Adjustable pedals, their control methods, and vehicles

Abstract

This application provides an adjustable pedal, its control method, and a vehicle. The adjustable pedal includes a first pedal and a second pedal that are stacked and slidably connected. The second pedal is configured to move together with the first pedal in a direction away from or towards the vehicle. The adjustable pedal is mounted on the vehicle. The second pedal is also configured to slide relative to the first pedal in a direction away from or towards the vehicle. The adjustable pedal provided in this application has a wider width, improving user safety when using the pedal.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to adjustable pedals, control methods thereof, and vehicles. Background Technology

[0002] Currently, some vehicles have narrow running boards, which may cause users to accidentally step into empty spaces. Therefore, there is an urgent need for a safer running board. Summary of the Invention

[0003] This application provides an adjustable pedal, a control method thereof, and a vehicle. The adjustable pedal has a wide width, which improves the safety of the user when using the pedal.

[0004] In a first aspect, an adjustable pedal is provided, comprising: a first pedal and a second pedal stacked and slidably connected; the second pedal is configured to move together with the first pedal in a direction away from or towards the vehicle, the adjustable pedal being mounted on the vehicle; the second pedal is further configured to slide relative to the first pedal in a direction away from or towards the vehicle.

[0005] According to the embodiments provided in this application, the second pedal can drive the first pedal to move together away from or towards the vehicle, allowing the user to enter or leave the vehicle via the adjustable pedal. The second pedal can slide relative to the first pedal, thereby increasing the width of the adjustable pedal and improving the safety of the user when entering or leaving the vehicle via the adjustable pedal.

[0006] In conjunction with the first aspect, in some implementations of the first aspect, the first pedal and the second pedal are further configured such that: during the process of the second pedal driving the first pedal to move together in a direction away from the vehicle, the second pedal slides relative to the first pedal in a direction away from the vehicle; and during the process of the second pedal driving the first pedal to move together in a direction closer to the vehicle, the second pedal slides relative to the first pedal in a direction closer to the vehicle.

[0007] According to the embodiments provided in this application, the second pedal can slide relative to the first pedal while driving the first pedal to move, so that when the adjustable pedal is unfolded, it can be directly transformed into a state with a wider step width, which improves the practicality of the adjustable pedal.

[0008] In conjunction with the first aspect, some implementations of the first aspect further include a first sliding structure, the first sliding structure comprising a first groove, rollers, and a guide rail structure; the first groove extends along the width direction of the second pedal and is located on the side of the second pedal away from the first pedal; the rollers are located on opposite sides of the first groove along the length direction of the second pedal, the axial direction of the rollers being perpendicular to the plane where the second pedal is located; the guide rail structure is located between the opposite rollers in the first groove, the guide rail structure extending along the width direction of the second pedal.

[0009] According to the embodiments provided in this application, by setting a first sliding structure, when the second pedal slides relative to the first pedal, the guide rail structure and the roller can cooperate with each other, and the second pedal can slide along the extension direction of the first groove, that is, the width direction of the second pedal, thereby improving the stability of the second pedal when sliding.

[0010] In conjunction with the first aspect, some implementations of the first aspect further include a second sliding structure, the second sliding structure including a second groove and a slider; the second groove extends along the width direction of the second pedal and is located on the side of the second pedal facing the first pedal; the slider is located in the second groove and is located between the first pedal and the second pedal, the slider is fixedly connected to the first pedal and slidably connected to the second pedal.

[0011] According to the embodiments provided in this application, by setting a second sliding structure, there is a limit between the first pedal and the second pedal. When the second pedal slides relative to the first pedal, the second pedal can slide along the second groove, thereby improving the stability of the second pedal when sliding.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the second groove extends through the second pedal along the width direction of the second pedal.

[0013] According to the embodiments provided in this application, since the second groove extends through the second pedal along the width direction of the second pedal, during the sliding process of the second pedal relative to the first pedal, foreign objects that may exist in the second groove can be pushed out from the through second groove, thereby improving the smoothness of the second pedal sliding.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the adjustable pedal further includes a first drive mechanism; the first drive mechanism is used to drive the second pedal to move the first pedal.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the first driving mechanism includes: a first motor and a push-pull mechanism, wherein the axis of the push-pull mechanism is perpendicular to the direction of movement of the second pedal, one end of the push-pull mechanism is rotatably connected to the first motor, and the other end of the push-pull mechanism is slidably connected to the second pedal; the first motor drives the push-pull mechanism to rotate so as to drive the second pedal to drive the first pedal to move.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the adjustable pedal further includes a second drive mechanism; the second drive mechanism is used to drive the second pedal to slide relative to the first pedal.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the second driving mechanism includes: a second motor and a rocker mechanism, wherein the axis of the rocker mechanism is perpendicular to the direction of movement of the second pedal, one end of the rocker mechanism is rotatably connected to the second motor, and the other end of the rocker mechanism is fixedly connected to the second pedal; the second motor drives the rocker mechanism to rotate so as to cause the second pedal to slide relative to the first pedal.

[0018] In a second aspect, a control method is provided, the control method being applied to an adjustable pedal, the adjustable pedal including a first pedal and a second pedal stacked and slidably connected; a first drive mechanism connected to the second pedal, the first drive mechanism being configured to drive the second pedal and the first pedal together to move in a direction away from or towards the vehicle, the adjustable pedal being mounted on the vehicle; and a second drive mechanism connected to the second pedal, the second drive mechanism being configured to drive the second pedal to slide relative to the first pedal in a direction away from or towards the vehicle; the method comprising: sending a first control signal, the first control signal being used to control the first drive mechanism to drive the second pedal and the first pedal to move in a direction away from the vehicle; and sending a second control signal, the second control signal being used to control the first drive mechanism to drive the second pedal and the first pedal to move in a direction towards the vehicle.

[0019] According to the embodiments provided in this application, the second pedal of the adjustable pedal can drive the first pedal to be pushed out or retracted together, improving the safety of users when getting on and off the vehicle.

[0020] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: sending a third control signal, the third control signal being used to control the second drive mechanism to slide the second pedal relative to the first pedal in a direction away from the vehicle; and sending a fourth control signal, the fourth control signal being used to control the second drive mechanism to slide the second pedal relative to the first pedal in a direction closer to the vehicle.

