Vehicle side step plate control method and system and vehicle

Abstract

The invention provides a control method and a control system for a side step plate of a vehicle and the vehicle. The method comprises the steps that when an opening signal of a vehicle door is monitored, obstacle information in a vehicle side step plate unfolding area is obtained; when the obstacle exists in the unfolding area and the terrain clearance of the obstacle exceeds the bottom surface height of the lower side step plate of the current vehicle body height, the configuration of a suspension of the vehicle is recognized; and corresponding control measures are taken for the side step plates based on the configuration condition of the suspension. The problem that the side step plates collide with the side obstacles in the unfolding process can be better solved, and the user experience feeling can be better balanced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a control method, control system and vehicle for a vehicle side step. Background Technology

[0002] With the development of the automotive industry, mid-to-high-end models such as SUVs, MPVs, and pickup trucks have seen their market share continue to rise due to their advantages in space and off-road capability. However, the high ground clearance also makes it inconvenient for customers, especially the elderly, children, and people with mobility impairments, to get in and out of the vehicle. To address this issue, electric running boards have emerged and are now widely used.

[0003] The working principle of existing electric side steps is usually as follows: by connecting to the body domain controller (BDCU) or directly monitoring the door signal (such as door control switch), the side steps are automatically deployed when the door is opened, providing users with a convenient side step platform; after the door is closed, they are automatically retracted to the bottom of the vehicle to ensure the cleanliness of the side of the vehicle and meet the needs of passability. Electric side steps have become an important feature in improving the convenience of getting in and out of SUVs, MPVs, pickup trucks and other vehicles.

[0004] However, in complex urban parking environments, vehicles often need to park close to side obstacles such as curbs and steps. Therefore, it's easy for side steps to collide with these obstacles during deployment. Thus, finding a better balance between the issue of side step collisions and user experience is a major challenge. Summary of the Invention

[0005] The purpose of this application is to provide a control method, control system and vehicle for a vehicle side step, which can solve at least one of the technical problems mentioned in the prior art.

[0006] One aspect of this application provides a control method for a vehicle side step. The method includes: acquiring obstacle information within the deployed area of ​​the vehicle side step when a door opening signal is detected; identifying the suspension configuration of the vehicle when an obstacle exists within the deployed area and the obstacle's ground clearance exceeds the bottom height of the side step at the current vehicle height; and taking corresponding control measures on the side step based on the suspension configuration.

[0007] Furthermore, the control measures taken on the side step based on the suspension configuration include: when the suspension is an air suspension, determining the minimum lifting stroke required for the air suspension to safely deploy the side step based on the ground clearance of the obstacle and the bottom height of the side step at the current vehicle height; when the air suspension is available and can lift the minimum stroke, controlling the air suspension to lift based on the minimum stroke to raise the side step; and after the air suspension is raised to the desired position, controlling the side step to deploy.

[0008] Furthermore, the control measures for the side step based on the suspension configuration also include: prohibiting the side step from unfolding in any of the following situations: the suspension is a non-air suspension; the suspension is an air suspension but the air suspension is unavailable; the suspension is an air suspension and is available, but the air suspension cannot raise the minimum travel amount.

[0009] Furthermore, the method also includes: issuing an alarm message to alert the user while preventing the side step from unfolding.

[0010] Furthermore, the acquisition of obstacle information within the unfolded area of ​​the vehicle side step includes: monitoring obstacle information within the unfolded area of ​​the side step by using millimeter-wave radar or lidar installed on the lower side skirt of the vehicle door.

[0011] Furthermore, the acquisition of obstacle information within the unfolded area of ​​the vehicle side step also includes: acquiring signals from the vehicle body attitude sensor, vehicle speed signal, and steering wheel angle signal; determining the vehicle's parking posture by combining the signals from the vehicle body attitude sensor, the vehicle speed signal, and the steering wheel angle signal; and monitoring obstacle information within the unfolded area of ​​the side step based on the radar monitoring data and the vehicle's parking posture.

