value to obtain a current extension length.

[0021] In one embodiment, determining the current extension length according to the interval distance and the reference extension length includes:

[0022] When the interval distance is greater than a preset distance threshold, determining the reference extension length as the current extension length;

[0023] When the interval distance is not greater than a preset distance threshold, the reference extension length is corrected according to the interval distance to obtain a current extension length.

[0024] In one embodiment, controlling the vehicle pedal to move at the telescopic speed includes:

[0025] Detecting the current parking scene of the vehicle and obtaining pedal control strategy information corresponding to the current parking scene;

[0026] According to the pedal control strategy information, the vehicle pedal is controlled to move at the extension and retraction speed.

[0027] In one embodiment, the door opening and closing speed includes a door opening speed and a door closing speed; and determining a door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction includes:

[0028] In a case where the door opening and closing direction is a door closing direction, if the door closing speed is greater than a first preset speed, it is determined that the vehicle door opening and closing scene corresponding to the vehicle door is an abnormal opening and closing scene.

[0029] If the door closing speed is not greater than the first preset speed, it is determined that the vehicle door opening and closing scene is a normal opening and closing scene.

[0030] In a case where the door opening and closing direction is a door opening direction, if the door closing speed is greater than a second preset speed, it is determined that the vehicle door opening and closing scene corresponding to the vehicle door is an abnormal opening and closing scene.

[0031] If the door closing speed is not greater than the second preset speed, it is determined that the vehicle door opening and closing scene is a normal opening and closing scene.

[0032] In one of the embodiments, an end of the vehicle pedal is provided with a distance sensor, and the method further comprises:

[0033] Using the distance sensor, detecting whether there is an obstacle within a preset distance range of the end of the vehicle pedal;

[0034] In a case where it is detected that there is an obstacle within the preset distance range, performing emergency braking on the vehicle pedal during the process of controlling the vehicle pedal to extend.

[0035] In a second aspect, the application further provides a vehicle, comprising a movable vehicle pedal, a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0036] Obtaining door state data of a vehicle door, wherein the door state data comprises a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determining a vehicle door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction; generating an extension and retraction speed of a vehicle pedal corresponding to the vehicle door according to the door opening and closing scene and the door opening and closing speed; and controlling the vehicle pedal to move at the extension and retraction speed.

[0037] In a third aspect, the application further provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the following steps:

[0038] Obtain door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determine a door opening and closing scene corresponding to the vehicle door based on the door opening and closing speed and the door opening and closing direction; generate an extension and retraction speed of a vehicle pedal corresponding to the vehicle door based on the door opening and closing scene and the door opening and closing speed; and control the vehicle pedal to move at the extension and retraction speed.

[0039] In a fourth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0040] Obtain door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determine a door opening and closing scene corresponding to the vehicle door based on the door opening and closing speed and the door opening and closing direction; generate an extension and retraction speed of a vehicle pedal corresponding to the vehicle door based on the door opening and closing scene and the door opening and closing speed; and control the vehicle pedal to move at the extension and retraction speed.

[0041] The above-mentioned vehicle pedal control method, vehicle, computer-readable storage medium and computer program product can first obtain the door status data of the vehicle door, and the door status data includes the door opening and closing speed and door opening and closing direction corresponding to the vehicle door, so that the door opening and closing scene corresponding to the vehicle door can be determined according to the door opening and closing speed and the door opening and closing direction. Based on this, the extension and retraction speed of the vehicle pedal that matches the door opening and closing direction and the door opening and closing speed in real time can be generated, so as to control the vehicle pedal to move at the generated extension and retraction speed, and control the vehicle pedal to perform the extension and retraction action accordingly to avoid interference between the vehicle pedal and the door, or the door is fully opened but the vehicle pedal is not fully extended, so as to realize flexible control of the movement of the vehicle pedal. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 This is a flow chart of a vehicle pedal control method in one embodiment of the present application;

[0044] Figure 2 This is a schematic diagram of a flow chart for controlling the movement of a vehicle pedal in one embodiment of the present application;

[0045] Figure 3 This is a schematic diagram of a process for determining the current extension length in one embodiment of the present application;

[0046] Figure 4 This is a schematic diagram of a flow chart for controlling the movement of a vehicle pedal in another embodiment of the present application;

[0047] Figure 5 This is a structural block diagram of a vehicle pedal control device in one embodiment of the present application;

[0048] Figure 6 This is a diagram of the internal structure of a vehicle in one embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0050] It should be noted that the terms "first", "second", etc. used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "including" and "having" used in this application and any variations thereof are intended to cover non-exclusive inclusions. The term "plurality" used in this application refers to two or more. The term "and / or" used in this application refers to one of the solutions or any combination of multiple solutions.