[0021] According to the embodiments provided in this application, after the second pedal slides out relative to the first pedal, it can increase the step width of the adjustable pedal, thereby improving the safety of the user when entering or leaving the vehicle through the adjustable pedal.

[0022] In conjunction with the second aspect, in some implementations of the second aspect, the first control signal is further used to control the first drive mechanism to move the second pedal and the first pedal away from the vehicle, and to move the second pedal away from the vehicle relative to the first pedal; the second control signal is further used to control the first drive mechanism to move the second pedal and the first pedal towards the vehicle, and to move the second pedal towards the vehicle relative to the first pedal.

[0023] According to the embodiments provided in this application, the second pedal can slide relative to the first pedal while driving the first pedal to move, so that when the adjustable pedal is unfolded, it can be directly transformed into a state with a wider step width, which improves the practicality of the adjustable pedal.

[0024] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: in response to a first start information, sending a first control signal and / or the third control signal, wherein the first start information is used to instruct the door on the side of the vehicle equipped with the adjustable pedal to change from closed to open; and in response to a second start information, sending a second control signal and / or the fourth control signal, wherein the second start information is used to instruct the door on the side of the vehicle equipped with the adjustable pedal to change from open to closed.

[0025] According to the embodiments provided in this application, the second pedal and the first pedal are determined to unfold or retract based on the current state of the vehicle, which helps to improve the flexibility of the adjustable pedal in different usage scenarios.

[0026] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: in response to first detection information, sending the first control signal and / or the third control signal, wherein the first detection information is used to indicate that there is no obstacle between the vehicle and the first position; in response to second detection information, sending the first control signal but not sending the third control signal, wherein the second detection information is used to indicate that there is an obstacle between the first position and the second position; in response to third detection information, not sending the first control signal and the third control signal, wherein the third detection information is used to indicate that there is an obstacle between the second position and the third position, wherein the distance between the vehicle and the first position, the second position and the third position decreases sequentially.

[0027] According to the embodiments provided in this application, the adjustable pedal can adjust its deployment state according to whether there are obstacles in the surrounding environment of the vehicle, thereby improving the usability of the adjustable pedal in complex environments and preventing the adjustable pedal from being damaged by obstacles that may exist in the external environment.

[0028] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: sending a fifth control signal in response to a first drive signal; the fifth control signal is used to control the first drive mechanism to perform a movement opposite to the movement state prior to the first drive signal, or to control the second drive mechanism to perform a movement opposite to the movement state prior to the first drive signal; the first drive signal is used to indicate that the first drive mechanism or the second drive mechanism has malfunctioned.

[0029] According to the embodiments provided in this application, in the event of a failure in the first drive mechanism or the second drive mechanism, the adjustable pedal can handle the failure by moving in the opposite direction, thereby improving the reliability of the adjustable pedal in the event of a failure.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: reporting first fault information, the first fault information being used to indicate that the adjustable pedal has malfunctioned.

[0031] According to the embodiments provided in this application, in the event of a failure in the first drive mechanism or the second drive mechanism, a first fault information can be reported so that the user can be aware that the adjustable pedal has malfunctioned, so that the user can take timely measures.

[0032] In conjunction with the second aspect, in some implementations of the second aspect, the first fault information is reported after the fifth control signal is sent.

[0033] According to the embodiments provided in this application, after sending the fifth control signal, the first fault information is reported. It can be considered that the adjustable pedal reports the first fault information to the user when it is unable to handle the fault on its own, so that the user can know the severity of the fault when the adjustable pedal fails, so that the user can take corresponding measures according to the severity of the fault of the adjustable pedal.

[0034] Thirdly, a control device is provided, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory, such that the device performs the control method as described in the second aspect and any implementation thereof.

[0035] Fourthly, a computer program product is provided, the computer program product including program code, which, when run on an electronic device, causes the control method described in the second aspect and any of its implementations to be controlled and executed.

[0036] Fifthly, a computer-readable storage medium is provided, wherein instructions are stored therein, which, when executed on an electronic device, cause the electronic device to perform the control method as described in the second aspect and any of its implementations.

[0037] In a sixth aspect, a vehicle is provided, comprising: an adjustable footboard as described in the first aspect and any implementation thereof.

[0038] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the vehicle includes a first door and a body, with the adjustable pedal mounted on the side of the body near the first door. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a vehicle provided in an embodiment of this application.

[0040] Figure 2 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0041] Figure 3 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0042] Figure 4 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0043] Figure 5 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0044] Figure 6This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0045] Figure 7 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0046] Figure 8 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0047] Figure 9 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0048] Figure 10 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0049] Figure 11 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0050] Figure 12 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0051] Figure 13 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0052] Figure 14 This is a schematic diagram of the architecture of an adjustable pedal provided in an embodiment of this application.

[0053] Figure 15 This is a functional block diagram of a vehicle equipped with adjustable pedals, provided in an embodiment of this application.

[0054] Figure 16 This is a schematic diagram of a vehicle sensor and its arrangement provided in an embodiment of this application.

[0055] Figure 17 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0056] Figure 18 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0057] Figure 19 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0058] Figure 20 This is a schematic diagram illustrating a usage scenario of a vehicle equipped with adjustable pedals, as provided in an embodiment of this application.

[0059] Figure 21 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0060] Figure 22 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0061] Figure 23 This is a schematic diagram of a control device provided in an embodiment of this application.

[0062] Figure 24 This is a schematic diagram of a vehicle provided in an embodiment of this application. Detailed Implementation

[0063] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0064] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. In the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0065] The use of prefixes such as "first" and "second" in this application is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in the embodiments of this application does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and should not constitute unnecessary limitations due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0066] For ease of description, only the parts relevant to this application are shown in the accompanying drawings. The exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed descriptions will be omitted.

[0067] The directional terms appearing in the description of this application refer to the directions shown in the figures and are not intended to limit the specific structure of this application. In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0068] References to "one embodiment" or "some implementations" as described in this application mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in some implementations," and "in other implementations" appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0069] This application provides a vehicle that may include equipment involving doors or double doors.