[0012] Furthermore, the method also includes: initiating visual monitoring and distance judgment by combining one or more of the exterior rearview mirror 360 camera, side surround view camera and wheel arch radar; and verifying the validity of the data collected by the millimeter-wave radar or the lidar located on the side skirt based on the results of visual analysis and judgment.

[0013] Furthermore, the method also includes: determining the type of the obstacle and its relative distance to the vehicle body based on the obstacle information; and dynamically adjusting the safety margin of the minimum travel distance according to the type of obstacle and the relative distance.

[0014] Furthermore, the method also includes: providing a selection interface for the user to choose to force the side step to unfold via the vehicle's central control display screen; and forcibly controlling the side step to unfold when receiving an instruction from the user to force the side step to unfold.

[0015] Furthermore, the method also includes: during the unfolding of the side step, monitoring the load current of the drive motor used to drive the unfolding of the side step; when the load current exceeds the current safety threshold, immediately triggering protection measures for the side step.

[0016] Furthermore, the immediate triggering of the protection measures for the side step plate includes: immediately stopping the drive motor or controlling the drive motor to reverse so that the side step plate retracts.

[0017] Another aspect of this application provides a control system for a vehicle side step. The control system includes a memory, a processor, and a computer program stored in the memory, the processor executing the computer program to implement the steps of the vehicle side step control method as described above.

[0018] Another aspect of this application provides a vehicle. The vehicle includes a control system for the vehicle side steps as described above.

[0019] The vehicle side step control method, control system, and vehicle side step control method of one or more embodiments of this application do not adopt a "one-size-fits-all" prohibition of deployment when the vehicle detects that there is a risk of collision between the side step and an obstacle at the current vehicle height. Instead, the suspension configuration can be further obtained, and corresponding control measures can be taken on the side step according to the suspension configuration.

[0020] Furthermore, the vehicle side step control method, control system, and vehicle of one or more embodiments of this application can take corresponding control measures on the side step based on suspension linkage and collaborative decision-making, making full use of the advanced configuration of some vehicles. For vehicles equipped with air suspension, when the air suspension meets predetermined conditions, the lifting of the air suspension can be used to drive the side step to rise, thereby increasing the bottom height of the side step. This ensures that the side step, after the vehicle height is raised, will no longer interfere with obstacles in its unfolding trajectory. Thus, the unfolding of the side step can be smoothly controlled, safely meeting the user's needs for using the side step, improving the user's experience and satisfaction, and maximizing the functional value of the vehicle. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a method for controlling a vehicle side step according to an embodiment of this application.

[0022] Figure 2This is a schematic diagram of the vehicle described in this application before the air suspension is raised.

[0023] Figure 3 This is a schematic diagram of the vehicle described in this application after the air suspension has been raised.

[0024] Figure 4 This is a step diagram illustrating a specific example of the control method for the vehicle side step of this application.

[0025] Figure 5 This is a schematic block diagram of a control system for a vehicle side step, according to one embodiment of this application.

[0026] Figure 6 This is a structural block diagram of a specific example of the vehicle described in this application.

[0027] Figure 7 This is a schematic diagram of the vehicle described in this application.

[0028] Figure 8 This is a schematic diagram showing the arrangement of the side steps according to one embodiment of this application.

[0029] Figure 9 This is a schematic diagram showing the arrangement of the side door radar according to one embodiment of this application.

[0030] Figure 10 This is a schematic diagram showing the arrangement of the air suspension and suspension ECU according to an embodiment of this application.

[0031] Figure 11 This is a schematic diagram showing the layout of the vehicle domain controller (BDCU) according to one embodiment of this application.

[0032] Figure 12 This is a schematic diagram showing the arrangement of the side step ECU according to an embodiment of this application. Detailed Implementation

[0033] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses consistent with some aspects of this application as detailed in the appended claims.