[0051] In an exemplary embodiment, Figure 1 As shown, a vehicle pedal control method is provided, which is described by taking the method applied to a vehicle as an example, and includes the following steps 202 to 208. Among them:

[0052] Step 202 : Acquire door status data of the vehicle door, wherein the door status data includes the door opening and closing speed and door opening and closing direction corresponding to the vehicle door.

[0053] Among them, in this embodiment, the vehicle is provided with a vehicle status detection module, which can be a motion detection sensor, and the motion detection sensor includes a displacement sensor and / or an angle sensor. The displacement sensor is used to detect the door displacement corresponding to the vehicle door, and the angle sensor is used to detect the opening and closing angle of the vehicle door; the vehicle status detection module can also detect the driving motor data of the vehicle door.

[0054] As an example, step 202 includes: obtaining one or more of the door displacement, opening and closing angle, and drive motor data of the vehicle door; and determining the door opening and closing speed and door opening and closing direction corresponding to the vehicle door based on one or more of the door displacement, opening and closing angle, and drive motor data.

[0055] As an example, the door opening and closing direction may be a door closing direction or a door opening direction.

[0056] Step 204 : determining a door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction.

[0057] Among them, it should be noted that if the car door closes too quickly or too slowly, it may be because the external environment (such as strong wind) causes the car door to close abnormally. At this time, the car door opening and closing scene is an abnormal opening and closing scene. If the car door opens too slowly or too quickly, it may be because the user slightly opens the car door for other intentions (not the intention to open the car door, such as to pick up dropped items, etc.). At this time, the car door opening and closing scene is also an abnormal opening and closing scene.

[0058] As an example, step 204 includes: obtaining a preset door opening and closing speed range corresponding to the door opening and closing direction; if the current door opening and closing speed is within the preset door opening and closing speed range, determining that the door opening and closing scene corresponding to the vehicle door is a normal opening and closing scene; if the current door opening and closing speed is outside the preset door opening and closing speed range, determining that the door opening and closing scene corresponding to the vehicle door is an abnormal opening and closing scene.

[0059] Step 206 : generating an extension and retraction speed of a vehicle pedal corresponding to the vehicle door according to the door opening and closing scene and the door opening and closing speed.

[0060] Among them, in this embodiment, corresponding speed generation parameters are set for different door opening and closing scenarios. The speed generation parameters are used to determine the mapping relationship between the door opening and closing speed and the extension and extension speed of the vehicle pedal when the door opening and closing speed matches the extension and extension speed of the vehicle pedal.

[0061] As an example, step 206 includes: obtaining a speed generation parameter corresponding to the door opening and closing scene, and generating the extension and retraction speed of the vehicle pedal based on the speed generation parameter and the door opening and closing speed, wherein the above-mentioned speed generation parameter can be a speed generation coefficient, and the product between the speed generation coefficient and the door opening and closing speed can be calculated, and the product can be used as the extension and retraction speed of the vehicle pedal; the speed generation parameter can also be a speed compensation value, and the sum of the speed compensation value and the door opening and closing speed can be calculated, and the sum can be used as the extension and retraction speed of the vehicle pedal.

[0062] In some embodiments, generating the extension and retraction speed of the vehicle pedal corresponding to the vehicle door according to the door opening and closing scene and the door opening and closing speed includes:

[0063] When the door opening and closing scene is an abnormal opening and closing scene, the nonlinear parameters corresponding to the abnormal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the nonlinear parameters and the door opening and closing speed; when the door opening and closing scene is a normal opening and closing scene, the linear parameters corresponding to the normal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the linear parameters and the door opening and closing speed.

[0064] In this embodiment, linear parameters are set for normal opening and closing scenarios, so that when the door opens and closes normally, the linear parameters and the door opening and closing speed can be used to generate the extension and extension speed of the vehicle pedal; nonlinear parameters are set for abnormal opening and closing scenarios, so that when the door opens and closes abnormally, the nonlinear parameters and the door opening and closing speed can be used to generate the extension and extension speed of the vehicle pedal.

[0065] As an example, the product of the linear parameter and the door opening and closing speed may be calculated, and the product may be used as the extension and retraction speed of the vehicle pedal.

[0066] As an example, the product of the nonlinear parameter and the door opening and closing speed may be calculated, and the product may be used as the extension and retraction speed of the vehicle pedal.