[0070] For example, the vehicle may include a driving device. This driving device may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or recreational equipment. For instance, the driving device may be a vehicle, which is a vehicle in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, large harvesters, etc.), amusement equipment, toy vehicles, etc. This application embodiment does not specifically limit the type of vehicle. This application embodiment uses a vehicle as an example for illustration.

[0071] Figure 1 This is a schematic diagram of a vehicle provided in an embodiment of this application.

[0072] refer to Figure 1 The vehicle can be such as Figure 1The vehicle 100 shown includes an adjustable step at its bottom. When the doors of the vehicle 100 are closed, the adjustable step can be retracted into the bottom of the vehicle 100. When the doors of the vehicle 100 are open, the adjustable step can be extended from the inside of the bottom of the vehicle 100 to the outside, allowing the user to step on the adjustable step to get in or out of the vehicle. However, due to the limited width of the adjustable step, this is inconvenient for users getting in or out of the vehicle.

[0073] For example, some users have foot lengths between 240mm and 280mm, and some pedals have a foot width of less than or equal to 130mm. During normal use, some users can only pedal by stepping sideways or on tiptoe. These pedals are impractical and pose certain safety hazards.

[0074] In view of this, embodiments of this application provide an adjustable pedal with a wider width, increasing the area that the user can step on. Users can enjoy greater reliability and safety when using the adjustable pedal provided in this application to get on or off a vehicle.

[0075] The following is combined with Figures 2 to 9 The specific structure of the adjustable pedal provided in the embodiments of this application will be described in detail.

[0076] Figure 2 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0077] refer to Figure 2 The adjustable pedal 20 includes a first pedal 210 and a second pedal 220 that are stacked and slidably connected. The second pedal 220 is configured to move together with the first pedal 210 in a direction away from or towards the vehicle. The second pedal 220 is also configured to slide relative to the first pedal 210 in a direction away from or towards the vehicle.

[0078] In some embodiments, the first pedal 210 and the second pedal 220 are further configured such that, while the second pedal 220 drives the first pedal 210 to move together in a direction away from the vehicle, the second pedal 220 slides relative to the first pedal 210 in a direction away from the vehicle.

[0079] In some embodiments, the first pedal 210 and the second pedal 220 are further configured such that, as the second pedal 220 drives the first pedal 210 to move together toward the vehicle, the second pedal 220 slides relative to the first pedal 210 toward the vehicle.

[0080] In some embodiments, the first pedal 210 and the second pedal 220 may be two slidingly fitted layers. In some embodiments, the first pedal 210 and the second pedal 220 may be a sleeve-type fit. In some embodiments, the first pedal 210 and the second pedal 220 may be a drawer-type fit.

[0081] Figure 3 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0082] Figure 3 It can be Figure 2 The diagram shows another angle of the adjustable pedal.

[0083] refer to Figure 2 and Figure 3 The adjustable pedal 20 is in the retracted position.

[0084] The adjustable pedal 20 also includes a first drive mechanism 230, which is used to drive the second pedal 220 to move the first pedal 210.

[0085] The first drive mechanism 230 includes a first motor 231 and a push-pull mechanism 232. The axis of the push-pull mechanism 232 is perpendicular to the direction of movement of the second pedal 220. One end of the push-pull mechanism 232 is rotatably connected to the first motor 231, and the other end of the push-pull mechanism 232 is slidably connected to the second pedal 220.

[0086] The first motor 231 drives the push-pull mechanism 232 to rotate, thereby driving the second pedal 220 to move the first pedal 210.

[0087] The adjustable pedal 20 also includes a first bracket 240. One end of the first bracket 240 is fixedly connected to the vehicle to fix the adjustable pedal 20 to the vehicle. The other end of the first bracket 240 is fixedly connected to the push-pull mechanism 232 so that the first pedal 210 and the second pedal 220 of the adjustable pedal 20 can move together in a direction away from the vehicle or in a direction closer to the vehicle.

[0088] The first motor 231 drives the push-pull mechanism 232 to rotate, thereby moving the second pedal 220 and the first pedal 210. After the push-pull mechanism 232 rotates, it extends the second pedal 220 and the first pedal 210, causing the adjustable pedal 20 to change from a retracted state to a first-level extended state. Alternatively, the first motor 231 drives the push-pull mechanism 232 to rotate, thereby moving the second pedal 220 and the first pedal 210. After the push-pull mechanism 232 rotates, it extends the second pedal 220 and the first pedal 210, causing the adjustable pedal 20 to change from a first-level extended state to a retracted state.

[0089] In some embodiments, the push-pull mechanism may be a four-bar linkage, a strut mechanism, or a cam mechanism, etc.

[0090] In some embodiments, the adjustable pedal may include a plurality of first supports and push-pull mechanisms, which may be spaced apart along the length of the second pedal. The push-pull mechanism connected to the first motor may be referred to as the driving mechanism, and the push-pull mechanism not connected to the first motor may be referred to as the driven mechanism. By providing multiple push-pull mechanisms, the stability of the second pedal when it is pushed out can be improved.

[0091] Figure 4 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0092] Figure 4 The adjustable pedal shown is in the first deployed state. Figure 2 The adjustable pedal shown can be changed to its original state after the first motor rotates. Figure 4 The adjustable pedal status is shown. Or, Figure 4 The adjustable pedal shown can be changed to its original state after the first motor rotates. Figure 2 The adjustable pedal status is shown.

[0093] Figure 5 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0094] Figure 5 It can be Figure 4 The diagram shows another angle of the adjustable pedal.

[0095] The adjustable pedal 20 also includes a second drive mechanism 250, which is used to drive the second pedal 220 to slide relative to the first pedal 210.

[0096] The second drive mechanism 250 includes a second motor 251 and a rocker mechanism 252. The axis of the rocker mechanism 252 is perpendicular to the direction of movement of the second pedal 220. One end of the rocker mechanism 252 is rotatably connected to the second motor 251, and the other end of the rocker mechanism 252 is rotatably connected to the second pedal 220.

[0097] The second motor 251 drives the rocker mechanism 252 to rotate, thereby causing the second pedal 220 to slide relative to the first pedal 210.

