Vehicle pedal control method and device

Abstract

The invention provides a vehicle pedal control method and device. The method comprises the steps that the type of a boarding person is obtained, and a welcome mode of a vehicle is started in response to a welcome mode starting signal; the first side pedal and / or the second side pedal are / is controlled to be unfolded to the horizontal preset height according to the greeting modes and the types of the people getting on the vehicle, and the first side pedal and / or the second side pedal are / is selected according to the different types of the people getting on the vehicle and the different greeting modes and are / is automatically adjusted to the horizontal preset height; on the basis of meeting the diversified requirements of different users for getting-on heights, the differentiated requirements for vehicle energy saving in different welcome scenes are met, the intelligence of the welcome function is improved, the power consumption of the welcome function for the vehicle is reduced, the endurance time and service life of the vehicle are prolonged, and the anxiety of the users in using the vehicle is reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicles, and in particular to a method and apparatus for controlling vehicle pedals. Background Technology

[0002] With the development of intelligent vehicles, more and more vehicles are equipped with pedals. The pedals on both sides of the vehicle can enhance the overall sense of technology and luxury.

[0003] Currently, the pedals on vehicles use a four-link mechanical structure. Due to the limitations of this structure, there are certain restrictions on the pedal placement. The four-link controls the pedal's swing and unfolding, and the pedal surface cannot always remain horizontal at different unfolding angles. For some SUV (Sport Utility Vehicle) models with higher chassis height, such as... Figure 1 As shown, after the pedal is unfolded, the height of the pedal from the ground is fixed at distance L1, and the height of the pedal from the door sill is fixed at distance L2. If the distance L1 from the pedal to the ground is large, the fixed unfolded height of the pedal cannot meet the diverse needs of users when some special groups such as the elderly, women and children get on the vehicle.

[0004] In addition, when the current vehicle's welcome function is activated, due to the low intelligence of the welcome function, the passenger-side pedal will unfold synchronously with the driver-side pedal. However, no one is actually getting in or out of the passenger-side vehicle, resulting in a certain degree of functional redundancy. This leads to a large power consumption of the vehicle due to the welcome function, which provides users with a shorter driving range and easily increases users' anxiety about using the vehicle. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] Therefore, one objective of this invention is to propose a vehicle pedal control method. This method selects a first side pedal and / or a second side pedal according to different types of passengers getting into the vehicle and different welcoming modes, and automatically adjusts them to a preset horizontal height. This satisfies the diverse needs of different users for boarding height, meets the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0007] Therefore, a second objective of the present invention is to provide a vehicle pedal control device.

[0008] Therefore, a third objective of the present invention is to provide a vehicle.

[0009] To achieve the above objectives, an embodiment of the first aspect of the present invention provides a vehicle pedal control method, the vehicle pedals including a first side pedal and a second side pedal, the method comprising: acquiring the type of passengers boarding the vehicle and activating the vehicle's welcome mode in response to a welcome mode activation signal; and controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcome mode and the type of passengers boarding the vehicle.

[0010] According to the vehicle pedal control method of the present invention, by acquiring the type of passengers boarding the vehicle and activating the vehicle's welcoming mode in response to a welcoming mode activation signal, the method determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to deploy to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, the method not only meets the diverse needs of different users for boarding height, but also meets the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0011] In some embodiments, the first side pedal and the second side pedal are disposed on opposite sides of the vehicle along a first direction. Controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcoming mode and the type of person getting on the vehicle includes: when the welcoming mode is a double-sided welcoming mode and the person type is a preset person type, controlling the first side pedal and the second side pedal to extend to a preset horizontal height; when the welcoming mode is a single-sided welcoming mode and the person type is a preset person type, controlling the first side pedal to extend to a preset horizontal height.

[0012] In some embodiments, controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcoming mode and the type of passenger boarding the vehicle includes: when the welcoming mode is a first single-sided welcoming mode and the passenger type is a preset passenger type, controlling the first side pedal to extend to a preset horizontal height, wherein the first single-sided welcoming mode indicates that the smart key detection signal is a first detection signal; when the welcoming mode is a second single-sided welcoming mode and the passenger type is a preset passenger type, controlling the second pedal to extend to a preset horizontal height, wherein the second single-sided welcoming mode indicates that the smart key detection signal is a second detection signal.

[0013] In some embodiments, after controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height, the method further includes: controlling the first side pedal and the second side pedal to close in response to a welcome end signal.

[0014] In some embodiments, the process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height further includes: when a door closing signal is detected, acquiring image information of the first side pedal and the second side pedal when they are horizontally extended; and controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on the image information.

[0015] In some embodiments, controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed according to the image information includes: if the image information includes a user image, controlling the first side pedal and the second side pedal to extend to a preset horizontal height and issuing a voice reminder.

[0016] In some embodiments, controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on the image information includes: if the image information does not include a user image, controlling the first side pedal and the second side pedal to close after a preset time delay.