[0067] In this way, in this embodiment, the door opening and closing scenes are divided into normal opening and closing scenes and abnormal opening and closing scenes, and linear parameters are set for the normal opening and closing scenes, and nonlinear parameters are set for the abnormal opening and closing scenes. In this way, regardless of whether the door is opened and closed normally or abnormally, the extension and retraction speed of the vehicle pedal that matches the door opening and closing speed can be generated, ensuring the coordination between the extension and retraction speed of the vehicle pedal and the door opening and closing speed.

[0068] Step 208 , controlling the vehicle pedal to move at a telescopic speed.

[0069] As an example, step 208 includes: controlling the vehicle pedal to move at the aforementioned extension and retraction speed in a closed-loop feedback control manner.

[0070] As an example, closed-loop control of vehicle pedal extension and retraction can be achieved through a PID control algorithm (Proportional-Integral-Derivative Control Algorithm).

[0071] In the above-mentioned vehicle pedal control method, the door status data of the vehicle door is first obtained, and the door status data includes the door opening and closing speed and door opening and closing direction corresponding to the vehicle door, so as to determine the door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and door opening and closing direction. Based on this, the extension and retraction speed of the vehicle pedal is generated in real time to match the door opening and closing direction and the door opening and closing speed, and the vehicle pedal is controlled to perform the extension and retraction action accordingly to avoid interference between the vehicle pedal and the door, or the door is fully opened but the vehicle pedal is not fully extended, so that the vehicle pedal can be flexibly controlled to move.

[0072] In an exemplary embodiment, Figure 2 As shown, controlling the vehicle pedal to move at a telescopic speed includes:

[0073] Step 302 : Obtain a reference extension length corresponding to the vehicle pedal, and detect the distance between the vehicle door and an external obstacle.

[0074] In this embodiment, a distance sensor is provided on the vehicle. The distance sensor can be provided at the position of the vehicle door to measure the distance between the vehicle door and external obstacles.

[0075] Step 304: Determine the current extension length according to the interval distance and the reference extension length.

[0076] As an example, step 304 includes: correcting the reference extension length according to the interval distance to obtain the current extension length.

[0077] As an example, a correction coefficient corresponding to the interval distance may be obtained, and the product of the correction coefficient and the reference extension length may be calculated to obtain the current extension length.

[0078] As an example, a correction value corresponding to the interval distance may be obtained, and the correction value may be subtracted from the reference extension length to obtain the current extension length.

[0079] As an example, determining the current extension length based on the separation distance and the reference extension length includes:

[0080] When the interval distance is greater than the preset distance threshold, the reference extension length is determined as the current extension length; when the interval distance is not greater than the preset distance threshold, the reference extension length is corrected according to the interval distance to obtain the current extension length.

[0081] Among them, when the interval distance is greater than the preset distance threshold, it means that the external obstacle will not affect the extension of the vehicle pedal, so the reference extension length can be directly determined as the current extension length; when the interval distance is not greater than the preset distance threshold, it means that the external obstacle will affect the extension of the vehicle pedal, so it is necessary to use the interval distance to correct the reference extension length to the current extension length to prevent the vehicle pedal from being extended and colliding with the external obstacle and damaging the vehicle pedal.

[0082] Step 306 : Control the vehicle pedal to extend at the extension speed and the current extension length.

[0083] As an example, the extension speed and the current extension length can be used as control targets, and a PID control algorithm can be used to implement closed-loop control of the vehicle pedal extension, thereby controlling the vehicle pedal extension.

[0084] In this embodiment, the reference extension length corresponding to the vehicle pedal can be obtained first, and the interval distance between the vehicle door and the external obstacle can be detected; based on the interval distance, the reference extension length can be corrected to the current extension length, so that the vehicle pedal can be controlled to be extended at the above-mentioned extension speed and current extension length. Therefore, in the process of controlling the extension of the vehicle pedal in this embodiment, not only the extension speed of the vehicle pedal needs to match the opening and closing speed of the door, but also the influence of the external environment on the extension and retraction of the vehicle pedal is considered, so the accuracy of the vehicle pedal extension and retraction control can be improved.

[0085] In some embodiments, reference Figure 3 , based on the spacing distance and the reference extension length, determine the current extension length, including:

[0086] Step 402: Determine a first length correction value according to the interval distance.

[0087] In this embodiment, different length correction values ​​are set for different interval distances. The larger the interval distance, the smaller the set length correction value, and the larger the interval distance, the larger the set length correction value.

[0088] As an example, step 402 includes: using the interval distance as an index to search for the corresponding first length correction value.