[0098] The adjustable pedal 20 also includes a second bracket 260. One end of the second bracket 260 is fixedly connected to the vehicle, and the other end of the second bracket 260 is rotatably connected to the rocker mechanism 252. The second bracket 260 can fix the adjustable pedal 20 to the vehicle so that the second pedal 220 of the adjustable pedal 20 can move away from or towards the vehicle.

[0099] The second motor 251 drives the rocker mechanism 252 to rotate so as to slide the second pedal 220 out relative to the first pedal 210, thereby changing the adjustable pedal 20 from the first-level unfolded state to the second-level unfolded state.

[0100] In some embodiments, the adjustable pedal may include a plurality of second supports and rocker mechanisms. The plurality of second supports and rocker mechanisms may be spaced apart along the length of the second pedal. The rocker mechanism connected to the second motor may be referred to as the active mechanism, and the rocker mechanism not connected to the second motor may be referred to as the driven mechanism. By providing a plurality of second supports and rocker mechanisms, the stability of the adjustable pedal fixed to the vehicle can be improved, as can the stability of the second pedal when sliding relative to the first pedal.

[0101] Figure 6 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0102] Figure 6 The adjustable pedal shown is currently in the second-level unfolded state. Figure 4 The adjustable pedal shown can be transformed into [a different shape] after being rotated by the second motor. Figure 6 The adjustable pedal status is shown. Or, Figure 6 The adjustable pedal shown can be transformed into [a different shape] after being rotated by the second motor. Figure 4 The adjustable pedal status is shown.

[0103] Figure 7 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0104] right Figure 6 and Figure 7 The description of the adjustable pedal shown can be found in other embodiments of this application, and will not be repeated here for the sake of brevity.

[0105] Figure 8 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0106] refer to Figure 8 The adjustable pedal 20 may include a first drive mechanism 230 and a second drive mechanism 250, wherein the second drive mechanism 250 does not include a second motor.

[0107] In this configuration, the first drive mechanism 230 further includes a rotating shaft with its axial direction aligned with the length of the second pedal 220. One end of the rotating shaft along its axial direction is rotatably connected to the push-pull mechanism 232, and the other end is rotatably connected to other push-pull mechanisms 232. The portion of the rotating shaft between its two ends along its axial direction is rotatably connected to the rocker mechanism 252. The rotating shaft provides torque to the rocker mechanism 252, enabling the first motor 231 of the first drive mechanism 230 to simultaneously extend both the second pedal 220 and the first pedal 210 after rotation, and to slide the second pedal 220 relative to the first pedal 210. This means the adjustable pedal 20 can directly transition from a retracted state to a second-stage extended state, or vice versa.

[0108] Figure 9 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0109] refer to Figure 9 , Figure 9 The first pedal 210 and the second pedal 220 of the adjustable pedal 20 are shown. The adjustable pedal 20 also includes a first sliding structure 300.

[0110] The first sliding structure 300 includes a first groove 310, a roller 320, and a guide rail structure 330.

[0111] The first groove 310 extends along the width direction of the second pedal 220 and is located on the side of the second pedal 220 away from the first pedal 210.

[0112] There can be multiple rollers 320, which are located on opposite sides of the first groove 310 along the length of the second pedal 220. The axial direction of the rollers 320 is perpendicular to the plane where the second pedal 220 is located.

[0113] In some embodiments, the roller 320 may be fixed to the side of the second pedal 220 away from the first pedal 210, and the roller 320 may rotate perpendicular to the plane in which the second pedal 220 is located.

[0114] The guide rail structure 330 is located between the opposing rollers 320 in the first groove 310, and the guide rail structure 330 extends along the width direction of the second pedal 220.

[0115] During the sliding process of the second pedal 220 relative to the first pedal 210, the first groove 310 extending along the width direction of the second pedal 220 can play a guiding role, and the first groove 310 can improve the stability of the second pedal 220 when sliding relative to the first pedal 210.

[0116] During the sliding of the second pedal 220 relative to the first pedal 210, the roller 320 rotates about the axis of the roller 320 and abuts against the guide rail structure 330 so that the second pedal 220 can be pushed out or retracted.

[0117] In some embodiments, the roller 320 can withstand an axial pressure of 100 kg.

[0118] In some embodiments, the guide rail structure 330 is located at the other end of the push-pull mechanism.

[0119] Figure 10 This is a schematic diagram of an adjustable pedal provided in an embodiment of this application.

[0120] refer to Figure 10 , Figure 10 The first pedal 210 and the second pedal 220 of the adjustable pedal 20 are shown. The adjustable pedal 20 also includes a second sliding structure 400.

[0121] The second sliding structure 400 includes a second groove 420 and a slider 410.

[0122] Figure 10 The sliding direction shown can also be the width direction of the second pedal 220.

[0123] The second groove 420 extends along the width direction of the second pedal 220 and is located on the side of the second pedal 220 facing the first pedal 210. The slider 410 is located in the second groove 420 and between the first pedal 210 and the second pedal 220. The slider 410 is fixedly connected to the first pedal 210 and slidably connected to the second pedal 220.

[0124] In some embodiments, the slider 410 may be T-shaped, with the upper half of the T-shaped structure being the part of the slider 410 that is fixedly connected to the first pedal 210, and the lower half of the T-shaped structure being the part of the slider 410 that is slidably connected to the second pedal 220.

[0125] In some embodiments, the first pedal and the second pedal can be slidably connected by keyway, surface-to-surface, or rack and pinion engagement.

[0126] During the sliding process of the second pedal 220 relative to the first pedal 210, the sliding member 410 fixedly connected to the first pedal 210 in the second groove 420 can play a limiting role, so that the first pedal 210 and the second pedal 220 will not separate during the relative sliding process, thereby improving the stability of the second pedal 220 during the sliding process.

[0127] In some embodiments, the second groove 420 extends through the second pedal 220 along the width direction of the second pedal 220.

[0128] Since the second groove 420 extends through the second pedal 220 in the width direction, foreign objects in the second groove 420 can be pushed out by the slider 410 during the sliding process of the second pedal 220 along the width direction, thereby avoiding foreign objects from affecting the sliding of the second pedal 220 and improving the stability of the sliding process of the second pedal 220.

