An electric pedal pavement self-adaptive and dynamic obstacle avoidance control method and related device
By constructing a comprehensive model based on real-time environmental information and vehicle posture, adaptive terrain adjustment commands are generated and dynamic obstacle avoidance strategies are triggered. This solves the problem that existing electric pedal systems cannot avoid obstacles and adjust angles, realizing intelligent obstacle avoidance and precise terrain conformity of electric pedals, thus improving the safety and stability of getting on and off the vehicle.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHERY AUTOMOBILE CO LTD
- Filing Date
- 2026-03-31
- Publication Date
- 2026-05-29
AI Technical Summary
Existing electric pedal systems cannot monitor the dynamic environment in real time, cannot avoid sudden obstacles, and cannot adjust the angle, resulting in unsafe and unstable getting on and off the vehicle.
By acquiring real-time 3D road environment information and vehicle attitude information, a comprehensive environment model is constructed, adaptive terrain adjustment commands are generated, obstacles are identified in real time, and dynamic obstacle avoidance strategies are triggered, with higher priority than adaptive terrain conforming.
It enables intelligent obstacle avoidance and precise contact of electric pedals on complex road surfaces, improving the safety, stability and comfort of getting on and off the vehicle.
Smart Images
Figure CN122101002A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of intelligent connected vehicle technology, specifically to the field of electric pedals, and particularly relates to an electric pedal road surface adaptive and dynamic obstacle avoidance control method and related device. Background Technology
[0002] As a mainstream vehicle entry and exit assist device, the existing adjustment strategy relies on the user's height and basic road surface conditions such as wetness and indentation to achieve control, which significantly improves the convenience of getting on and off the vehicle.
[0003] Existing electric pedal systems have technical shortcomings: First, they lack the ability to monitor and respond to dynamic environments in real time, and cannot avoid sudden obstacles such as children, pets, and small vehicles during pedal extension, posing a risk of collision and pinching. Second, they only support overall height adjustment and do not have angle adjustment functions, making it difficult to adapt to inclined or uneven road surfaces, which can easily cause the pedal to tilt, affecting the safety, stability, and comfort of getting on and off the vehicle.
[0004] It is evident that existing technologies cannot simultaneously address both dynamic environmental safety protection and adaptive adjustment to complex road surfaces, exhibiting significant technical limitations. Summary of the Invention
[0005] This invention provides an electric pedal road surface adaptive and dynamic obstacle avoidance control method and related device. This method can effectively solve the problem that the existing technology cannot take into account both dynamic environment safety protection and complex road surface adaptive adjustment.
[0006] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive road surface and dynamic obstacle avoidance control method for electric pedals includes: A comprehensive environmental model is constructed based on real-time acquired 3D road environment information and vehicle body horizontal attitude information in the parked state. Based on the comprehensive environmental model and the vehicle body horizontal attitude information, the compensation amount of the electric pedal is calculated. Based on the compensation amount, an adaptive terrain adjustment command including lifting height, translation distance, lateral deflection angle, and longitudinal deflection angle is generated to trigger the adaptive terrain fitting strategy. The compensation amount enables the electric pedal surface to return to a horizontal state. Based on the comprehensive environmental model, during the extension of the electric pedal, the system identifies in real time whether any obstacles enter the safe extension travel space based on the three-dimensional road environment information. If an obstacle enters, an emergency stop command is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The electric pedal is controlled to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
[0007] Furthermore, the process of calculating the compensation amount of the electric pedal based on the comprehensive environmental model and the vehicle body horizontal attitude information also includes: Based on the comprehensive environment model, a multimodal interactive prompt for road safety determination is generated according to the vehicle's horizontal attitude information; the multimodal interactive prompt is used to provide safety reminders to the user before getting out of the vehicle.
[0008] Furthermore, in the process of generating the multimodal interactive prompt for road safety determination based on the vehicle body horizontal attitude information, the road safety determination includes: Based on preset thresholds for roll and pitch angles, the risk of disembarking is categorized into high-risk, medium-risk, and safe states, where: When the pitch angle is greater than A or the roll angle is greater than B, or when A1 is less than the pitch angle and less than A and B1 is less than the roll angle and less than B, it is considered a high-risk situation for getting off the vehicle. When A1 < pitch angle ≤ A and roll angle ≤ B1, or B1 < roll angle ≤ B and pitch angle ≤ A1, it is judged as a risky state when getting off the vehicle. When the pitch angle ≤ A1 and the roll angle ≤ B1, the vehicle is deemed to be in a safe disembarkation state; where A and A1 are the first pitch angle determination threshold and the second pitch angle determination threshold, respectively; and B and B1 are the first roll angle determination threshold and the second roll angle determination threshold, respectively.