[0089] Step 404 : Detect the slope of the area where the vehicle is located, and determine a second length correction value based on the slope.

[0090] As an example, step 404 includes: detecting the pitch angle of the vehicle, and determining the slope of the area where the vehicle is located based on the pitch angle, and searching for the corresponding second length correction value using the slope as an index.

[0091] Step 406: Correct the reference extension length according to the first length correction value and the second length correction value to obtain the current extension length.

[0092] As an example, step 406 includes: subtracting the first length correction value and the second length correction value from the reference extension length to obtain the current extension length.

[0093] In this embodiment, the first length correction value can be determined based on the spacing distance, and then the slope of the area where the vehicle is located can be detected. The second length correction value can be determined based on the slope, and then the reference extension length is corrected according to the first length correction value and the second length correction value to obtain the current extension length. In this way, in this embodiment, the current extension length of the vehicle pedal can be generated according to the spacing distance between the vehicle door and the external obstacle and the slope of the area where the vehicle is located, that is, the extension of the vehicle pedal can be accurately controlled based on multiple environmental factors such as external obstacles and slope, which helps to improve the control accuracy of the vehicle pedal extension.

[0094] In some embodiments, controlling a vehicle pedal to move at a telescoping speed includes:

[0095] Detect the current parking scene of the vehicle and obtain pedal control strategy information corresponding to the current parking scene; control the vehicle pedal to move at a telescopic speed based on the pedal control strategy information.

[0096] Among them, in this embodiment, the current parking scene of the vehicle can be detected, so that the pedal control strategy information corresponding to the current parking scene can be obtained, wherein the pedal control strategy information can be the trigger information for obtaining the pedal control parameters, and the pedal control strategy information corresponding to different current parking scenes can trigger the acquisition of different pedal control parameters; for example, in a slope parking scene, the pedal control strategy information can trigger the process of obtaining the extension length correction value of the vehicle pedal corresponding to the slope, and in a narrow parking space parking scene, the pedal control strategy information can trigger the process of obtaining a preset correction coefficient, which is used to correct the baseline extension length of the vehicle pedal.

[0097] It should be noted that current parking scenarios include but are not limited to slope parking scenarios, narrow parking space parking scenarios, and single-sided obstacle scenarios.

[0098] In a slope parking scenario, the slope of the vehicle area can be triggered based on the pedal control strategy information, and the baseline extension length of the vehicle pedal can be corrected according to the extension length correction value corresponding to the slope to obtain the current extension length, so that the vehicle pedal can be controlled to move at the above-mentioned current extension length and extension speed.

[0099] In a narrow parking scene, the preset correction coefficient can be obtained based on the pedal control strategy information, and the reference extension length of the vehicle pedal can be corrected according to the preset correction coefficient to obtain the current extension length, so that the vehicle pedal can be controlled to move at the above current extension length and extension / contraction speed.

[0100] In a single-side obstacle scene, the interval distance between the single-side obstacle outside the vehicle and the door is less than the target distance threshold, so the pedal control information can be obtained based on the pedal control strategy information, and the pedal control information can be used to control the vehicle pedal on the other side without obstacles to extend at the above extension / contraction speed.

[0101] In this embodiment, the current parking scene of the vehicle can be detected first, and the corresponding pedal control strategy information can be obtained according to the current parking scene, so that the vehicle pedal can be controlled to move at the above extension / contraction speed based on the pedal control strategy information. Thus, the vehicle pedal is controlled to move according to the door opening / closing speed and the current parking scene of the vehicle, so that the movement control process of the vehicle pedal matches the door opening / closing speed and the environment outside the vehicle, which helps to improve the control accuracy of the vehicle pedal.

[0102] In some embodiments, the door opening / closing speed includes a door opening speed and a door closing speed; and the door opening / closing scene corresponding to the vehicle door is determined according to the door opening / closing speed and the door opening / closing direction, including:

[0103] In the case where the door opening / closing direction is the door closing direction, if the door closing speed is greater than a first preset speed, it is determined that the door opening / closing scene corresponding to the vehicle door is an abnormal opening / closing scene; if the door closing speed is not greater than the first preset speed, it is determined that the door opening / closing scene is a normal opening / closing scene; in the case where the door opening / closing direction is the door opening direction, if the door closing speed is greater than a second preset speed, it is determined that the door opening / closing scene is an abnormal opening / closing scene; if the door closing speed is not greater than the second preset speed, it is determined that the door opening / closing scene is a normal opening / closing scene.