[0017] In some embodiments, during the process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height, the method further includes: when the image detection device is obstructed and / or the image detection device malfunctions, controlling the contact anti-pinch function of the first side pedal and / or the second side pedal to be activated.

[0018] In some embodiments, after the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated, the method further includes: acquiring the vehicle speed; and when the vehicle speed exceeds a preset speed threshold, controlling the first side pedal and the second side pedal to close.

[0019] To achieve the above objectives, a second aspect of the present invention provides a vehicle pedal control device, the vehicle pedal including a first side pedal and a second side pedal, the device comprising: a first control module for acquiring the type of passenger boarding the vehicle and activating the vehicle's welcome mode in response to a welcome mode activation signal; and a second control module for controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcome mode and the type of passenger boarding the vehicle.

[0020] According to an embodiment of the present invention, the vehicle pedal control device acquires the type of passengers boarding the vehicle and activates the vehicle's welcoming mode in response to a welcoming mode activation signal. It determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to deploy to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, the device satisfies the diverse needs of different users for boarding height, meets the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0021] To achieve the above objectives, a third aspect of the present invention provides a vehicle that includes the vehicle pedal control device described in the above embodiments.

[0022] According to embodiments of the present invention, the vehicle acquires the type of passengers boarding the vehicle and activates the vehicle's welcoming mode in response to a welcoming mode activation signal. It then determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first and / or second pedals to deploy to a preset horizontal height at different deployment angles. By selecting the first and / or second pedals based on different passenger types and welcoming modes, and automatically adjusting them to the preset horizontal height, the vehicle meets the diverse needs of different users for boarding height, satisfies the differentiated energy-saving requirements of the vehicle in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function, extends the vehicle's range and lifespan, and reduces user anxiety when using the vehicle.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0025] Figure 1 This is a schematic diagram of the deployment of vehicle pedals in related technologies;

[0026] Figure 2 This is a flowchart of a vehicle pedal control method according to an embodiment of the present invention;

[0027] Figure 3 This is a structural schematic diagram of the vehicle pedal deployment process according to an embodiment of the present invention;

[0028] Figure 4 This is a flowchart of a vehicle pedal control method according to a specific embodiment of the present invention;

[0029] Figure 5 This is a structural block diagram of a vehicle pedal control device according to an embodiment of the present invention;

[0030] Figure 6 This is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0031] Figure label:

[0032] Vehicle pedal control device 2;

[0033] First control module 21; Second control module 22;

[0034] Vehicle 3. Detailed Implementation

[0035] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0036] In related technologies, some vehicles have pedals with a welcome function, while others do not. When the vehicle key triggers the unlock command, both pedals fully extend to welcome the vehicle, and can also form a welcome three-piece set with the rearview mirrors and pop-up hidden door handles.

[0037] Currently, most users only have one person using the vehicle, the driver. When the welcome function is activated, the passenger-side step will also unfold synchronously with the driver-side step, even though no one is actually getting in or out of the passenger side. With a single-side step current of 4A and voltage of 12.5V, the motor power of a single-side step is 50W, and the motor power of both side steps is 100W, which is somewhat redundant. Due to the low intelligence of the welcome function, it consumes a lot of power from the vehicle, providing users with a shorter driving range and easily increasing users' anxiety about using the vehicle.

[0038] The pedals in current mainstream models have certain limitations. When the pedal touches or gets caught in an obstacle, a contact-type anti-pinch function is achieved by Hall signals and current surges.

[0039] The following is combined with Figures 2-4 The present invention describes a vehicle pedal control method according to an embodiment of the invention. The vehicle pedal includes a first side pedal and a second side pedal. In order to facilitate passengers getting on and off the vehicle, the first side pedal and the second side pedal are arranged on opposite sides of the vehicle along a first direction, such as along the vehicle body direction, that is, at the positions for getting on and off the vehicle on the driver's side and the passenger side.

[0040] like Figure 2As shown, the vehicle pedal control method of this embodiment includes at least step S1 and step S2.

[0041] Step S1: Obtain the type of passengers boarding the vehicle and activate the vehicle's welcome mode in response to the welcome mode activation signal.

[0042] In this embodiment, the vehicle's welcome modes include a single-side welcome mode and a double-side welcome mode. The single-side welcome mode includes welcome from the driver's side or the passenger side, while the double-side welcome mode includes welcome from the driver's side and the passenger side. The different welcome modes are triggered in different ways. Different welcome modes can be achieved by operating the vehicle's central control screen, or by detecting whether the smart key is approaching the vehicle from the driver's side or the passenger side, and determining the direction in which the user approaches the vehicle to achieve different welcome modes.