[0129] Figure 11 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0130] Figure 12 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0131] Figure 13 This is a schematic diagram of a vehicle equipped with an adjustable pedal, provided in an embodiment of this application.

[0132] refer to Figure 11 This diagram shows a vehicle with the adjustable pedal in the retracted position. (Reference) Figure 12 This diagram shows a vehicle with the adjustable pedals in their first deployed position. (Reference) Figure 13 This shows a schematic diagram of a vehicle with the adjustable pedals in a secondary deployed state.

[0133] Combination Figures 11-13 As can be seen, when the adjustable pedal is in the second-level unfolded state, the pedal's usable width is significantly increased, the pedal's reliability is improved, and the safety of users when getting on or off the vehicle is enhanced.

[0134] In some embodiments, the adjustable pedal can be 120mm wide in the first-level unfolded state and 200mm wide in the second-level unfolded state.

[0135] Figure 14 This is a schematic diagram of the architecture of an adjustable pedal provided in an embodiment of this application.

[0136] refer to Figure 14 The adjustable pedal 20 includes a controller 30, a first drive mechanism 230, a second drive mechanism 250, a first pedal 210, and a second pedal 220.

[0137] The controller 30 is electrically connected to the first drive mechanism 230 and the second drive mechanism 250. The first drive mechanism 230 and the second drive mechanism 250 may each include a motor. The controller 30 can send electrical signals to control the operation of the first drive mechanism 230 and the second drive mechanism 250. The first drive mechanism 230 can send electrical signals to the controller 30 to provide feedback on its operating status, such as whether the motor is rotating normally. The second drive mechanism 250 can also send electrical signals to the controller 30 to provide feedback on its operating status, such as whether the motor is rotating normally.

[0138] A first drive mechanism 230 is connected to a second pedal 220, and a second drive mechanism 250 is connected to the second pedal 220. The first drive mechanism 230 is configured to drive the second pedal 220 and the first pedal 210 to move together in a direction away from or towards the vehicle. The second drive mechanism 250 is configured to drive the second pedal 220 to slide relative to the first pedal 210 in a direction away from or towards the vehicle.

[0139] Figure 15 This is a functional block diagram of a vehicle equipped with adjustable pedals, provided in an embodiment of this application.

[0140] For example, Figure 15 This is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a sensing system 120, a display device 130, and a computing platform 150. The sensing system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100. For example, the sensing system 120 may include a positioning system, which may be a global navigation satellite system, such as GPS, BeiDou, or other positioning systems, or one or more of an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0141] The perception system 120 can determine whether there are obstacles around the vehicle 100, and the perception system 120 can also determine the distance between the obstacles around the vehicle 100 and the vehicle.

[0142] Some or all of the functions of vehicle 100 can be controlled by computing platform 150. Computing platform 150 may include processors 151 to 15n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. Furthermore, the computing platform 150 may also include a memory for storing instructions. Some or all of the processors 151 to 15n can call and execute the instructions in the memory to achieve the corresponding functions.

[0143] The computing platform 150 is communicatively connected to the controller of the adjustable pedal. The computing platform 150 is capable of performing the functions of the controller.

[0144] In some embodiments, the controller for the adjustable pedal may be integrated into the computing platform 150.

[0145] For example, Figure 16 This is a schematic diagram of a vehicle sensor and its arrangement provided in an embodiment of this application.

[0146] For example, a vehicle may include multiple sensors, such as radar sensors and camera sensors. The radar sensor may be a type of radar such as lidar, millimeter-wave radar, or ultrasonic radar, and the camera sensor may be a front-view camera, a rear-view camera, a side-view camera, or a fisheye camera. Figure 16 Some common sensor types and installation locations are shown, but this application does not limit the type, number, or location of vehicle sensors.

[0147] Lidar (Light Detection and Ranging) is a type of radar that uses laser beams for detection. Due to the high coherence, directionality, and monochromaticity of lasers, lidar can achieve long-range, high-precision ranging. Lidar can extend the ranging results of a single point into two dimensions through scanning or multi-element array detection, forming a distance image. Therefore, lidar can be used to identify the precise location and shape of objects. For example... Figure 16 As shown, the vehicle may include three lidar sensors facing forward, left, and right respectively.

[0148] Millimeter-wave radar refers to radar that uses millimeter waves for detection. Compared to optical beams such as infrared and lasers, millimeter waves have a stronger ability to penetrate fog, smoke, and dust, thus millimeter-wave radar has all-weather capabilities. Furthermore, its short wavelength makes it easy to obtain detailed features and clear outlines of targets, which can be used for target classification and identification. Millimeter-wave radar can be used to determine the distance and speed of objects. For example, ... Figure 2 As shown, the vehicle may include six millimeter-wave radars: one forward-facing, one rearward-facing, and four lateral-facing.

[0149] Ultrasonic radar is a type of radar that uses ultrasonic waves for detection. Ultrasonic ranging sensors have significant advantages in short-range measurements. For example, ... Figure 16 As shown, the vehicle may include multiple ultrasonic radars.

[0150] For example, a vehicle may be equipped with one or more types of cameras, such as telephoto cameras, wide-angle cameras, monocular cameras, binocular cameras, fisheye cameras, linear cameras, etc. For instance, as... Figure 16 As shown, a front-view camera can include various types of cameras such as telephoto cameras, wide-angle cameras, monocular cameras, binocular cameras, fisheye cameras, and linear cameras.

[0151] It should be understood that the above descriptions of sensor types, quantities, and their placement are merely examples for illustrative purposes, and the embodiments of this application do not limit these aspects.

[0152] Combination Figures 17 to 22The control method provided in the embodiments of this application will be described by way of example.

[0153] Figure 17 This is a schematic flowchart illustrating a control method provided in an embodiment of this application. The method can be executed by the adjustable pedal provided in this embodiment, or by the controller of the adjustable pedal, or by components of the adjustable pedal (such as a chip, processor, processing circuit, etc.), or by a vehicle containing the controller or the adjustable pedal.

[0154] refer to Figure 17 The method S100 may include the following steps: S110, send the first control signal.