[0104] In the case where the door is closing, there may be an external environment influence (such as strong wind, etc.) that causes the door to close at an extremely fast speed (abnormal door closing), and the vehicle pedal may not have time to retract. In this case, the door is prone to interfere with the vehicle pedal, thereby causing the door and the vehicle pedal to be easily damaged. In the case where the door is opening, there may be an internal environment influence (such as the user suddenly and quickly opening the door, etc.) that causes the door to open quickly (abnormal door opening), and the vehicle pedal may not have been fully extended. In this case, the vehicle pedal that has not been fully extended is prone to trip the user.

[0105] It should be noted that the door closing speed when the door is abnormally closed can be greater than the door opening speed when the door is abnormally opened.

[0106] Specifically, in the case of the door opening and closing direction being the door closing direction, if the door closing speed is greater than the first preset speed, the door closing speed is too fast at this time, and the door closing is abnormal, so it is determined that the door opening and closing scene corresponding to the vehicle door is an abnormal opening and closing scene; if the door closing speed is not greater than the first preset speed, the door closing speed is normal at this time, and the door closing is normal, so it is determined that the door opening and closing scene is a normal opening and closing scene; in the case of the door opening and closing direction being the door opening direction, if the door closing speed is greater than the second preset speed, the door opening speed is too fast at this time, and the door opening is abnormal, so it is determined that the door opening and closing scene is an abnormal opening and closing scene; if the door closing speed is not greater than the second preset speed, the door opening speed is normal at this time, and the door opening is normal, so it is determined that the door opening and closing scene is a normal opening and closing scene.

[0107] As an example, the first preset speed can be greater than the second preset speed.

[0108] In this embodiment, the door opening and closing scene can be detected in real time according to the door opening and closing direction and the door opening and closing speed, whether it is a normal opening and closing scene or an abnormal opening and closing scene, so that the speed generation parameter can be flexibly set according to the determined door opening and closing scene, and the door opening and closing speed can be mapped to the stretching and retracting speed matched with the door opening and closing speed, laying a foundation for accurately controlling the movement of the vehicle pedal.

[0109] In some embodiments, the end of the vehicle pedal is provided with a distance sensor, and the method further comprises:

[0110] Using the distance sensor, it is detected whether there is an obstacle within a preset distance range of the end of the vehicle pedal; in the case where it is detected that there is an obstacle within the preset distance range, the vehicle pedal is braked in an emergency during the process of controlling the vehicle pedal to stretch out.

[0111] In this embodiment, a distance sensor can be provided at the end of the vehicle pedal, and the distance sensor can be used to detect whether there is an obstacle within a preset distance range of the end of the vehicle pedal; in the case where it is detected that there is an obstacle within the preset distance range of the end of the vehicle pedal, the vehicle pedal can be controlled to brake in an emergency, so that the vehicle pedal quickly enters a stationary state, to prevent the vehicle pedal from colliding with the obstacle, thereby improving the safety of the vehicle pedal movement control.

[0112] In a complete embodiment, refer to Figure 4In this embodiment, the vehicle can be provided with a door status detection module and a body sensing module. The door status detection module may include an angle sensor, a displacement sensor and a door motor speed sensor. In this way, the angle sensor can be used to detect the opening and closing angle of the door, the displacement sensor can be used to detect the door displacement, and the door motor speed sensor can be used to detect the door drive motor speed; the body sensing module includes a surround-view camera, an ultrasonic radar and a body posture sensor. The surround-view camera or the ultrasonic radar can be used to detect obstacles and the terrain of the area around the vehicle. The body posture sensor can be used to detect the vehicle pitch angle and vehicle elevation angle. The vehicle pitch angle and vehicle elevation angle can represent the slope of the area where the vehicle is located.

[0113] Furthermore, the control unit can calculate the door opening and closing speed in real time based on one or more of the door opening and closing angle and the door displacement, as well as the door drive motor speed; thereby, based on the door opening and closing speed, the pedal drive module can use the PID algorithm to realize closed-loop control of the extension and retraction of the vehicle pedal, thereby improving the movement control accuracy of the vehicle pedal; the control unit can use the output data of the surround camera and / or ultrasonic radar to detect the distance between the door and the obstacle, and detect the slope of the area where the vehicle is located based on the output data of the vehicle body posture sensor, thereby realizing the detection of the vehicle body status, thereby flexibly adjusting the extension and retraction length of the vehicle pedal according to the vehicle body status, thereby further improving the accuracy of the vehicle pedal movement control.