[0009] Furthermore, in the process of generating the multimodal interactive prompt for road safety determination based on the vehicle's horizontal attitude information, the corresponding safety prompt is output to the user through the multimodal interaction method of the vehicle cabin, including: When a high-risk situation for getting out of the vehicle is determined, the first preset color light inside the vehicle will flash, and a high-risk warning message for getting out of the vehicle will be output through the central control screen. When the vehicle is determined to be in a high-risk state when getting out of the vehicle, the second preset color light inside the vehicle will flash, and a high-risk warning message will be displayed on the central control screen. When the vehicle is deemed safe to disembark, no safety prompt is output. When the dynamic obstacle avoidance strategy is triggered, the third preset color light inside the vehicle will flash, and obstacle avoidance prompts will be output through the central control screen. After the dynamic obstacle avoidance strategy is deactivated or the vehicle door is closed, the cabin will return to normal.
[0010] Furthermore, the high-risk warning message for getting out of the vehicle is: "The current vehicle body is tilted too far to the side. Please move the vehicle to a safe area before getting out of the vehicle." The risk warning message when getting off the vehicle is: "The road surface is slightly uneven. Please be careful when getting off the vehicle." The obstacle avoidance message reads: "Obstacle detected. The left / right electric pedals will stop immediately. Please close the door and try again or exit on the opposite side."
[0011] Furthermore, before constructing the comprehensive environmental model based on the real-time acquired three-dimensional road environment information and the vehicle's horizontal attitude information in the parked state, the following steps are also included: The specific steps for acquiring real-time 3D road environment information are as follows: By using at least one of the following: a wire-controlled lidar, a vision sensor, and a 4D millimeter-wave radar, a high-frequency three-dimensional scan is performed on the preset extension path of the electric pedal and the area below it to acquire three-dimensional point cloud data in real time, so as to identify obstacles and road surface terrain information and obtain three-dimensional road environment information.
[0012] Furthermore, before constructing the comprehensive environmental model based on the real-time acquired three-dimensional road environment information and the vehicle's horizontal attitude information in the parked state, the following steps are also included: The vehicle's horizontal attitude information when the vehicle is parked is obtained through a vehicle attitude sensor; the vehicle attitude information includes roll angle and pitch angle.
[0013] An electric pedal road surface adaptive and dynamic obstacle avoidance control system includes: The model building module is used to build a comprehensive environmental model based on real-time acquired 3D road environment information and vehicle horizontal attitude information in the parked state. The first instruction generation module is used to calculate the compensation amount of the electric pedal based on the comprehensive environment model and the vehicle body horizontal attitude information, and generate an adaptive terrain adjustment instruction including lifting height, translation distance, lateral deflection angle and longitudinal deflection angle based on the compensation amount to trigger the adaptive terrain fitting strategy; the compensation amount can restore the surface of the electric pedal to a horizontal state. The second instruction generation module is used to identify whether any obstacles enter the safe extension travel space in real time based on the three-dimensional road environment information during the extension of the electric pedal, based on the comprehensive environmental model. If an obstacle enters, an emergency stop instruction is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The control module is used to control the electric pedal to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
[0014] An electric pedal road surface adaptive and dynamic obstacle avoidance control device, comprising: Memory, used to store computer programs; The processor is used to implement the above-described electric pedal road surface adaptive and dynamic obstacle avoidance control method when executing the computer program.
[0015] A computer-readable storage medium storing a computer program, which, when executed by a processor, is used to implement the above-described electric pedal road surface adaptive and dynamic obstacle avoidance control method.