[0155] The first control signal is used to control the first drive mechanism to move the second pedal and the first pedal away from the vehicle. That is, the adjustable pedal changes from the retracted state to the first deployed state. The first control signal can be received by the first drive mechanism.

[0156] S120, send the second control signal.

[0157] The second control signal is used to control the first drive mechanism to move the second pedal and the first pedal toward the vehicle. That is, the adjustable pedal changes from the first deployed state to the retracted state. The second control signal can be received by the first drive mechanism.

[0158] In some embodiments, the method further includes: S130, send a third control signal. This third control signal controls the second drive mechanism to slide the second pedal relative to the first pedal in a direction away from the vehicle. That is, the adjustable pedal changes from a first-level deployed state to a second-level deployed state. The third control signal can be received by the second drive mechanism.

[0159] S140, send a fourth control signal. This fourth control signal controls the second drive mechanism to slide the second pedal relative to the first pedal in a direction closer to the vehicle. That is, the adjustable pedal changes from a second-stage deployed state to a first-stage deployed state. The fourth control signal can be received by the second drive mechanism.

[0160] In some embodiments, the first control signal is further used to control the first drive mechanism to move the second pedal and the first pedal away from the vehicle, and to move the second pedal away from the vehicle relative to the first pedal. This allows the adjustable pedal to transition from a retracted state to a secondary deployed state. Alternatively, it can be said that during the transition from the retracted state to the secondary deployed state, the adjustable pedal also transitions from the retracted state to the primary deployed state.

[0161] In some embodiments, the second control signal is further used to control the first drive mechanism to move the second pedal and the first pedal toward the vehicle, and to move the second pedal toward the vehicle relative to the first pedal. This allows the adjustable pedal to change from a secondary deployed state to a retracted state. Alternatively, it can be said that during the process of changing the adjustable pedal from the secondary deployed state to the retracted state, it also performs an action of changing from the primary deployed state to the retracted state.

[0162] Figure 18 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0163] refer to Figure 18 The method S200 includes: S210, in response to the first start information, sends a first control signal.

[0164] In this step, the adjustable pedal changes from the retracted state to the first-level deployed state.

[0165] S220, in response to the first start information, sends a third control signal.

[0166] In this step, the adjustable pedal changes from the first-level deployment state to the second-level deployment state.

[0167] In some embodiments, S220 is executed after S210.

[0168] S230, in response to the first start information, sends a first control signal and a third control signal.

[0169] In this step, the adjustable pedal changes from the retracted state to the first-level deployed state, and then to the second-level deployed state. Alternatively, after sending the first control signal, the adjustable pedal changes from the retracted state to the first-level deployed state, and then a third control signal is sent to cause the adjustable pedal to change from the first-level deployed state to the second-level deployed state.

[0170] The first start-up information is used to instruct the door on the side of the vehicle equipped with the adjustable pedal to change from closed to open.

[0171] Understandably, the side of the vehicle equipped with the adjustable pedal may include multiple doors, such as a first door and a second door. The first activation information can instruct either the first or second door to change from closed to open. When a door changes from closed to open, it can be assumed that the user needs to get in or out of the vehicle. With the adjustable pedal deployed, the user can get in or out of the vehicle via the adjustable pedal, which improves the convenience of getting in or out of the vehicle.

[0172] The first start-up information can be received by the controller. The first start-up information can also be sent by the computing platform. In some embodiments, the first start-up information is sent by the computing platform after determining that the vehicle is in a stopped state. The vehicle being in a stopped state can mean that the vehicle is in P gear, or that the vehicle is stopped by the parking brake.

[0173] Figure 19 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0174] refer to Figure 19 The method S300 includes: S310, in response to the second start information, sends a second control signal.

[0175] S320, in response to the second start information, sends a fourth control signal.

[0176] S330, in response to the second start information, sends a second control signal and a fourth control signal.

[0177] The first start information is used to instruct the door on the side of the vehicle equipped with the adjustable pedal to change from open to closed.

[0178] Understandably, the vehicle includes a first door and a main body, with the adjustable pedal mounted on the main body near the first door. The side of the vehicle with the adjustable pedal may include multiple doors, such as a first door and a second door. A second activation signal can indicate that both the first and second doors are changing from open to closed. When a door changes from open to closed, it can be assumed that the user needs to drive or park the vehicle. When the adjustable pedal is retracted, both the first and second pedals are stored inside the bottom of the vehicle, thus preventing the adjustable pedal from occupying excessive space.

[0179] The second start-up information can be received by the controller. Alternatively, it can be sent by the computing platform. Or, it can be sent by the computing platform when it determines that all doors on the side of the vehicle equipped with the adjustable pedal have changed from open to closed.

[0180] Figure 20 This is a schematic diagram illustrating a usage scenario of a vehicle equipped with adjustable pedals, as provided in an embodiment of this application.

[0181] refer to Figure 20 The image shows a vehicle 100 equipped with adjustable pedals 20. Figure 20 The diagram also shows possible locations for the first, second, and third positions. The third position may coincide with the edge of the vehicle body.

[0182] Figure 21 This is a schematic flowchart of a control method provided in an embodiment of this application. (In conjunction with...) Figure 20 as well as Figure 21 This describes a control method provided in the embodiments of this application.

[0183] refer to Figure 21 The method S400 includes: S410, in response to the first detection information, sends a first control signal.

[0184] S420, in response to the first detection information, sends a third control signal.

[0185] S430, in response to the first detection information, sends a first control signal and a third control signal.

[0186] The first detection information is used to indicate that there are no obstacles between the vehicle and the first location.

[0187] The first detection information can be received by the controller. Alternatively, the first detection information can be determined by the vehicle's perception system and sent by the vehicle's computing platform.

[0188] The first position can refer to the preset position of any object that may exist in space along the horizontal direction.

[0189] The distance between the vehicle and the first position can include the horizontal distance between the vehicle and the first position.

[0190] The horizontal distance between the vehicle and the first position can be 300mm. The horizontal distance between the vehicle and the first position shall not exceed the unfolded width of the adjustable pedal.

[0191] If the horizontal distance between the vehicle and the detected obstacle is greater than the horizontal distance between the vehicle and the first position, it can be assumed that there is no obstacle between the vehicle and the first position. In this case, the adjustable pedal can transition from the retracted state to the first-level deployed state, or from the retracted state to the second-level deployed state.