[0114] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps. It is understandable that the various steps in different embodiments can be freely combined as needed, and the various non-contradictory schemes formed by the combination all fall within the scope of protection of this application.

[0115] Based on the same inventive concept, embodiments of the present application also provide a vehicle pedal control device for implementing the aforementioned vehicle pedal control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more vehicle pedal control device embodiments provided below can be found in the above-described limitations of the vehicle pedal control method and will not be further elaborated here.

[0116] In one example embodiment, as shown in Figure 5 a vehicle pedal control device is provided, comprising: an obtaining module 502, a determining module 504, a generating module 506 and a controlling module 508, wherein:

[0117] The obtaining module 502 is configured to obtain door state data of a vehicle door, wherein the door state data comprises a door opening / closing speed and a door opening / closing direction corresponding to the vehicle door.

[0118] The determining module 504 is configured to determine a door opening / closing scenario corresponding to the vehicle door according to the door opening / closing speed and the door opening / closing direction.

[0119] The generating module 506 is configured to generate an extension / retraction speed of a vehicle pedal corresponding to the vehicle door according to the door opening / closing scenario and the door opening / closing speed.

[0120] The controlling module 508 is configured to control the vehicle pedal to move at the extension / retraction speed.

[0121] In one embodiment, the generating module is further configured to:

[0122] In a case where the door opening / closing scenario is an abnormal opening / closing scenario, obtain a nonlinear parameter corresponding to the abnormal opening / closing scenario, and map the door opening / closing speed to the extension / retraction speed of the vehicle pedal according to the nonlinear parameter; in a case where the door opening / closing scenario is a normal opening / closing scenario, obtain a linear parameter corresponding to the normal opening / closing scenario, and map the door opening / closing speed to the extension / retraction speed of the vehicle pedal according to the linear parameter.

[0123] In one embodiment, the controlling module is further configured to:

[0124] Obtain a reference extension length corresponding to the vehicle pedal, and detect a separation distance between the vehicle door and an external obstacle; determine a current extension length according to the separation distance and the reference extension length; control the vehicle pedal to extend at the extension / retraction speed and the current extension length.

[0125] In one embodiment, the controlling module is further configured to:

[0126] Determine a first length correction value according to the separation distance; detect a slope of an area where the vehicle is located, and determine a second length correction value according to the slope; correct the reference extension length according to the first length correction value and the second length correction value to obtain the current extension length.

[0127] In one embodiment, the controlling module is further configured to:

[0128] When the interval distance is greater than a preset distance threshold, the reference extension length is determined as the current extension length; when the interval distance is not greater than the preset distance threshold, the reference extension length is corrected according to the interval distance to obtain the current extension length.

[0129] In one embodiment, the control module is further configured to:

[0130] Detecting a current parking scene of the vehicle and obtaining pedal control strategy information corresponding to the current parking scene; and controlling the vehicle pedal to move at the telescopic speed according to the pedal control strategy information.

[0131] In one embodiment, the door opening and closing speed includes a door opening speed and a door closing speed; and the determining module is further configured to:

[0132] When the door opening and closing direction is the door closing direction, if the door closing speed is greater than a first preset speed, the door opening and closing scene corresponding to the vehicle door is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the first preset speed, the door opening and closing scene is determined to be a normal opening and closing scene; when the door opening and closing direction is the door opening direction, if the door closing speed is greater than a second preset speed, the door opening and closing scene is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the second preset speed, the door opening and closing scene is determined to be a normal opening and closing scene.

[0133] In one embodiment, a distance sensor is provided at the end of the vehicle pedal; the device further comprises:

[0134] The emergency braking module is used to use the distance sensor to detect whether there is an obstacle within a preset distance range of the end of the vehicle pedal; when an obstacle is detected within the preset distance range, the vehicle pedal is emergency braked while controlling the extension of the vehicle pedal.

[0135] Each module in the aforementioned vehicle pedal control device may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of the vehicle's processor in hardware form, or may be stored in the vehicle's memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0136] In an exemplary embodiment, a vehicle is provided. The vehicle may be a terminal, and its internal structure may be as shown in FIG. Figure 6As shown. The vehicle includes a movable vehicle pedal, a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the vehicle is used to provide computing and control capabilities. The memory of the vehicle includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the vehicle is used to exchange information between the processor and an external device. The communication interface of the vehicle is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle pedal control method is implemented.