[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a method for adaptive road surface control and dynamic obstacle avoidance of electric pedals. It constructs a comprehensive environmental model by acquiring real-time three-dimensional road environment information and vehicle horizontal attitude information. Based on this model, it calculates compensation amounts to generate adaptive terrain adjustment commands, including lifting, translation, and yaw angles, restoring the pedal surface to a horizontal position. Simultaneously, it identifies obstacles in real-time during pedal extension and triggers an emergency stop command. This method dynamically derives compensation amounts by fusing multi-source information to achieve adaptive road surface conformity and assigns higher priority to the dynamic obstacle avoidance strategy to respond to environmental changes in real time. This method effectively overcomes the limitations of existing technologies that cannot simultaneously address dynamic safety protection and adaptive adjustment to complex road surfaces, achieving intelligent obstacle avoidance and precise terrain conformity for electric pedals, significantly improving the safety, stability, and comfort of getting on and off the vehicle. Attached Figure Description
[0017] Figure 1 This is a flowchart illustrating a specific implementation of an electric pedal road surface adaptive and dynamic obstacle avoidance control method provided in an embodiment of the present invention. Figure 2 This is a core flowchart of an electric pedal road surface adaptive and dynamic obstacle avoidance control method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an electric pedal road surface adaptive and dynamic obstacle avoidance control system provided in an embodiment of the present invention. Detailed Implementation
[0018] To further understand the content of this invention, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.
[0019] The technical terms involved in this invention are explained as follows: Safe extension travel space: During the entire extension process of the electric pedal, a reasonable travel range and surrounding safety zone are reserved to ensure the passenger's safe stepping and avoid interference with the vehicle body or obstacles.
[0020] As mentioned in the background section, while pedal adjustment strategies based on height and basic road surface conditions (such as slipperiness or indentations) greatly improve the convenience of getting in and out of vehicles, existing electric pedal systems lack real-time monitoring and response capabilities for dynamic environments. They cannot avoid suddenly appearing obstacles during pedal extension, such as children or pets suddenly darting in, small vehicles sliding in from the side, moving balls or toys, large obstacles blown by the wind, or people (especially children) accidentally getting too close and getting pinched – all posing safety hazards. Furthermore, existing electric pedals only allow for overall height adjustment, not angle adjustment, making them unsuitable for complex road conditions such as vehicles parked on sloping surfaces or uneven surfaces (like gravel roads). This causes the pedal surface to tilt, affecting the safety, stability, and comfort of getting in and out of the vehicle. Therefore, existing technologies primarily focus on static obstacles and lack monitoring strategies for complex dynamic environments; electric pedals can only "raise" or "lower," failing to address the unpleasant experience caused by uneven road surfaces.
[0021] To address the aforementioned issues, this embodiment provides an electric pedal road surface adaptive and dynamic obstacle avoidance control method. This method dynamically generates adaptive adjustment commands by fusing road and vehicle information in real time and assigns higher priority to obstacle avoidance, thereby achieving intelligent adaptation to complex road surfaces and timely response to sudden obstacles, effectively improving the safety, stability, and comfort of getting on and off the vehicle.
[0022] For example, such as Figure 2 As shown, this embodiment provides a method for adaptive road surface control and dynamic obstacle avoidance of electric pedals, including: A comprehensive environmental model is constructed based on real-time acquired 3D road environment information and vehicle horizontal attitude information when the vehicle is parked.
[0023] Before this step, a high-frequency 3D scan of the electric pedal's preset extension path and the area beneath it is first performed using at least one of a wired LiDAR, a vision sensor, or a 4D millimeter-wave radar. This real-time acquisition of 3D point cloud data is used to identify obstacles and road surface terrain information, thus obtaining 3D road environment information. By using high-precision and high-reliability sensing devices such as wired LiDAR, vision sensors, and 4D millimeter-wave radar for high-frequency 3D scanning, a solid and advanced data foundation is provided for the implementation of the entire method. This ensures that the system's identification of obstacles and road surface terrain has high real-time performance, high accuracy, and strong anti-interference capabilities. This guarantees the accuracy and reliability of the environmental model construction from the source, which is a prerequisite for the effective execution of all subsequent intelligent decision-making and control actions.
[0024] Furthermore, the vehicle's horizontal attitude information, including roll and pitch angles, is acquired through vehicle attitude sensors while the vehicle is parked. Directly obtaining these angles from the sensors provides a direct, accurate, and real-time attitude reference for adaptive terrain adjustment. This design ensures that the compensation calculated by the system accurately reflects the vehicle's offset relative to the horizontal plane, providing crucial data for precise pedal leveling and restoration of a level state. This makes the adaptive terrain-following strategy highly targeted and effective.
[0025] Based on the comprehensive environmental model and the vehicle body horizontal attitude information, the compensation amount of the electric pedal is calculated. Based on the compensation amount, an adaptive terrain adjustment command including lifting height, translation distance, lateral deflection angle, and longitudinal deflection angle is generated to trigger the adaptive terrain fitting strategy. The compensation amount enables the electric pedal surface to return to a horizontal state. Preferably, this step also includes: generating multimodal interactive prompts for road safety determination based on the comprehensive environmental model and the vehicle's horizontal attitude information; the multimodal interactive prompts can provide safety reminders to the user before getting out of the vehicle, improving the user's safety when getting out of the vehicle.