[0192] In response to the first detection information, if a first control signal and / or a third control signal are sent, it can be assumed that there is sufficient space around the vehicle to accommodate the adjustable pedal. In this case, the adjustable pedal can transition from a retracted state to a first-level deployed state, and from the first-level deployed state to a second-level deployed state. Alternatively, the adjustable pedal can transition from a retracted state to a second-level deployed state.

[0193] S440, in response to the second detection information, sends a first control signal but does not send a third control signal.

[0194] The second detection information is used to indicate the presence of an obstacle between the first and second positions.

[0195] The second detection information can be received by the controller. The second detection information can be determined by the vehicle's perception system and sent by the vehicle's computing platform. The second position can refer to the preset position of any object that may exist in space along the horizontal direction. The distance between the vehicle and the second position can be 150mm. The distance between the vehicle and the second position does not exceed the unfolded width of the adjustable pedal in its first unfolded state. In the horizontal direction, the second position is closer to the vehicle than the first position.

[0196] The second position can refer to the preset position of any object that may exist in space along the horizontal direction.

[0197] The distance between the vehicle and the second location can include the horizontal distance between the vehicle and the second location.

[0198] The horizontal distance between the vehicle and the second position can be 150mm. The horizontal distance between the vehicle and the second position shall not exceed the unfolded width of the adjustable pedal in its first unfolded state.

[0199] If the horizontal distance between the vehicle and the detected obstacle is greater than the horizontal distance between the vehicle and the second position, but less than the horizontal distance between the vehicle and the first position, and the vertical distance between the detected obstacle and the ground is less than the distance between the bottom of the vehicle and the ground, then an obstacle can be considered to exist between the first and second positions. In this case, the adjustable pedal can be switched from the retracted state to the first-level deployed state.

[0200] If, in response to the second detection information, a first control signal is sent but a third control signal is not sent, it can be assumed that there is enough space around the vehicle to accommodate the first-level deployed state of the adjustable pedal. In this case, the adjustable pedal will perform the action of changing from the retracted state to the first-level deployed state, but will not perform the action of changing from the first-level deployed state to the second-level deployed state.

[0201] S450, in response to the third detection information, does not send the first control signal and the third control signal.

[0202] The third detection information is used to indicate the presence of an obstacle between the second and third positions.

[0203] The third detection information can be received by the controller. It can also be determined by the vehicle's perception system and sent by the vehicle's computing platform. The third position can refer to the preset position of any object that may exist in space along the horizontal direction. The distance between the vehicle and the third position can be 0 mm; in other words, the third position is located within the vehicle's body. The third position is closer to the vehicle than the second position.

[0204] The third position can refer to the preset position of any object that may exist in space along the horizontal direction.

[0205] The distance between the vehicle and the third location can include the horizontal distance between the vehicle and the third location.

[0206] The horizontal distance between the vehicle and the third position can be 0mm.

[0207] If the horizontal distance between the obstacle detected by the vehicle and the vehicle is greater than the horizontal distance between the vehicle and the third position, but less than the horizontal distance between the vehicle and the second position, and the vertical distance between the obstacle detected by the vehicle and the ground is less than the distance between the bottom of the vehicle and the ground, then an obstacle can be considered to exist between the second and third positions. In this case, the adjustable pedal remains in the retracted position.

[0208] If, in response to the third detection information, neither the first nor the third control signal is sent, it can be assumed that the space around the vehicle is insufficient for the adjustable pedal to deploy. In this case, the adjustable pedal remains retracted and does not deploy.

[0209] It is understandable that the vertical distances between the first position and the ground, the second position and the ground, and the third position and the ground can be the same. The vertical distance between the first position and the ground can be less than the distance between the bottom of the vehicle and the ground. In this case, the obstacle detected by the vehicle can be a low obstacle, which will affect whether the adjustable pedal can be deployed and retracted. In other words, the vehicle needs to detect obstacles at low positions.

[0210] If the vertical distance between the obstacle and the ground is greater than the distance between the bottom of the vehicle and the ground, the adjustable pedal will not collide with the obstacle after it is deployed.

[0211] In the embodiments provided in this application, the distances between the vehicle and the first, second, and third positions decrease sequentially. The specific distances between the first, second, and third positions and the vehicle can also be determined according to actual circumstances and are not limited to the specific values ​​shown in the embodiments of this application.

[0212] Figure 22 This is a schematic flowchart of a control method provided in an embodiment of this application.

[0213] refer to Figure 22 The method S500 includes: S510, in response to the first drive signal, sends the fifth control signal.

[0214] The first drive signal can be sent by either a first drive mechanism or a second drive mechanism. If the motor of the first drive mechanism includes a Hall motor, the first drive signal can be a Hall signal. If the motor of the second drive mechanism includes a Hall motor, the first drive signal can also be a Hall signal.

[0215] The first drive signal is used to indicate that either the first drive mechanism or the second drive mechanism has malfunctioned.

[0216] The fifth control signal is used to control the first drive mechanism to perform a state of motion opposite to the state of motion prior to the first drive signal.

[0217] Alternatively, the fifth control signal is used to control the second drive mechanism to perform a state of motion opposite to the state of motion prior to the first drive signal.

[0218] For example, a failure in the first drive mechanism could refer to a malfunction in the motor of the first drive mechanism, such as a motor stall. In this case, sending a fifth control signal can instruct the motor to perform a reverse action. Through the fifth control signal, the adjustable pedal can perform preliminary automatic adjustment, so that the motor stall fault may be resolved after the motor performs the reverse action.

[0219] In some embodiments, the method further includes: S520, report the first fault information.

[0220] The first fault information is used to indicate a malfunction in the adjustable pedal.

[0221] The first fault information can be sent by the controller. Alternatively, it can be received by the computing platform, which can then report it to the user. For example, the computing platform can report the first fault information to a display device, which then displays text or an image to inform the user that the adjustable pedal has malfunctioned and prompts them to take steps to resolve the issue. A malfunction in the adjustable pedal could mean that it cannot extend or retract.