[0034] There are generally two technical solutions for addressing the issue of side step panels colliding with obstacles during deployment: The first is environmental perception and early warning: using ultrasonic sensors to detect the distance and height of side obstacles. When a potential obstacle is detected that may interfere with the deployment of the side step panel, deployment is directly prevented. The second is passive collision avoidance protection: incorporating motor current detection into the side step system. When a collision occurs during deployment, causing an increase in motor resistance torque, the system triggers an emergency stop or slight retraction to protect the mechanism.

[0035] However, both of the above technical solutions have significant shortcomings. While the first solution provides pre-collision warnings, it employs a "passive avoidance" strategy—simply disabling the function—failing to proactively address the problem and resulting in a poor user experience. The second solution is a reactive measure, unable to prevent the initial impact of a collision.

[0036] In view of this, this application provides an improved control method for vehicle side steps, which can actively create safety conditions by utilizing the vehicle's existing advanced configurations (such as air suspension), solve deeper problems that cannot be addressed in the above-mentioned related technologies, and improve the level of intelligence and user experience.

[0037] The control method, control system, and vehicle of the vehicle side step plate of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features in the following embodiments and implementations can be combined with each other.

[0038] Figure 1 A flowchart illustrating a control method for a vehicle side step according to an embodiment of this application is provided. Figure 1 As shown, a method for controlling a vehicle side step in one embodiment of this application may include steps S1 to S3.

[0039] In step S1, when the door opening signal is detected, obstacle information in the area where the vehicle side step is deployed is obtained.

[0040] In some embodiments, obtaining obstacle information within the unfolded area of ​​the vehicle side step in step S1 may include step S11.

[0041] In step S11, millimeter-wave radar or lidar installed on the lower side skirt of the door is used to monitor obstacle information in the area where the side step is deployed.

[0042] In some other embodiments, step S1, which involves obtaining obstacle information within the unfolded area of ​​the vehicle side step, may further include steps S12 and S13.

[0043] In step S12, the signals from the vehicle body attitude sensor, vehicle speed signal, and steering wheel angle signal are acquired.

[0044] In step S13, the parking posture of the vehicle is determined by combining the signals from the vehicle body posture sensor, the vehicle speed signal, and the steering wheel angle signal.

[0045] Therefore, given the vehicle's parking posture, obstacle information within the side step deployment area can be monitored based on the radar monitoring data obtained in step S11 and combined with the vehicle's parking posture obtained in step S13. This further improves the accuracy of obstacle detection within the side step deployment area and allows for more precise prediction of the interference between the side step deployment trajectory and obstacles.

[0046] In step S2, when there is an obstacle in the unfolded area and the obstacle's ground clearance exceeds the bottom height of the step plate below the current vehicle height, the vehicle's suspension configuration is identified.

[0047] In step S3, appropriate control measures are taken on the side steps based on the suspension configuration.

[0048] In some embodiments, step S3, which involves taking appropriate control measures on the side steps based on the suspension configuration, may further include steps S31 to S33.

[0049] In step S31, when the suspension is identified as an air suspension, the minimum lifting distance required for the side step to safely deploy the air suspension can be further determined based on the ground clearance of the obstacle and the bottom height of the side step under the current vehicle height.

[0050] The minimum travel required for air suspension to lift is typically the height difference between the obstacle's ground clearance and the bottom height of the side step at the current vehicle height, plus a safety margin, to ensure the safe deployment of the side step.

[0051] By utilizing point cloud data from the radar on the side skirts, not only can the highest point of an obstacle be identified, but also its contour features (such as the edge of a step) can be analyzed. Optionally, the type of obstacle (e.g., a smooth stone or a sharp step) and its relative distance to the vehicle body can be determined based on the obstacle information. Then, the safety margin of the minimum travel distance can be dynamically adjusted according to the type of obstacle and the relative distance. For example, for sharp obstacles that are close at hand, a larger safety margin can be used for the minimum travel distance, further improving the accuracy of safety decisions.