[0026] Based on the comprehensive environmental model, during the extension of the electric pedal, the system identifies in real time whether any obstacles enter the safe extension travel space based on the three-dimensional road environment information. If an obstacle enters, an emergency stop command is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy.
[0027] In this step, the obstacle is a moving object, such as a child, pet, small vehicle, ball, or toy. When the electric pedal is extended, if the three-dimensional road environment information identifies the above-mentioned moving object as an obstacle entering the safe extension travel space and affecting the continued extension of the electric pedal, an emergency stop command is directly output to stop the driving process of the electric pedal, thus achieving the function of dynamic obstacle avoidance.
[0028] The electric pedal is controlled to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
[0029] As another preferred embodiment, in the multimodal interactive prompts for road safety determination, the road safety determination process specifically includes: Based on preset thresholds for roll and pitch angles, the risk of disembarking is categorized into high-risk, medium-risk, and safe states, where: When the pitch angle is greater than A or the roll angle is greater than B, or when A1 is less than the pitch angle and less than A and B1 is less than the roll angle and less than B, it is considered a high-risk situation for getting off the vehicle. When A1 < pitch angle ≤ A and roll angle ≤ B1, or B1 < roll angle ≤ B and pitch angle ≤ A1, it is judged as a risky state when getting off the vehicle. When the pitch angle ≤ A1 and the roll angle ≤ B1, the vehicle is deemed to be in a safe disembarkation state; where A and A1 are the first pitch angle determination threshold and the second pitch angle determination threshold, respectively; and B and B1 are the first roll angle determination threshold and the second roll angle determination threshold, respectively.
[0030] Explainedly, this method replaces simple yes-or-no judgments with a quantitative, tiered risk assessment model, enabling the system to perform more refined assessments of complex road conditions. This tiered mechanism allows subsequent interactive prompts to match different risk levels, achieving differentiated warnings and avoiding user confusion caused by excessive prompts or safety oversights due to insufficient prompts, thus improving the accuracy and rationality of risk management.
[0031] As another preferred embodiment, corresponding safety prompts are output to the user through a multimodal interaction method in the vehicle cockpit, including: When a high-risk exit condition is detected, the first preset color light inside the vehicle flashes, and a high-risk exit warning message is displayed on the central control screen. When a medium-risk exit condition is detected, the second preset color light inside the vehicle flashes, and a medium-risk exit warning message is displayed on the central control screen. When a safe exit condition is detected, no safety warning is displayed. When the dynamic obstacle avoidance strategy is triggered, the third preset color light inside the vehicle flashes, and an obstacle avoidance warning message is displayed on the central control screen. After the dynamic obstacle avoidance strategy is deactivated or the vehicle door is closed, the cabin returns to normal operation. The high-risk exit warning message is: "The current vehicle body tilt angle is too large. Please move the vehicle to a safe area before exiting." The medium-risk exit warning message is: "The road surface is slightly uneven. Please be careful when exiting." The obstacle avoidance warning message is: "Obstacle detected. The left / right electric pedals have stopped urgently. Please close the door and try again or exit on the opposite side."
[0032] As can be seen, this method combines visual (flashing different colored lights) and graphic (information on the central control screen) approaches to ensure that safety information is efficiently conveyed to users in a redundant and complementary manner. Different states correspond to different explicit prompt modes, establishing a clear human-machine interaction protocol. This enables users to quickly and accurately understand the vehicle's safety status and the operations the system is performing, greatly optimizing user experience and emergency response efficiency.
[0033] Meanwhile, this method elevates system interaction beyond simply providing status updates by offering clear, specific, and instructive prompts. It transforms system interaction into action guidelines that include explanations of risk causes and operational suggestions. For example, explicitly stating "the tilt angle is too large" and suggesting "move to a safe area" makes the prompts more practical and user-friendly, effectively guiding users to take the correct actions. This extends the security protection capabilities of the technical system to the proactive guidance of user behavior.