[0137] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the vehicle to which the solution of the present application is applied. The specific vehicle may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0138] In an exemplary embodiment, a vehicle is provided, comprising a movable vehicle pedal, a memory, and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0139] Obtain door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determine a door opening and closing scene corresponding to the vehicle door based on the door opening and closing speed and the door opening and closing direction; generate an extension and retraction speed of a vehicle pedal corresponding to the vehicle door based on the door opening and closing scene and the door opening and closing speed; and control the vehicle pedal to move at the extension and retraction speed.

[0140] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0141] When the vehicle door opening and closing scene is an abnormal opening and closing scene, the nonlinear parameters corresponding to the abnormal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the nonlinear parameters and the vehicle door opening and closing speed; when the vehicle door opening and closing scene is a normal opening and closing scene, the linear parameters corresponding to the normal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the linear parameters and the vehicle door opening and closing speed.

[0142] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0143] Obtain a reference extension length corresponding to the vehicle pedal, and detect the spacing distance between the vehicle door and an external obstacle; determine the current extension length based on the spacing distance and the reference extension length; and control the vehicle pedal to extend at the extension speed and the current extension length.

[0144] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0145] Determine a first length correction value based on the interval distance; detect the slope of the area where the vehicle is located, and determine a second length correction value based on the slope; and correct the reference extension length based on the first length correction value and the second length correction value to obtain a current extension length.

[0146] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0147] When the interval distance is greater than a preset distance threshold, the reference extension length is determined as the current extension length; when the interval distance is not greater than the preset distance threshold, the reference extension length is corrected according to the interval distance to obtain the current extension length.

[0148] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0149] Detecting a current parking scene of the vehicle and obtaining pedal control strategy information corresponding to the current parking scene; and controlling the vehicle pedal to move at the telescopic speed according to the pedal control strategy information.

[0150] In one embodiment, the door opening and closing speed includes a door opening speed and a door closing speed; when the processor executes the computer program, the processor further implements the following steps:

[0151] When the door opening and closing direction is the door closing direction, if the door closing speed is greater than a first preset speed, the door opening and closing scene corresponding to the vehicle door is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the first preset speed, the door opening and closing scene is determined to be a normal opening and closing scene; when the door opening and closing direction is the door opening direction, if the door closing speed is greater than a second preset speed, the door opening and closing scene is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the second preset speed, the door opening and closing scene is determined to be a normal opening and closing scene.

[0152] In one embodiment, a distance sensor is provided at the end of the vehicle pedal; when the processor executes the computer program, the following steps are further implemented:

[0153] The distance sensor is used to detect whether there is an obstacle within a preset distance range of the end of the vehicle pedal; when an obstacle is detected within the preset distance range, the vehicle pedal is emergency braked while controlling the extension of the vehicle pedal.

[0154] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0155] Obtain door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determine a door opening and closing scene corresponding to the vehicle door based on the door opening and closing speed and the door opening and closing direction; generate an extension and retraction speed of a vehicle pedal corresponding to the vehicle door based on the door opening and closing scene and the door opening and closing speed; and control the vehicle pedal to move at the extension and retraction speed.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0157] When the vehicle door opening and closing scene is an abnormal opening and closing scene, the nonlinear parameters corresponding to the abnormal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the nonlinear parameters and the vehicle door opening and closing speed; when the vehicle door opening and closing scene is a normal opening and closing scene, the linear parameters corresponding to the normal opening and closing scene are obtained, and the extension and extension speed of the vehicle pedal is generated based on the linear parameters and the vehicle door opening and closing speed.

[0158] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0159] Obtain a reference extension length corresponding to the vehicle pedal, and detect the spacing distance between the vehicle door and an external obstacle; determine the current extension length based on the spacing distance and the reference extension length; and control the vehicle pedal to extend at the extension speed and the current extension length.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0161] Determine a first length correction value based on the interval distance; detect the slope of the area where the vehicle is located, and determine a second length correction value based on the slope; and correct the reference extension length based on the first length correction value and the second length correction value to obtain a current extension length.

[0162] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0163] When the interval distance is greater than a preset distance threshold, the reference extension length is determined as the current extension length; when the interval distance is not greater than the preset distance threshold, the reference extension length is corrected according to the interval distance to obtain the current extension length.

[0164] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0165] Detecting a current parking scene of the vehicle and obtaining pedal control strategy information corresponding to the current parking scene; and controlling the vehicle pedal to move at the telescopic speed according to the pedal control strategy information.