[0052] In step S32, when the air suspension is available and the air suspension can lift to its minimum travel, the air suspension can be raised based on the minimum travel. While raising the vehicle body, the air suspension can also raise the side steps, thereby increasing the bottom height of the side steps.

[0053] Figure 2 A schematic diagram of the vehicle in this application is shown before the air suspension is raised. (See attached diagram.) Figure 2 As shown, for example, if a vehicle is parked near a curb, and the height of the curb (H1) is greater than the height of the bottom of the side step (H2) at the current vehicle height, the side step will collide with the curb if it is directly unfolded.

[0054] Figure 3 A schematic diagram of the vehicle described in this application after the air suspension has been raised is shown. (See attached diagram.) Figure 3 As shown, the air suspension raises the height by ΔH, simultaneously raising the side step. The bottom surface height of the side step becomes H2'. At this point, the bottom surface height H2' of the side step is greater than the height H1 of the curb. Considering the safe deployment of the side step, the air suspension raising height ΔH usually includes a suitable safety margin δ. The δ value can be reasonably determined based on the type of obstacle and its distance from the vehicle body. After the side step is raised to a safe height, its safe deployment can be controlled to prevent collision with the curb.

[0055] In step S33, after the air suspension is raised to the position, the side step can be unfolded.

[0056] In some embodiments, step S3, which involves taking appropriate control measures on the side steps based on the suspension configuration, may further include step S34.

[0057] In step S34, when the suspension is detected to be a non-air suspension, since the vehicle body cannot be raised using the non-air suspension, the bottom height of the side step cannot be increased by using the suspension. Therefore, in this case, the side step will be prohibited from unfolding.

[0058] In other embodiments, step S3, which involves taking appropriate control measures on the side steps based on the suspension configuration, may further include step S35.

[0059] In step S35, when it is detected that the suspension is an air suspension but the air suspension is unavailable, for example, when the air suspension is detected to be faulty and in protection mode, since the air suspension is unavailable, the bottom height of the side step cannot be increased by using the air suspension. Therefore, in this case, the side step will be prohibited from unfolding.

[0060] In some other embodiments, step S3, which involves taking appropriate control measures on the side steps based on the suspension configuration, may further include step S36.

[0061] In step S36, when it is identified that the suspension is an air suspension and is available, but the air suspension cannot raise to the minimum travel amount, in this case, even if the air suspension is raised to the maximum travel height, the distance the air suspension is raised is still less than the required minimum travel amount, and the bottom height of the side step plate still cannot meet the height condition of not interfering with the obstacle, or the air suspension is already at the highest travel position and cannot be raised further. At this time, if the side step plate is unfolded, it will collide with the obstacle. Therefore, the side step plate will be prohibited from unfolding.

[0062] The vehicle side step control method of this application does not adopt a "one-size-fits-all" approach to prohibit deployment when a collision risk with an obstacle is detected at the current vehicle height. Instead, it takes corresponding control measures for the side step based on suspension linkage and collaborative decision-making. It makes full use of the advanced configurations of some vehicles. For vehicles equipped with air suspension, the side step can be raised by the air suspension when the predetermined conditions are met, thereby increasing the bottom height of the side step. This ensures that the side step will no longer interfere with obstacles during its deployment trajectory after the vehicle height is increased. As a result, the deployment of the side step can be smoothly controlled, safely meeting the user's needs for using the side step, improving the user experience and satisfaction, and maximizing the functional value of the vehicle.

[0063] In some embodiments, the control method for the vehicle side step of this application may further include step S4.

[0064] In step S4, while preventing the side step from unfolding, an alarm message is issued to alert the user.