[0034] like Figure 1 As shown, a specific implementation application of the electric pedal road surface adaptive and dynamic obstacle avoidance control method provided in this embodiment was carried out, and the implementation process is as follows: When the vehicle is parked, the 3D environment perception module (sensor) is immediately activated to scan the pedal movement area and simultaneously acquire the vehicle's horizontal attitude information (pitch angle and roll angle) from the vehicle attitude sensor, together constructing a comprehensive environment model that includes dynamic obstacles, static road features, and the vehicle's own attitude.
[0035] Based on the generated comprehensive environment model, the following two core decision-making processes are executed in parallel: Dynamic obstacle avoidance strategy generation: The controller internally defines a virtual "safe extension travel space" (a three-dimensional space predicted based on the pedal's movement trajectory). Before and throughout the extension process, the controller continuously compares real-time acquired 3D point cloud data with the safe extension travel space. Once a point cloud cluster of a moving object is detected entering the safe extension travel space (e.g., the point cloud's movement speed is greater than 0.1 m / s and its trajectory intersects the pedal's extension path), the controller immediately marks it as a dynamic obstacle intrusion and generates an emergency stop command.
[0036] Adaptive terrain fitting strategy generation: Based on the tilt angle data transmitted by the vehicle attitude sensor (such as the vehicle tilting 3 degrees laterally and 3 degrees longitudinally), the controller calculates the target deflection angle (i.e., 3 degrees laterally and 3 degrees longitudinally) required to restore the electric pedal surface to a horizontal position.
[0037] The controller translates the generated strategy into specific control commands and sends them to the electric pedal mechanism: Basic action: Control the lifting drive to lower the pedal to an initial height calculated based on the user's height.
[0038] Terrain fit: Control the deflection drive to precisely deflect the pedal to the target angle (e.g., 3 degrees laterally, 3 degrees longitudinally) to ensure its surface is level.
[0039] Throughout the extension process, the dynamic obstacle avoidance strategy has the highest interruption priority. Once triggered, the controller will immediately abort all ongoing adjustment actions and execute an emergency stop.
[0040] The controller drives the multimodal interactive prompt module to work simultaneously with and after the pedal action: When dynamic obstacle avoidance is triggered, the red light flashes (frequency 2Hz), and the central control screen pops up a specific warning (such as "Obstacle detected, the left electric pedal has stopped urgently, please close the door and try again or get out of the vehicle on the right").
[0041] Based on the vehicle's horizontal attitude information, if the vehicle's pitch angle > A or roll angle > B or (A1 < pitch angle <= A and B1 < roll angle <= B), the red light inside the vehicle will flash (frequency 2Hz) and a pop-up window will appear on the central control screen: "The current vehicle body tilt angle is too large. Please move the vehicle to a safe area before getting out of the vehicle."
[0042] If (A1 < pitch angle <= A and roll angle <= B1) or (B1 < roll angle <= B and pitch angle <= A1), the yellow lights inside the car will flash (frequency 1Hz) and a pop-up window will appear on the center console: "There is a slight unevenness on the road surface. Please be careful when getting out of the car."
[0043] If the pitch angle is less than or equal to B1 and the roll angle is less than or equal to A1, the vehicle will not issue any warnings, and the user can exit the vehicle normally.
[0044] like Figure 3 As shown, this embodiment also provides an electric pedal road surface adaptive and dynamic obstacle avoidance control system, including: a model building module, used to build a comprehensive environment model based on real-time acquired three-dimensional road environment information and vehicle body horizontal attitude information in the parking state; The first instruction generation module is used to calculate the compensation amount of the electric pedal based on the comprehensive environment model and the vehicle body horizontal attitude information, and generate an adaptive terrain adjustment instruction including lifting height, translation distance, lateral deflection angle and longitudinal deflection angle based on the compensation amount to trigger the adaptive terrain fitting strategy; the compensation amount can restore the surface of the electric pedal to a horizontal state. The second instruction generation module is used to identify whether any obstacles enter the safe extension travel space in real time based on the three-dimensional road environment information during the extension of the electric pedal, based on the comprehensive environmental model. If an obstacle enters, an emergency stop instruction is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The control module is used to control the electric pedal to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
[0045] This embodiment also provides a comprehensive control system for an electric pedal, including the aforementioned electric pedal road surface adaptation and dynamic obstacle avoidance control system, used as the strategy decision-making unit of the entire comprehensive control system, and further including: 3D Environment Perception Module: Used to acquire high-precision 3D environmental information of the road outside the vehicle in real time.
[0046] Vehicle posture perception module: used to identify the horizontal posture of the vehicle body when the vehicle is parked.