[0043] For example, the vehicle continuously monitors the distance between a person and the vehicle. If the distance is within a set range, it is assumed that the person intends to board. At this point, the type of person boarding is determined, such as male, female, elderly, or child. Different types of people boarding correspond to different pedal deployment heights. Simultaneously, different welcome modes are activated by operating the vehicle's central control screen. If the driver operates a single-pedal welcome switch on the central control screen, such as the welcome soft switch corresponding to the first pedal, the driver's side pedal will deploy in response to the welcome mode activation signal, while the passenger side pedal will remain inactive. If the driver operates a double-pedal welcome switch on the central control screen, both the driver's and passenger side pedals will deploy in response to the welcome mode activation signal. By acquiring different types of people boarding and different welcome modes, the deployment of the first and second pedals can be controlled according to the different types of people boarding and the vehicle's welcome mode.

[0044] Understandably, when the distance between people and vehicles is relatively close, such as within a set range, identifying the type of person boarding the vehicle allows for control of the step height based on the different types of people boarding. For example, the step height for adults is significantly higher than that for children or the elderly, enabling adaptive adjustment of the step height according to different types of people. In response to the welcome mode activation signal, the corresponding vehicle welcome mode is activated, allowing for control of the opening or closing of different side steps based on different welcome modes. Therefore, by acquiring the type of person boarding and the vehicle's welcome mode, control of the vehicle's step height and opening / closing status can be achieved.

[0045] Among them, the type of person boarding the vehicle can be identified in different ways, such as by vehicle B-pillar camera, LiDAR, intelligent voice, etc. When identifying the type of person boarding the vehicle by B-pillar camera, for example, when the person is at a set distance from the vehicle, image information of the person close to the vehicle is collected. By analyzing the image information, the type of person boarding the vehicle can be determined, such as men, women, the elderly, and children, so as to facilitate the corresponding control of the step height according to the different types of people boarding the vehicle.

[0046] For example, when identifying the type of people getting into a vehicle using LiDAR, the type of people can be determined by identifying the height of the people approaching the vehicle. LiDAR can be used to identify the type of people getting into a vehicle independently, or it can be combined with a camera on the B-pillar of the vehicle to achieve identification of the type of people getting into the vehicle.

[0047] For example, to identify the type of passenger boarding the vehicle using intelligent voice recognition, the passenger needs to issue a voice control command. By recognizing the voice control command, the passenger type can be identified.

[0048] In other embodiments, different welcome modes of the vehicle are pre-set via HUD (Head-up Display). Upon receiving a welcome mode activation signal, the vehicle's welcome mode and the type of passengers boarding the vehicle are obtained in response to the welcome mode activation signal, so as to determine the pedals to be deployed and the pedal deployment height based on the vehicle's welcome mode and the type of passengers boarding the vehicle.

[0049] Step S2: Based on the welcoming mode and the type of passengers getting on the vehicle, control the first side pedal and / or the second side pedal to unfold to a preset horizontal height.

[0050] The first side pedal can be the pedal on the driver's side of the vehicle, and the second side pedal can be the pedal on the passenger side of the vehicle. The preset height is a comfortable pedal unfolding height pre-set by the pedal controller according to the type of person getting in the vehicle. It can be understood that different types of people getting in the vehicle will have different preset heights. By adjusting the preset horizontal height of the pedal, it is not only easier for different types of users to get in and out of the vehicle, but also helps to improve the user's comfort.

[0051] In an embodiment, such as Figure 3 The diagram shown is a structural schematic of the vehicle pedal deployment process according to an embodiment of the present invention. The vehicle pedal in this embodiment employs a multi-link mechanical structure, namely a crank-rocker and a four-link mechanism, consisting of... Figure 3 It can be seen that the vehicle pedal is based on a parallelogram four-bar linkage that can move horizontally and vertically. During the pedal movement, the drive rod drives the parallelogram to move at different unfolding angles. Under different unfolding angles, the parallelogram four-bar linkage can ensure that the pedal surface always remains horizontal, so as to realize the horizontal unfolding of the vehicle pedal.

[0052] Understandably, when the first and second side pedals are height-adjusted using a multi-link system based on a parallelogram linkage, it ensures that the first and second side pedals remain horizontal during adjustment, guaranteeing pedal stability. This allows passengers, such as children or the elderly, to board the vehicle smoothly, improving user experience and boarding safety.

[0053] After acquiring the passenger type and the vehicle's welcome mode, the BCM (Body Control Module) outputs an intelligent multi-passenger type mode signal to the pedal controller. Upon receiving the signal, the pedal controller enters the intelligent multi-passenger type mode and determines the pedals that need to be deployed on opposite sides of the vehicle, i.e., the driver's side and / or passenger side pedals, based on the welcome mode. Simultaneously, it determines the corresponding pedal deployment height based on the passenger type and outputs a drive command corresponding to the pedal deployment angle to the pedal drive motor. The drive motor starts according to the drive command to control the pedals to move at different deployment angles, ensuring that the pedal surface is deployed to a preset horizontal height. This meets the boarding needs of special groups such as the elderly, women, and children, ensuring a comfortable boarding height and ground clearance for various passengers.