[0065] For example, when a collision risk is anticipated and the side step is prohibited from being deployed, a warning icon can be displayed on the vehicle's central control screen, indicating whether there is insufficient space for the side step to open on the left, right, front, or rear side, and triggering a voice reminder (such as: "A step has been detected on the side, and the side step is prohibited from being deployed") to clearly inform the user of the reason.

[0066] In some embodiments, the control method for the vehicle side step of this application may further include steps S51 and S52.

[0067] In step S51, visual monitoring and distance determination can be initiated by combining one or more of the exterior rearview mirror 360 camera, side surround view camera and wheel arch radar.

[0068] In step S52, the validity of the data collected by the millimeter-wave radar or lidar located on the lower side skirt of the vehicle door can be verified based on the results of visual analysis and judgment. This allows for the calibration of the millimeter-wave radar or lidar on the side skirt, improving the accuracy of obstacle information collection.

[0069] In some embodiments, the vehicle side step control method of this application may further include steps S61 and S62.

[0070] In step S61, the vehicle's central control display screen can provide a selection interface for users to choose whether to force the side step to unfold.

[0071] In step S62, when a user selects to force the side step to unfold, the side step can be forcibly unfolded.

[0072] For example, when a collision risk is anticipated with the side steps, instead of forcibly prohibiting their deployment, a selection interface can pop up on the vehicle's central control screen, accompanied by a voice prompt: "There is an obstacle to the side. Deploying the side steps poses a collision risk. Do you wish to attempt deployment, or simply get out of the vehicle?" This returns the final decision-making power to the user, realizing the advanced concept of human-machine co-driving. For instance, if the obstacle is a soft snowdrift or a lightweight material like a foam box, and the user, after assessment, deems deployment necessary, they can issue a forced deployment command through the selection interface on the central control screen. Upon receiving the forced deployment command, the side steps will be forcibly deployed.

[0073] To ensure the safety of the side step during the deployment process, in some embodiments, the vehicle side step control method of this application may further include steps S71 and S72.

[0074] In step S71, during the unfolding of the side step plate, the load current of the drive motor used to drive the unfolding of the side step plate can be monitored.

[0075] In step S72, when the load current of the drive motor is detected to exceed the current safety threshold, the protection measures of the opposite step plate are immediately triggered.

[0076] Optionally, immediate triggering of protective measures for the side step plate may include, for example, immediately stopping the drive motor or controlling the drive motor to reverse so that the side step plate retracts.

[0077] For example, when the side step is forcibly deployed, if it comes into contact with a hard material, such as a step, the motor's resistance torque increases and the operating current rises sharply. If the motor's load current exceeds the current safety threshold within a very short time (e.g., less than 10 milliseconds), the output signal is immediately changed to command the drive motor to stop or reverse immediately, causing the side step to retract a certain distance (e.g., 3-5 cm), thereby eliminating the collision and preventing serious damage to the side step system.

[0078] Optionally, if the forced unfolding of the side step is obstructed, a voice prompt can be triggered to inform the user that "the unfolding is obstructed and the step has been retracted."

[0079] The vehicle side step control method of this application actively predicts and prioritizes the entire process of the side step's unfolding, preventing the vast majority of collisions. The passive protection under forced unfolding serves as a redundant safety measure to ensure absolute safety.