[0047] Multi-degree-of-freedom execution control module: connected to the strategy decision unit, used to convert the dynamic obstacle avoidance strategy and adaptive terrain fitting strategy into control commands, driving the pedal mechanism to complete actions including emergency stop, lifting, translation and deflection.
[0048] Multimodal interaction prompt module: used to control in-vehicle lights and cabin prompts, and provide safety prompts to users based on decision results.
[0049] The strategy decision unit is connected to the three-dimensional environment perception module and the vehicle posture perception module, and is used to generate a dynamic obstacle avoidance strategy based on the three-dimensional environment information, and to generate an adaptive terrain fitting strategy based on the vehicle's horizontal posture.
[0050] It should be noted that, in this embodiment, an electric pedal mechanism is proposed for electric pedals, including electric pedal modules on the left and right sides of the vehicle exterior. Each module has the following built-in components: a lifting driver for realizing the vertical lifting movement of the pedal; a lateral translation driver for realizing the lateral translation movement of the pedal along the vehicle; a lateral deflection driver for realizing the small lateral deflection movement of the pedal around its axis; and a longitudinal deflection driver for realizing the small longitudinal deflection movement of the pedal around its axis.
[0051] The present invention also provides an electric pedal road surface adaptive and dynamic obstacle avoidance control device, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the electric pedal road surface adaptive and dynamic obstacle avoidance control method.
[0052] The present invention also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the electric pedal road surface adaptive and dynamic obstacle avoidance control method.
[0053] When the processor executes the computer program, it implements the above-mentioned steps of electric pedal road surface adaptation and dynamic obstacle avoidance control, for example: constructing a comprehensive environment model based on real-time acquired three-dimensional road environment information and vehicle body horizontal attitude information in the parking state; Based on the comprehensive environmental model and the vehicle body horizontal attitude information, the compensation amount of the electric pedal is calculated. Based on the compensation amount, an adaptive terrain adjustment command including lifting height, translation distance, lateral deflection angle, and longitudinal deflection angle is generated to trigger the adaptive terrain fitting strategy. The compensation amount enables the electric pedal surface to return to a horizontal state. Based on the comprehensive environmental model, during the extension of the electric pedal, the system identifies in real time whether any obstacles enter the safe extension travel space based on the three-dimensional road environment information. If an obstacle enters, an emergency stop command is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The electric pedal is controlled to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
[0054] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing preset functions, the instruction segments describing the execution process of the computer program in the electric pedal road surface adaptive and dynamic obstacle avoidance control device. For example, the computer program can be divided into a model building module, a first instruction generation module, a second instruction generation module, and a control module; the specific functions are as follows: the model building module is used to build a comprehensive environment model based on real-time acquired three-dimensional road environment information and vehicle body horizontal attitude information in the parking state; the first instruction generation module is used to calculate the compensation amount of the electric pedal based on the comprehensive environment model and the vehicle body horizontal attitude information, and generate adaptive terrain adjustment instructions including lifting height, translation distance, lateral deflection angle, and longitudinal deflection angle according to the compensation amount to trigger the adaptive terrain fitting strategy; the compensation amount enables the electric pedal surface to return to a horizontal state; the second instruction generation module... The command generation module is used to identify, in real time, whether any obstacles enter the safe extension travel space based on the comprehensive environmental model and the three-dimensional road environment information during the extension of the electric pedal. If an obstacle enters, an emergency stop command is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain fitting strategy. The control module is used to control the electric pedal to perform adaptive adjustment actions based on the generated adaptive terrain adjustment command. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified as leaving the safe extension travel space, the electric pedal is controlled to continue performing adaptive adjustment actions based on the adaptive terrain adjustment command.
[0055] The electric pedal road surface adaptive and dynamic obstacle avoidance control device can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The electric pedal road surface adaptive and dynamic obstacle avoidance control device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above are examples of electric pedal road surface adaptive and dynamic obstacle avoidance control devices and do not constitute a limitation on such devices. It may include more components than described above, or combine certain components, or different components. For example, the electric pedal road surface adaptive and dynamic obstacle avoidance control device may also include input / output devices, network access devices, buses, etc.
[0056] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or any conventional processor. The processor is the control center of the electric pedal road surface adaptive and dynamic obstacle avoidance control system, connecting all parts of the entire electric pedal road surface adaptive and dynamic obstacle avoidance control device via various interfaces and lines.
[0057] The memory can be used to store the computer program and / or modules. The processor realizes various functions of the electric pedal road surface adaptive and dynamic obstacle avoidance control device by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory.