[0054] Simultaneously, it realizes intelligent welcome functions, making it easy to provide users with diversified and high-quality services. For example, when the welcome mode is the dual-side welcome mode, the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the first and second side pedals to control the first and second side pedals to unfold to a preset horizontal height, providing pedals for users on both the driver's side and the passenger side of the vehicle. When the welcome mode is the single-side welcome mode, the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the first side pedal to control the first side pedal to unfold to a preset horizontal height, providing pedals for the user on the driver's side, or the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the second side pedal to control the second side pedal to unfold to a preset horizontal height, providing pedals for the user on the passenger side. By reducing the frequency of use of pedals that do not need to be opened, the welcome function is avoided from being redundant.

[0055] According to the vehicle pedal control method of the present invention, by acquiring the type of passengers boarding the vehicle and activating the vehicle's welcoming mode in response to a welcoming mode activation signal, the method determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to deploy to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, the method not only meets the diverse needs of different users for boarding height, but also meets the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0056] In some embodiments, a first side pedal and a second side pedal are disposed on opposite sides of the vehicle along a first direction. The first side pedal and / or the second side pedal are controlled to extend to a preset horizontal height according to the welcoming mode and the type of person getting on the vehicle. This includes: when the welcoming mode is a double-sided welcoming mode and the person type is a preset person type, controlling the first side pedal and the second side pedal to extend to a preset horizontal height; when the welcoming mode is a single-sided welcoming mode and the person type is a preset person type, controlling the first side pedal to extend to a preset horizontal height. The first direction can be the driving direction of the vehicle when it is traveling in a straight line.

[0057] In this embodiment, the vehicle's welcome mode is obtained by operating the vehicle's central control screen. When the driver operates the welcome switch on both sides of the pedals on the central control screen, it is considered that the welcome mode is the dual-side welcome mode. When the detected personnel type is the preset personnel type, it is considered that there are users who need to get into the vehicle on both the driver's side and the passenger side. Then, the CEM (Central Electronic Module) responds to the welcome mode activation signal and controls the first and second side pedals of the vehicle to extend to a preset horizontal height, providing pedals for users getting into the vehicle on both the driver's side and the passenger side at the same time.

[0058] When the driver operates the single-side pedal welcome switch on the central control screen, such as operating the welcome soft switch corresponding to the first side pedal, the welcome mode is considered to be the single-side welcome mode. When the detected person type is the preset person type, it is assumed that the user who needs to get into the vehicle is approaching the vehicle from the driver's side. In response to the welcome mode activation signal, the CEM controls the first side pedal to unfold to the preset horizontal height and controls the second side pedal to remain inactive. This provides a pedal for the user getting into the vehicle from the driver's side, reducing the frequency of use of the passenger side pedal and avoiding excessive welcome function. By reducing the motor power of the single-side pedal by 50W, the power consumption of the welcome function on the vehicle is reduced, the vehicle's range is increased, and the user's anxiety about using the vehicle is reduced.

[0059] In some embodiments, controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcoming mode and the type of person getting into the vehicle includes: when the welcoming mode is a first single-sided welcoming mode and the person type is a preset person type, controlling the first side pedal to extend to a preset horizontal height, wherein the first single-sided welcoming mode is indicated by the smart key detection signal being a first detection signal; when the welcoming mode is a second single-sided welcoming mode and the person type is a preset person type, controlling the second pedal to extend to a preset horizontal height, wherein the second single-sided welcoming mode is indicated by the smart key detection signal being a second detection signal.

[0060] In this embodiment, the vehicle's welcome mode is obtained by detecting the smart key. When a user approaches the vehicle with the key, a smart key detection signal is obtained. The direction in which the user approaches the vehicle is determined based on the smart key detection signal. When the smart key detection signal is the first detection signal, i.e., the driver's side detection signal, the welcome mode corresponds to the first single-side welcome mode, i.e., the driver's side welcome mode. When the detected person type is a preset person type, it is considered that the user who needs to get in the car is approaching the vehicle from the driver's side. Then, the CEM responds to the welcome mode activation signal, controls the first side pedal to unfold to a preset horizontal height, and controls the second side pedal to remain inactive. This provides a pedal for the user getting in the vehicle from the driver's side, reducing the frequency of use of the passenger side pedal and avoiding excessive welcome function.