[0080] Figure 4 A step diagram illustrating a specific example of the control method for the vehicle side step of this application is shown. Figure 4 As shown, in step S401, a door opening signal is detected; in step S402, the millimeter-wave radar or lidar on the lower side skirt of the door is activated to scan for lateral obstacles within the side step deployment area. In step S403, it is determined whether the obstacle's ground clearance is greater than the bottom height of the side step at the current vehicle height. If the result is "no," meaning the obstacle's ground clearance is less than the bottom height of the side step at the current vehicle height, the process proceeds to step S404. In step S404, if the obstacle's ground clearance is less than the bottom height of the side step at the current vehicle height, there is no collision risk, and the normal deployment procedure can be executed. If the result is "yes," the process proceeds to step S405. In step S405, the minimum travel required for the air suspension to safely deploy the side step is calculated, and then the process proceeds to step S406. In step S406, it is determined whether the air suspension is available and can raise the minimum travel amount. When the judgment result is "yes", the process proceeds to steps S407 and S408. In step S407, a command is sent to raise the air suspension. In step S408, after the air suspension is raised to its position, the side steps are safely deployed. When the judgment result in step S406 is "no", the process proceeds to step S409. In step S409, a selection interface appears on the vehicle's central control display screen, allowing the user to choose whether to forcibly deploy the side steps, and a voice reminder of the potential collision risk is given. In step S410, the user makes a selection. When the user selects to forcibly deploy the side steps, the process proceeds to steps S411 and S412. In step S411, the side steps are deployed, and the load current monitoring and collision avoidance of the real-time drive motor is activated. In step S412, when a collision between the side steps and an obstacle is detected, the side steps are stopped or retracted. When the user selects to cancel deploying the side steps, the process proceeds to step S413. In step S413, the side step is kept in the retracted state, and then the user gets off the vehicle directly.

[0081] Through the above process, this application achieves intelligent, user-friendly, and high-value functional experience in complex scenarios.

[0082] This application also provides a control system for a vehicle side step. Figure 5A schematic block diagram of a vehicle side step control system 500 according to one embodiment of this application is shown. Figure 5 As shown, a vehicle side step control system 500 according to one embodiment of this application includes a processor 501, an internal bus 502, a network interface 503, a memory 504, and a non-volatile memory 505. It may also include other hardware required for other operations. The processor 501 can read the corresponding computer program from the non-volatile memory 505 into the memory 504 and then run it to implement the steps of the vehicle side step control method described above. Of course, besides software implementation, this application does not exclude other implementation methods, such as logic devices or a combination of hardware and software. That is, the execution entity of the following processing flow is not limited to individual logic units, but can also be hardware or logic components.

[0083] The vehicle side step control system 500 of this application can have similar beneficial technical effects to the vehicle side step control method described above, therefore, it will not be described in detail here.

[0084] This application also provides a vehicle. The vehicle includes a control system 500 for the vehicle side steps as described above.

[0085] Figure 6 A structural block diagram of a specific example of the vehicle 600 of this application is shown. For example... Figure 6 As shown, vehicle 600 includes a perception layer 610, a decision layer 620, and an execution and interaction layer 630. The perception layer 610 includes millimeter-wave radar or lidar located in the doors (referred to as side door radar 611), a body attitude sensor 612, wheel speed sensors 613, and a steering angle sensor 614. The decision layer 620 includes a body domain controller 621 (BDCU), a suspension ECU 622, and a side step ECU 623 (Electronic Control Unit). The execution and interaction layer 630 includes a drive motor for driving the side step movement, an air suspension compressor, and a vehicle-mounted HMI (human-machine interface) 632.

[0086] It is understandable that the above Figure 6 The structural block diagram of vehicle 600 shown is only one implementation of vehicle 600 in this application. The functional modules in the above block diagram can be merged or canceled according to actual needs. Figure 6 The illustrations shown do not constitute a limitation of this application.

[0087] Figure 7 A schematic diagram of the vehicle described in this application is shown. Figure 8 A schematic diagram illustrating the arrangement of the side steps according to one embodiment of this application is provided. Figure 7and 8 As shown, side steps can be arranged on the left and right sides of the vehicle body. Figure 9 A schematic diagram illustrating the arrangement of the side door radar according to one embodiment of this application is provided. Figure 9 As shown, in some embodiments, the side door radar can be arranged at the lower side skirt of the door. Figure 10 A schematic diagram illustrating the arrangement of the air suspension and suspension ECU according to one embodiment of this application is provided. Figure 10 As shown, in some embodiments, the air suspension and suspension ECU may be located at the front and rear suspension and rear floor positions. Figure 11 A schematic diagram illustrating the layout of the vehicle domain controller (BDCU) according to one embodiment of this application is provided. Figure 11 As shown, in some embodiments, the body domain controller (BDCU) may be located in the center of the front floor of the vehicle or under the sheet metal of the left and right A-pillars. Figure 12 A schematic diagram illustrating the arrangement of the side step ECU according to one embodiment of this application is provided. Figure 12 As shown, in some embodiments, the side step ECU can be located in the rear floor sheet metal area of ​​the vehicle body.