[0058] The memory may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function (such as sound playback, image playback, etc.). The data storage area may store data created based on the use of the mobile phone (such as audio data, phonebook, etc.). Furthermore, the memory may include high-speed random access memory and non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.
[0059] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the electric pedal road surface adaptive and dynamic obstacle avoidance control method.
[0060] If the modules / units integrated into the electric pedal road surface adaptive and dynamic obstacle avoidance control system are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
[0061] Based on this understanding, the present invention can implement all or part of the processes in the above-mentioned electric pedal road surface adaptive and dynamic obstacle avoidance control method, which can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above-mentioned electric pedal road surface adaptive and dynamic obstacle avoidance control method. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or preset intermediate form, etc.
[0062] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc.
[0063] It should be noted that the content contained in the computer-readable storage medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.
[0064] Compared with existing pedal control methods, this invention provides an electric pedal road surface adaptive and dynamic obstacle avoidance control method and related device, which has the following advantages: First, by introducing real-time three-dimensional environmental perception and dynamic obstacle avoidance strategies, the system can monitor the entire lifecycle of the pedal extension and immediately execute an emergency stop when dynamic obstacles (such as pets or children) are detected to intrude, achieving a fundamental upgrade from static safety protection to dynamic active safety, and greatly avoiding possible mechanical impacts or pinching accidents.
[0065] Secondly, by integrating high-precision 3D road surface modeling with an electric pedal mechanism, this invention can intelligently perform "adaptive terrain fitting." Regardless of whether the vehicle is parked on a sloping road or a rugged terrain, the system can automatically calculate the compensation amount required to restore the pedal to a horizontal position and drive the mechanism to complete lifting, translation, and deflection adjustments. This provides the user with a consistently stable and safe absolute reference plane, solving the problem of poor adaptability of traditional fixed or single-motion pedals in complex road conditions.
[0066] Third, this invention integrates a multimodal interactive prompting system with priority management, transforming potential risks perceived by the system (such as obstacle intrusion or uneven road surfaces) into intuitive visual (light color / frequency) and audible (central control screen pop-up text) prompts. This design not only forces user attention to prevent misoperation in emergency situations through the highest priority warning coverage, but also provides clear status guidance in normal circumstances, assisting users in anticipating risks. This significantly reduces the risk of slipping or falling due to information asymmetry, enhancing users' confidence and sense of security when using the pedals in various scenarios.
[0067] The above embodiments are merely one of the implementation methods for achieving the technical solution of the present invention. The scope of protection claimed by the present invention is not limited to this embodiment, but also includes any variations, substitutions and other implementation methods that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention.
[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the present invention.
Claims
1. A method for adaptive road surface control and dynamic obstacle avoidance of an electric pedal, characterized in that, include: A comprehensive environmental model is constructed based on real-time acquired 3D road environment information and vehicle body horizontal attitude information in the parked state. Based on the comprehensive environmental model and the vehicle body horizontal attitude information, the compensation amount of the electric pedal is calculated. Based on the compensation amount, an adaptive terrain adjustment command including lifting height, translation distance, lateral deflection angle, and longitudinal deflection angle is generated to trigger the adaptive terrain fitting strategy. The compensation amount enables the electric pedal surface to return to a horizontal state. Based on the comprehensive environmental model, during the extension of the electric pedal, the system identifies in real time whether any obstacles enter the safe extension travel space based on the three-dimensional road environment information. If an obstacle enters, an emergency stop command is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The electric pedal is controlled to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
2. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 1, characterized in that, The process of calculating the compensation amount of the electric pedal based on the comprehensive environmental model and the vehicle body horizontal attitude information also includes: Based on the comprehensive environment model, a multimodal interactive prompt for road safety determination is generated according to the vehicle's horizontal attitude information; the multimodal interactive prompt is used to provide safety reminders to the user before getting out of the vehicle.
3. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 2, characterized in that, In the process of generating a multimodal interactive prompt for road safety determination based on the vehicle's horizontal attitude information, the road safety determination includes: Based on preset thresholds for roll and pitch angles, the risk of disembarking is categorized into high-risk, medium-risk, and safe states, where: When the pitch angle is greater than A or the roll angle is greater than B, or when A1 is less than the pitch angle and less than A and B1 is less than the roll angle and less than B, it is considered a high-risk situation for getting off the vehicle. When A1 < pitch angle ≤ A and roll angle ≤ B1, or B1 < roll angle ≤ B and pitch angle ≤ A1, it is judged as a risky state when getting off the vehicle. When the pitch angle ≤ A1 and the roll angle ≤ B1, the vehicle is deemed to be in a safe disembarkation state; where A and A1 are the first pitch angle determination threshold and the second pitch angle determination threshold, respectively; and B and B1 are the first roll angle determination threshold and the second roll angle determination threshold, respectively.
4. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 2, characterized in that, In the process of generating the multimodal interactive prompts for road safety determination based on the vehicle's horizontal attitude information, corresponding safety prompts are output to the user through the multimodal interaction method of the vehicle cabin, including: When a high-risk situation for getting out of the vehicle is determined, the first preset color light inside the vehicle will flash, and a high-risk warning message for getting out of the vehicle will be output through the central control screen. When the vehicle is determined to be in a high-risk state when getting out of the vehicle, the second preset color light inside the vehicle will flash, and a high-risk warning message will be displayed on the central control screen. When the vehicle is deemed safe to disembark, no safety prompt is output. When the dynamic obstacle avoidance strategy is triggered, the third preset color light inside the vehicle will flash, and obstacle avoidance prompts will be output through the central control screen. After the dynamic obstacle avoidance strategy is deactivated or the vehicle door is closed, the cabin will return to normal.
5. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 4, characterized in that, The high-risk warning message for getting out of the vehicle is: "The current vehicle body is tilted too far to the side. Please move the vehicle to a safe area before getting out." The risk warning message when getting off the vehicle is: "The road surface is slightly uneven. Please be careful when getting off the vehicle." The obstacle avoidance message is: "Obstacle detected. The left / right electric pedals will stop immediately. Please close the door and try again or get off on the opposite side." 6. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 1, characterized in that, Before constructing the comprehensive environmental model based on real-time acquired three-dimensional road environment information and vehicle body horizontal attitude information in the parked state, the following steps are also included: The specific steps for acquiring real-time 3D road environment information are as follows: By using at least one of the following: a wire-controlled lidar, a vision sensor, and a 4D millimeter-wave radar, a high-frequency three-dimensional scan is performed on the preset extension path of the electric pedal and the area below it to acquire three-dimensional point cloud data in real time, so as to identify obstacles and road surface terrain information and obtain three-dimensional road environment information.
7. The electric pedal road surface adaptive and dynamic obstacle avoidance control method according to claim 1, characterized in that, Before constructing the comprehensive environmental model based on real-time acquired three-dimensional road environment information and vehicle body horizontal attitude information in the parked state, the following steps are also included: The vehicle's horizontal attitude information when the vehicle is parked is obtained through a vehicle attitude sensor; the vehicle attitude information includes roll angle and pitch angle.
8. An electric pedal road surface adaptive and dynamic obstacle avoidance control system, characterized in that, include: The model building module is used to build a comprehensive environmental model based on real-time acquired 3D road environment information and vehicle horizontal attitude information in the parked state. The first instruction generation module is used to calculate the compensation amount of the electric pedal based on the comprehensive environment model and the vehicle body horizontal attitude information, and generate an adaptive terrain adjustment instruction including lifting height, translation distance, lateral deflection angle and longitudinal deflection angle based on the compensation amount to trigger the adaptive terrain fitting strategy; the compensation amount can restore the surface of the electric pedal to a horizontal state. The second instruction generation module is used to identify whether any obstacles enter the safe extension travel space in real time based on the three-dimensional road environment information during the extension of the electric pedal, based on the comprehensive environmental model. If an obstacle enters, an emergency stop instruction is generated to trigger a dynamic obstacle avoidance strategy. The dynamic obstacle avoidance strategy has a higher priority than the adaptive terrain-fitting strategy. The control module is used to control the electric pedal to perform adaptive adjustment actions based on the generated adaptive terrain adjustment commands. When the dynamic obstacle avoidance strategy is triggered, the current action of the electric pedal is immediately stopped based on the emergency stop command. After the obstacle is identified and exits the safe extension travel space, the electric pedal is controlled to continue to perform adaptive adjustment actions based on the adaptive terrain adjustment commands.
9. An electric pedal road surface adaptive and dynamic obstacle avoidance control device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the electric pedal road surface adaptive and dynamic obstacle avoidance control method according to any one of claims 1-7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it is used to implement the electric pedal road surface adaptive and dynamic obstacle avoidance control method according to any one of claims 1-7.