[0166] In one embodiment, the door opening and closing speed includes a door opening speed and a door closing speed; when the computer program is executed by a processor, the following steps are further implemented:

[0167] When the door opening and closing direction is the door closing direction, if the door closing speed is greater than a first preset speed, the door opening and closing scene corresponding to the vehicle door is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the first preset speed, the door opening and closing scene is determined to be a normal opening and closing scene; when the door opening and closing direction is the door opening direction, if the door closing speed is greater than a second preset speed, the door opening and closing scene is determined to be an abnormal opening and closing scene; if the door closing speed is not greater than the second preset speed, the door opening and closing scene is determined to be a normal opening and closing scene.

[0168] In one embodiment, a distance sensor is provided at the end of the vehicle pedal; when the computer program is executed by the processor, the following steps are further implemented:

[0169] The distance sensor is used to detect whether there is an obstacle within a preset distance range of the end of the vehicle pedal; when an obstacle is detected within the preset distance range, the vehicle pedal is emergency braked while controlling the extension of the vehicle pedal.

[0170] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0171] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), quantum computing-based data processing logic devices, artificial intelligence (AI) processors, and the like.

[0172] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0173] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle pedal control method, characterized in that: The method comprises: Acquiring door status data of a vehicle door, wherein the door status data includes a door opening and closing speed and a door opening and closing direction corresponding to the vehicle door; determining a door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction; generating an extension and retraction speed of a vehicle pedal corresponding to the vehicle door according to the vehicle door opening and closing scene and the vehicle door opening and closing speed; The vehicle pedal is controlled to move at the extension and retraction speed.

2. The method according to claim 1, characterized in that The step of generating the extension and retraction speed of the vehicle pedal corresponding to the vehicle door according to the vehicle door opening and closing scene and the vehicle door opening and closing speed includes: When the door opening and closing scenario is an abnormal opening and closing scenario, obtaining a nonlinear parameter corresponding to the abnormal opening and closing scenario, and generating an extension and retraction speed of the vehicle pedal according to the nonlinear parameter and the door opening and closing speed; When the door opening and closing scene is a normal opening and closing scene, a linear parameter corresponding to the normal opening and closing scene is obtained, and an extension and retraction speed of the vehicle pedal is generated according to the linear parameter and the door opening and closing speed.

3. The method according to claim 1, characterized in that The controlling the vehicle pedal to move at the extension and retraction speed includes: Obtaining a reference extension length corresponding to the vehicle pedal and detecting a distance between the vehicle door and an external obstacle; determining a current extension length according to the interval distance and the reference extension length; The vehicle pedal is controlled to be extended at the extension speed and the current extension length.

4. The method according to claim 3, characterized in that The determining of the current extension length according to the interval distance and the reference extension length includes: determining a first length correction value according to the interval distance; detecting a slope of an area in which the vehicle is located, and determining a second length correction value based on the slope; The reference extension length is corrected according to the first length correction value and the second length correction value to obtain a current extension length.

5. The method according to claim 3, characterized in that The determining of the current extension length according to the interval distance and the reference extension length includes: When the interval distance is greater than a preset distance threshold, determining the reference extension length as the current extension length; When the interval distance is not greater than a preset distance threshold, the reference extension length is corrected according to the interval distance to obtain a current extension length.

6. The method according to claim 1, characterized in that The controlling the vehicle pedal to move at the extension and retraction speed includes: Detecting the current parking scene of the vehicle and obtaining pedal control strategy information corresponding to the current parking scene; According to the pedal control strategy information, the vehicle pedal is controlled to move at the extension and retraction speed.

7. The method according to claim 1, characterized in that The door opening and closing speed includes a door opening speed and a door closing speed; and determining a door opening and closing scene corresponding to the vehicle door according to the door opening and closing speed and the door opening and closing direction includes: In a case where the door opening and closing direction is the door closing direction, if the door closing speed is greater than a first preset speed, determining that the door opening and closing scene corresponding to the vehicle door is an abnormal opening and closing scene; If the door closing speed is not greater than the first preset speed, determining that the door opening and closing scene is a normal opening and closing scene; In a case where the door opening and closing direction is the door opening direction, if the door closing speed is greater than a second preset speed, determining that the door opening and closing scene is an abnormal opening and closing scene; If the door closing speed is not greater than the second preset speed, it is determined that the door opening and closing scene is a normal opening and closing scene.

8. The method according to claim 1, characterized in that The end of the vehicle pedal is provided with a distance sensor; the method further comprises: Using the distance sensor, detecting whether there is an obstacle within a preset distance range from the end of the vehicle pedal; When an obstacle is detected within the preset distance range, emergency braking is performed on the vehicle pedal while controlling the vehicle pedal to extend.

9. A vehicle, characterized in that: The invention comprises a movable vehicle pedal, a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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