[0088] The body domain controller (BDCU) 621 is used to receive signals from the side door radar 611, the body attitude sensor 612, the wheel speed sensor 613 and the steering angle sensor 614, and make corresponding decisions based on these signals to determine the obstacle information in the side step deployment area.

[0089] Specifically, the Body Domain Controller (BDCU) 621 analyzes obstacle information, determines the obstacle's ground clearance, and compares the obstacle's ground clearance with the bottom height of the side step at the current vehicle height. If there is a collision risk, i.e., when the obstacle's ground clearance is greater than the bottom height of the side step at the current vehicle height, the side step ECU 623 does not simply disable it. Instead, it immediately queries the suspension system for its status and lifting capability through the Body Domain Controller 621. If the suspension is an air suspension and the air suspension has the lifting capability, the Body Domain Controller (BDCU) 621 prioritizes the execution of the linkage strategy. The Body Domain Controller (BDCU) 621 determines a safety margin based on the type of obstacle and its distance from the vehicle. Then, based on the obstacle's ground clearance, the bottom height of the side step at the current vehicle height, and the safety margin, it determines the minimum travel required for the air suspension to lift. Finally, it sends a first control signal for air suspension lifting and a second control signal for side step unfolding to the suspension ECU 622 and the side step ECU 623, respectively.

[0090] Upon receiving the first control signal for air suspension lifting, the suspension ECU 622 sends a first decision command to the air suspension system, activating the air suspension system and causing the vehicle body to rise smoothly, simultaneously raising the side steps. In response to the first decision command, the suspension ECU 622 controls the air suspension to lift and continuously monitors the height status for feedback adjustments. Upon receiving the second control signal for side step deployment, the side step ECU 623 sends a second decision command to the drive motor. Upon receiving feedback that the air suspension has reached the designated height, in response to the second decision command, the side step ECU 623 controls the drive motor to deploy the side steps. At this point, because the vehicle body has been raised, the bottom surface of the side steps is higher, allowing the side steps to deploy smoothly without collision risk.

[0091] If the suspension is unavailable (e.g., the height limit has been reached or the vehicle 600 lacks this configuration), the system will activate the human-machine co-driving mode: the Body Domain Controller (BDCU) 621 will clearly display the risk on the vehicle's HMI 632 and provide two options—"Force Deployment" or "Exit Directly." The user can choose based on their own situation (e.g., assessing the risk as acceptable), and the system will faithfully execute the user's command. If the user chooses Force Deployment, the system will activate real-time collision avoidance protection based on drive motor load current monitoring as a final safety redundancy. Throughout the system's operation, the vehicle's HMI 632 can provide corresponding voice prompts to guide the user.

[0092] The vehicle side step control method and control system of this application have at least the following advantages: (1) To fundamentally resolve the contradictions and restore the core functions in seemingly unusable scenarios; (2) It realizes intelligent integration between vehicle systems, reflecting the level of intelligence at the whole vehicle level; (3) The vehicle actively adapts to the environment to serve the user and gives the user the right to choose in complex situations; (4) It covers the entire chain of innovation, including perception, decision-making, execution, and interaction, and has higher technological barriers; (5) It greatly enhances the added value of models equipped with air suspension, becoming a strong sales highlight.