[0061] When the smart key detection signal is the second detection signal, i.e., the passenger side detection signal, the welcome mode corresponds to the second single-side welcome mode, i.e., the passenger side welcome mode. If the detected passenger type is a preset type, it is assumed that the user approaching the vehicle from the passenger side. The CEM responds to this welcome mode activation signal by controlling the second side pedal to extend to a preset horizontal height, while keeping the first side pedal inactive. This provides a pedal for the passenger, reducing the frequency of use of the driver's side pedal and avoiding excessive welcome functionality. By reducing the motor power of each pedal by 50W, the power consumption of the welcome function is reduced, increasing the vehicle's range and reducing user anxiety. By determining the direction of the user's approach based on the smart key detection signal, the single-side welcome mode type is determined, and then the first or second side pedal is controlled to extend to a preset horizontal height, achieving intelligent welcome. This maximizes the satisfaction of diverse user welcome needs while further reducing vehicle power consumption, thereby improving the vehicle's range and lifespan.

[0062] In some embodiments, after controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height, the method further includes: controlling the first side pedal and the second side pedal to close in response to a welcome end signal.

[0063] In this embodiment, after the first and / or second side pedals are extended to a preset horizontal height, it is detected in real time whether a person is above the pedals. When no person is above the pedals, it may be because all passengers have boarded or disembarked. At this time, a welcome end signal is issued. It can be understood that when the doors are closed and the vehicle is in operation, it can be determined that all passengers have boarded; when the doors have been closed for a preset time, it can be determined that all passengers have disembarked. In the above two situations, the welcome pedals are idle, which will cause energy consumption. In response to the welcome end signal, the first and second side pedals are closed. By retracting the pedals in time after all users have boarded, the vehicle's energy consumption is further reduced, the space occupied by the vehicle is saved, and the pedals are avoided from obstructing the user's movement.

[0064] In some embodiments, the process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height further includes: when a door closing signal is detected, acquiring image information of the first side pedal and the second side pedal when they are horizontally extended; and controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on the image information.

[0065] In one embodiment, a visual anti-pinch function, i.e., a non-contact triggered anti-pinch function, is integrated through a vehicle B-pillar camera, a vehicle upper fender rearview camera, or a 360° surround view camera in the rearview mirror; or a laser radar is used to scan whether a human body appears above the pedal when the first and second side pedals are unfolded, replacing the visual anti-pinch function.

[0066] During the process of controlling the first side pedal and / or the second side pedal to unfold to a preset horizontal height, the door closing signal is detected in real time. When the door closing signal is detected, the camera is activated to obtain image information of the first side pedal and the second side pedal when they are unfolded horizontally. Based on the image information, it is determined whether a human body is above the pedal, thereby controlling the first side pedal and / or the second side pedal to keep them unfolded or closed horizontally, so as to avoid the pedals pinching the user.

[0067] In some embodiments, controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on image information includes: if the image information includes a user image, controlling the first side pedal and the second side pedal to extend to a preset horizontal height and issuing a voice reminder.

[0068] In this embodiment, after acquiring image information of the first and second side pedals when they are horizontally extended, if the image information includes a user image, it is assumed that a human body is above the pedals. Then, the first and second side pedals are controlled to extend to a preset horizontal height, that is, the pedals are prohibited from being retracted, and a voice reminder is issued to prevent the pedals from squeezing or bumping the user.

[0069] In some embodiments, controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on image information includes: if the image information does not include a user image, delaying for a preset time to control the first side pedal and the second side pedal to close.

[0070] In this embodiment, after acquiring image information of the first and second side pedals when they are unfolded, if the image information does not include the user's image, it is assumed that no human body is present above the pedals. Then, after a preset time delay, such as a delay of 2 seconds, the first and second side pedals are controlled to close, in order to prevent the vehicle pedals from suddenly retracting and causing personal injury to the user.

[0071] In some embodiments, during the process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height, the method further includes: when the image detection device is blocked and / or the image detection device malfunctions, controlling the contact anti-pinch function of the first side pedal and / or the second side pedal to be activated.

[0072] In this embodiment, during the process of controlling the first side pedal and / or the second side pedal to unfold to a preset horizontal height, if the image detection device is obstructed and / or malfunctions, the first side pedal and / or the second side pedal are automatically unfolded, and the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated to prevent the pedal from squeezing or bumping into the user or road facilities during unfolding. By designing the contact-type anti-pinch function, the user and the pedal are effectively protected. By combining the non-contact trigger anti-pinch function and the contact anti-pinch function, a redundant anti-pinch design, i.e., double insurance, is implemented to prevent the pedal from squeezing or bumping into the user to the greatest extent, further ensuring the safety of passengers and the pedal.

[0073] In some embodiments, after the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated, the method further includes: acquiring the vehicle speed; and controlling the first side pedal and the second side pedal to close when the vehicle speed exceeds a preset vehicle speed threshold.

[0074] In this embodiment, after the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated, the vehicle speed is acquired in real time. If the vehicle speed exceeds a preset speed threshold, such as 5 km / h, it is considered that the vehicle has started and the pedals are no longer needed. Then, the first side pedal and the second side pedal are controlled to close. This avoids the problem of the pedals being in the extended state due to incorrect user identification caused by dirt or other reasons, and prevents the pedals from being damaged by external factors after the vehicle has been driven.