[0093] The control method, control system, and vehicle for the vehicle side step provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the control method, control system, and vehicle for the vehicle side step in this application. The descriptions of the embodiments above are only for helping to understand the core ideas of this application and are not intended to limit this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the spirit and principles of this application, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A control method of a vehicle side step, characterized by, Comprise: When the opening signal of the vehicle door is monitored, the obstacle information in the unfolding area of the side step plate of the vehicle is acquired; When there is an obstacle in the unfolding area and the ground clearance of the obstacle exceeds the height of the bottom surface of the side step plate under the current vehicle body height, the configuration of the suspension of the vehicle is identified; Based on the configuration of the suspension, corresponding control measures are taken for the side step plate.

2. The control method according to claim 1, characterized by, The corresponding control measures for the side step plate based on the configuration of the suspension include: When the suspension is an air suspension, the minimum stroke amount required for the air suspension to safely unfold the side step plate is determined based on the ground clearance of the obstacle and the height of the bottom surface of the side step plate under the current vehicle body height; When the air suspension is available and can be lifted by the minimum stroke amount, the air suspension is controlled to lift based on the minimum stroke amount to drive the side step plate to rise; After the air suspension is lifted in place, the side step plate is controlled to unfold.

3. The control method according to claim 2, characterized by, The corresponding control measures for the side step plate based on the configuration of the suspension also include: When any of the following conditions exists, the side step plate is prohibited from unfolding: The suspension is a non-air suspension; The suspension is an air suspension but is not available; The suspension is an air suspension and is available, but cannot be lifted by the minimum stroke amount.

4. The control method according to claim 3, characterized by, Also include: At the same time when the side step plate is prohibited from unfolding, an alarm information is sent to prompt the user.

5. The control method according to claim 1, characterized by, The acquisition of the obstacle information in the unfolding area of the side step plate of the vehicle includes: The obstacle information in the unfolding area of the side step plate is monitored by the millimeter wave radar or laser radar installed on the lower end side skirt of the vehicle door.

6. The control method according to claim 5, characterized by, The acquisition of the obstacle information in the unfolding area of the side step plate of the vehicle also includes: The signals of the vehicle body posture sensor, the vehicle speed signal and the steering wheel angle signal are acquired; The parking posture of the vehicle is determined in combination with the signals of the vehicle body posture sensor, the vehicle speed signal and the steering wheel angle signal; The obstacle information in the unfolding area of the side step plate is monitored based on the data monitored by the radar and the parking posture of the vehicle.

7. The control method according to claim 5, characterized by, Also include: One or more of the 360-degree camera of the outside rearview mirror, the side surround view camera and the wheel arch radar are started to start visual monitoring and distance judgment; Based on the results of visual analysis and judgment, the validity of the data collected by the millimeter wave radar or the laser radar located on the side skirt is verified.

8. The control method according to claim 2, characterized by, Also include: Based on the obstacle information, the type and relative distance of the obstacle from the vehicle body are determined; According to the type and relative distance of the obstacle, the safety margin of the minimum stroke amount is dynamically adjusted.

9. The control method according to any one of claims 1 to 8, characterized by, Also include: A selection interface for forcibly opening to allow the side step plate to unfold is provided on the car machine central control display screen for the user to select; When the instruction for forcibly opening to allow the side step plate to unfold is received, the side step plate is forcibly controlled to unfold.

10. The control method according to claim 9, characterized by, Also include: During the unfolding process of the side step plate, the load current of the drive motor for driving the side step plate to unfold is monitored; When the load current exceeds the current safety threshold, the protection measures for the side step plate are immediately triggered.

11. The control method according to claim 10, characterized by, The immediate trigger of the protection measures for the side step plate includes: Immediately stopping the driving motor or controlling the driving motor to reverse to retract the side step plate.

12. A control system for a vehicle side step, characterized by A computer program product comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the steps of the control method of the vehicle side step plate according to any one of claims 1 to 11.

13. A vehicle characterized by: A control system of a vehicle side step plate according to claim 12.

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