[0075] The following is for reference. Figure 4 An example of the vehicle pedal control method of this invention will be provided.

[0076] like Figure 4 As shown, the vehicle pedal control method of this embodiment includes at least steps S11-S31.

[0077] Step S11: Obtain the type of passengers boarding the vehicle and activate the vehicle's welcome mode in response to the welcome mode activation signal.

[0078] Step S12: Determine whether the welcoming mode is a two-sided welcoming mode and the personnel type is a preset personnel type. If yes, proceed to step S13; otherwise, proceed to step S14.

[0079] Step S13: Control the first side pedal and the second side pedal to unfold to a preset horizontal height.

[0080] Step S14: Determine whether the welcoming mode is a one-sided welcoming mode and the personnel type is a preset personnel type. If yes, proceed to step S15; otherwise, proceed to step S16.

[0081] Step S15: Control the first side pedal to unfold to a preset horizontal height.

[0082] Step S16: Welcome mode is turned off.

[0083] Step S17: Determine whether the smart key detection signal is the first detection signal. If yes, proceed to step S18; otherwise, proceed to step S20.

[0084] Step S18: The welcoming mode is the first single-sided welcoming mode and the personnel type is the preset personnel type.

[0085] Step S19: Control the first side pedal to unfold to a preset horizontal height.

[0086] Step S20: Determine whether the smart key detection signal is the second detection signal. If yes, proceed to step S21; otherwise, proceed to step S23.

[0087] Step S21: The welcoming mode is the second single-sided welcoming mode and the personnel type is the preset personnel type.

[0088] Step S22: Control the second side pedal to unfold to a preset horizontal height.

[0089] Step S23: Welcome mode is turned off.

[0090] Step S24: When a door closing signal is detected, image information of the first side pedal and the second side pedal when they are unfolded is acquired.

[0091] Step S25: Determine whether the image information includes the user image. If yes, proceed to step S26; otherwise, proceed to step S27.

[0092] Step S26: Control the first and second side pedals to unfold to a preset horizontal height and issue a voice reminder.

[0093] Step S27: Delay a preset time to close the first and second side pedals.

[0094] Step S28: In response to the end of the welcome signal, control the first side pedal and the second side pedal to close.

[0095] Step S29: When the image detection device is blocked and / or the image detection device malfunctions, the contact anti-pinch function of the first side pedal and / or the second side pedal is activated.

[0096] Step S30: Obtain the vehicle speed.

[0097] Step S31: When the vehicle speed exceeds a preset speed threshold, control the first side pedal and the second side pedal to close.

[0098] According to the vehicle pedal control method of the present invention, by acquiring the type of passengers boarding the vehicle and activating the vehicle's welcoming mode in response to a welcoming mode activation signal, the method determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to deploy to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, the method not only meets the diverse needs of different users for boarding height, but also meets the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0099] The following is combined with Figure 5 The vehicle pedal control device 2 described in this embodiment of the invention includes a first side pedal and a second side pedal.

[0100] like Figure 5 As shown, the vehicle pedal control device 2 of this embodiment includes: a first control module 21 and a second control module 22, wherein,

[0101] The first control module 21 is used to acquire the type of passengers boarding the vehicle and activate the vehicle's welcoming mode in response to a welcoming mode activation signal; the second control module 22 is used to control the first side pedal and / or the second side pedal to unfold to a preset horizontal height according to the welcoming mode and the type of passengers boarding the vehicle.

[0102] In this embodiment, the vehicle's welcome modes include a single-side welcome mode and a double-side welcome mode. The single-side welcome mode includes welcome from the driver's side or the passenger side, while the double-side welcome mode includes welcome from the driver's side and the passenger side. The different welcome modes are triggered in different ways. Different welcome modes can be achieved by operating the vehicle's central control screen, or by detecting whether the smart key is approaching the vehicle from the driver's side or the passenger side, and determining the direction in which the user approaches the vehicle to achieve different welcome modes.

[0103] The first control module 21 detects the distance between the person and the vehicle. If the distance is within a set range, it is assumed that the person intends to get in the vehicle. At this time, the type of person getting in the vehicle is obtained, such as men, women, the elderly, and children. The unfolding height of the vehicle's pedals varies depending on the type of person getting in the vehicle. At the same time, different welcome modes are implemented by operating the vehicle's central control screen. If the driver operates a single-side pedal welcome switch on the central control screen, such as operating the welcome soft switch corresponding to the first side pedal, the driver's side pedal will unfold in response to the welcome mode activation signal, while the passenger side pedal will remain inactive. If the driver operates a double-side pedal welcome switch on the central control screen, both the driver's side and passenger side pedals will unfold in response to the welcome mode activation signal. By obtaining different types of people getting in the vehicle and different welcome modes, the unfolding of the first and second side pedals can be controlled according to different types of people getting in the vehicle and the vehicle's welcome mode.

[0104] Understandably, when the distance between people and vehicles is relatively close, such as within a set range, identifying the type of person boarding the vehicle allows for control of the pedal unfolding height based on the different types of people boarding. In response to the welcome mode activation signal, the corresponding vehicle welcome mode is activated, allowing for control of the unfolding or closing of different side pedals based on different welcome modes. Therefore, by acquiring the type of person boarding and the vehicle's welcome mode, control of the vehicle's pedal unfolding height and opening / closing status can be achieved.

[0105] Among them, the type of person boarding the vehicle can be identified in different ways, such as by vehicle B-pillar camera, LiDAR, intelligent voice, etc. When identifying the type of person boarding the vehicle by B-pillar camera, for example, when the person is at a set distance from the vehicle, image information of the person close to the vehicle is collected. By analyzing the image information, the type of person boarding the vehicle can be determined, such as men, women, the elderly, and children, so as to facilitate the corresponding control of the step height according to the different types of people boarding the vehicle.

[0106] For example, when identifying the type of people getting into a vehicle using LiDAR, the type of people can be determined by identifying the height of the people approaching the vehicle. LiDAR can be used to identify the type of people getting into a vehicle independently, or it can be combined with a camera on the B-pillar of the vehicle to achieve identification of the type of people getting into the vehicle.

[0107] For example, to identify the type of passenger boarding the vehicle using intelligent voice recognition, the passenger needs to issue a voice control command. By recognizing the voice control command, the passenger type can be identified.

[0108] In other embodiments, different welcome modes of the vehicle are pre-set via HUD. Upon receiving a welcome mode activation signal, the vehicle's welcome mode and the type of passengers boarding the vehicle are obtained in response to the welcome mode activation signal, so as to determine the pedals to be deployed and the pedal deployment height based on the vehicle's welcome mode and the type of passengers boarding the vehicle.

[0109] The first pedal can be the pedal on the driver's side of the vehicle, and the second pedal can be the pedal on the passenger side of the vehicle. The preset height is a comfortable pedal unfolding height pre-set by the pedal controller according to the type of person getting in the vehicle. It can be understood that different types of people getting in the vehicle will have different preset heights. By adjusting the preset horizontal height of the pedals, it is not only easier for different types of users to get in and out of the vehicle, but also helps to improve the user's comfort.

[0110] The vehicle pedal in this embodiment of the invention adopts a multi-link mechanical structure, namely a crank rocker and a four-link mechanical structure. The vehicle pedal is based on a parallelogram four-link and can move horizontally and vertically. During the pedal movement, the drive rod drives the parallelogram to move at different unfolding angles. Under different unfolding angles, the parallelogram four-link can ensure that the pedal surface always remains horizontal, so as to realize the horizontal unfolding of the vehicle pedal.

[0111] Understandably, when the first and second side pedals are height-adjusted using a multi-link system based on a parallelogram linkage, it ensures that the first and second side pedals remain horizontal during adjustment, guaranteeing pedal stability. This allows passengers, such as children or the elderly, to board the vehicle smoothly, improving user experience and boarding safety.

[0112] After the second control module 22 acquires the passenger type and the vehicle's welcome mode, the BCM outputs an intelligent multi-passenger type mode signal to the pedal controller. Upon receiving the intelligent multi-passenger type mode signal, the pedal controller enters the intelligent multi-passenger type mode and determines the pedals that need to be deployed on opposite sides of the vehicle, i.e., the pedals on the driver's side and / or the passenger side, based on the welcome mode. At the same time, it determines the corresponding pedal deployment height based on the passenger type and outputs the drive command corresponding to the pedal deployment angle to the pedal drive motor that needs to be deployed. The drive motor starts according to the drive command to control the pedal to move at different deployment angles, ensuring that the pedal surface is deployed to a preset horizontal height to meet the boarding needs of special groups such as the elderly, women, and children, and to ensure that a comfortable boarding height and ground clearance are adaptively provided for various passengers.

[0113] Simultaneously, it realizes intelligent welcome functions, making it easy to provide users with diversified and high-quality services. For example, when the welcome mode is the dual-side welcome mode, the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the first and second side pedals to control the first and second side pedals to unfold to a preset horizontal height, providing pedals for users on both the driver's side and the passenger side of the vehicle. When the welcome mode is the single-side welcome mode, the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the first side pedal to control the first side pedal to unfold to a preset horizontal height, providing pedals for the user on the driver's side, or the drive command corresponding to the type of passenger entering the vehicle is output to the drive motor of the second side pedal to control the second side pedal to unfold to a preset horizontal height, providing pedals for the user on the passenger side. By reducing the frequency of use of pedals that do not need to be opened, the welcome function is avoided from being redundant.

[0114] According to an embodiment of the present invention, the vehicle pedal control device 2 acquires the type of passengers getting into the vehicle and activates the vehicle's welcoming mode in response to a welcoming mode activation signal. It determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to deploy to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, it not only meets the diverse needs of different users for boarding height, but also meets the differentiated requirements for vehicle energy saving in different welcoming scenarios. This improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0115] The following is for reference. Figure 6 Vehicle 3, as described in an embodiment of the present invention.

[0116] like Figure 6As shown, the vehicle 3 in this embodiment of the invention includes the vehicle pedal control device 2 described in the above embodiment.

[0117] According to the vehicle 3 of the present invention, by acquiring the type of passengers boarding the vehicle and activating the vehicle's welcoming mode in response to a welcoming mode activation signal, the vehicle determines the pedals that need to be deployed on opposite sides of the vehicle and the appropriate pedal deployment height, and controls the first side pedal and / or the second side pedal to be deployed to a preset horizontal height at different deployment angles. By selecting the first side pedal and / or the second side pedal according to different passenger types and different welcoming modes, and automatically adjusting them to the preset horizontal height, the vehicle meets the diverse needs of different users for boarding height, satisfies the differentiated requirements for vehicle energy saving in different welcoming scenarios, improves the intelligence of the welcoming function, reduces the power consumption of the welcoming function on the vehicle, extends the vehicle's range and lifespan, and reduces the user's anxiety about using the vehicle.

[0118] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0119] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle pedal control method, characterized in that, The vehicle pedals include a first side pedal and a second side pedal, and the method includes: Obtain the type of passengers boarding the vehicle and activate the vehicle's welcome mode in response to the welcome mode activation signal; Based on the welcoming mode and the type of passenger boarding the vehicle, the first side pedal and / or the second side pedal are controlled to unfold to a preset horizontal height.

2. The vehicle pedal control method according to claim 1, characterized in that, The first side pedal and the second side pedal are disposed on opposite sides of the vehicle along a first direction. Controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height according to the welcome mode and the type of passenger boarding the vehicle includes: When the welcoming mode is a dual-side welcoming mode and the personnel type is a preset personnel type, the first side pedal and the second side pedal are controlled to unfold to a preset horizontal height. When the welcoming mode is a single-sided welcoming mode and the personnel type is a preset personnel type, the first side pedal is controlled to unfold to a preset horizontal height.

3. The vehicle pedal control method according to claim 1, characterized in that, Controlling the first side step and / or the second side step to unfold to a preset horizontal height according to the welcoming mode and the type of passenger boarding the vehicle includes: When the welcoming mode is the first single-sided welcoming mode and the personnel type is the preset personnel type, the first side pedal is controlled to unfold to a preset horizontal height, wherein the first single-sided welcoming mode indicates that the smart key detection signal is the first detection signal; When the welcoming mode is the second single-sided welcoming mode and the personnel type is a preset personnel type, the second pedal is controlled to unfold to a preset horizontal height, wherein the second single-sided welcoming mode is indicated by the smart key detection signal being the second detection signal.

4. The vehicle pedal control method according to any one of claims 1-3, characterized in that, After controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height, the method further includes: In response to the end of the welcome signal, the first side pedal and the second side pedal are closed.

5. The vehicle pedal control method according to claim 1, characterized in that, The process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height also includes: When a door closing signal is detected, image information of the first side pedal and the second side pedal when they are horizontally deployed is acquired; Based on the image information, control the first side pedal and / or the second side pedal to keep them horizontally extended or closed.

6. The vehicle pedal control method according to claim 5, characterized in that, Controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on the image information includes: If the image information includes a user image, control the first side pedal and the second side pedal to unfold to a preset horizontal height, and issue a voice reminder.

7. The vehicle pedal control method according to claim 5, characterized in that, Controlling the first side pedal and / or the second side pedal to remain horizontally extended or closed based on the image information includes: If the image information does not include the user's image, the first side pedal and the second side pedal are closed after a preset delay.

8. The vehicle pedal control method according to claim 1, characterized in that, The process of controlling the first side pedal and / or the second side pedal to extend to a preset horizontal height also includes: When the image detection device is obstructed and / or the image detection device malfunctions, the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated.

9. The vehicle pedal control method according to claim 8, characterized in that, After the contact-type anti-pinch function of the first side pedal and / or the second side pedal is activated, the system further includes: Obtain the vehicle speed; When the vehicle speed exceeds a preset speed threshold, the first side pedal and the second side pedal are controlled to close.

10. A vehicle pedal control device, characterized in that, The vehicle pedals include a first side pedal and a second side pedal, and the device includes: The first control module is used to obtain the type of passengers boarding the vehicle and activate the vehicle's welcome mode in response to the welcome mode activation signal. The second control module is used to control the first side pedal and / or the second side pedal to unfold to a preset horizontal height according to the welcoming mode and the type of passenger getting on the vehicle.

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