[0222] The first fault information can be presented to the user in the form of text, voice, or image.

[0223] In some embodiments, the method further includes: After sending the fifth control signal, S530 reports the first fault information.

[0224] If the first fault information is reported after the fifth control signal is sent, it can be assumed that the adjustable pedal is unable to retract or extend after the reverse action command is executed, and the first fault information is reported again.

[0225] The first fault information reported in this step can be different from the first fault information in step S520. For example, the first fault information reported in step S530 might be sent when the adjustable pedal fails to return to normal operation after initial automatic adjustment. Therefore, the severity of the first fault information reported in step S530 is higher than that reported in step S520.

[0226] In the embodiments provided in this application, the order of the method numbers does not imply the order of execution. The execution order of each method should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0227] This application also provides a control device for executing the control method described above.

[0228] Figure 23 This is a schematic diagram of a control device provided in an embodiment of this application. Figure 23 As shown, the control device 500 may include a memory 510 and a processor 520. The memory 510 is used to store computer programs; the processor 520 is used to execute the computer programs stored in the memory 510 to perform the methods provided in any of the above embodiments.

[0229] This application also provides a readable storage medium (also known as a computer-readable storage medium) that stores instructions that, when executed on an electronic device, cause the electronic device to perform the methods provided in any of the preceding embodiments.

[0230] This application also provides a program product (also known as a computer program product) that, when run on an electronic device, causes the electronic device to execute the method provided in any of the preceding embodiments.

[0231] This application also provides a vehicle. Figure 24 This is a schematic diagram of a vehicle provided in an embodiment of this application. Figure 24 As shown, the vehicle 600 may include an adjustable pedal 610 and / or a control device 620, wherein the adjustable pedal 610 may include the adjustable pedal 20 provided in any of the above embodiments, and the control device 620 may include the controller 30 or the computing platform 150 provided in any of the above embodiments.

[0232] The vehicles mentioned in this application can include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, intelligent driving equipment can be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle. For example, vehicles in this application can include pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / battery EV), hybrid electric vehicles (HEV), range-extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV), or new energy vehicles (NEV), etc.

[0233] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0234] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0235] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0236] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0237] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An adjustable pedal, characterized in that, include: The first and second pedals are stacked and slidably connected; The second pedal is configured to move together with the first pedal in a direction away from or towards the vehicle, the adjustable pedal being mounted on the vehicle; The second pedal is also configured to slide relative to the first pedal in a direction away from or towards the vehicle.

2. The adjustable pedal according to claim 1, characterized in that, The first pedal and the second pedal are further configured such that, as the second pedal drives the first pedal to move together in a direction away from the vehicle, the second pedal slides relative to the first pedal in a direction away from the vehicle. as well as, As the second pedal moves the first pedal toward the vehicle, the second pedal slides relative to the first pedal toward the vehicle.

3. The adjustable pedal according to claim 1 or 2, characterized in that, It also includes a first sliding structure, The first sliding structure includes a first groove, a roller, and a guide rail structure; The first groove extends along the width direction of the second pedal and is located on the side of the second pedal away from the first pedal; The rollers are located on opposite sides in the first groove along the length of the second pedal, and the axial direction of the rollers is perpendicular to the plane where the second pedal is located; The guide rail structure is located between the opposing rollers in the first groove, and the guide rail structure extends along the width direction of the second pedal.

4. The adjustable pedal according to any one of claims 1-3, characterized in that, It also includes a second sliding structure. The second sliding structure includes a second groove and a slider; The second groove extends along the width direction of the second pedal and is located on the side of the second pedal facing the first pedal; The slider is located in the second groove and between the first pedal and the second pedal. The slider is fixedly connected to the first pedal and slidably connected to the second pedal.

5. The adjustable pedal according to claim 4, characterized in that, The second groove extends through the second pedal along the width direction of the second pedal.

6. The adjustable pedal according to any one of claims 1-5, characterized in that, The adjustable pedal also includes a first drive mechanism; The first drive mechanism is used to drive the second pedal to move the first pedal.

7. The adjustable pedal according to claim 6, characterized in that, The first driving mechanism includes: A first motor and a push-pull mechanism, wherein the axis of the push-pull mechanism is perpendicular to the direction of movement of the second pedal, one end of the push-pull mechanism is rotatably connected to the first motor, and the other end of the push-pull mechanism is slidably connected to the second pedal; The first motor drives the push-pull mechanism to rotate, thereby driving the second pedal to move the first pedal.

8. The adjustable pedal according to any one of claims 1-7, characterized in that, The adjustable pedal also includes a second drive mechanism; The second drive mechanism is used to drive the second pedal to slide relative to the first pedal.

9. The adjustable pedal according to claim 8, characterized in that, The second drive mechanism includes: The second motor and the rocker mechanism are arranged such that the axis of the rocker mechanism is perpendicular to the direction of movement of the second pedal, one end of the rocker mechanism is rotatably connected to the second motor, and the other end of the rocker mechanism is fixedly connected to the second pedal. The second motor drives the rocker mechanism to rotate, thereby causing the second pedal to slide relative to the first pedal.

10. A control method, characterized in that, The control method is applied to an adjustable pedal, which includes a first pedal and a second pedal that are stacked and slidably connected; a first drive mechanism connected to the second pedal, configured to drive the second pedal and the first pedal together to move away from or towards the vehicle, the adjustable pedal being mounted on the vehicle; and a second drive mechanism connected to the second pedal, configured to drive the second pedal to slide relative to the first pedal in a direction away from or towards the vehicle. The method includes: Send a first control signal, the first control signal being used to control the first drive mechanism to drive the second pedal and the first pedal to move away from the vehicle; Send a second control signal, which controls the first drive mechanism to move the second pedal and the first pedal toward the vehicle.

11. The control method according to claim 10, characterized in that, The method further includes: Send a third control signal, the third control signal being used to control the second drive mechanism to drive the second pedal to slide relative to the first pedal in a direction away from the vehicle; A fourth control signal is sent, which controls the second drive mechanism to drive the second pedal to slide relative to the first pedal in a direction closer to the vehicle.

12. The control method according to claim 10, characterized in that, The first control signal is also used to control the first drive mechanism to move the second pedal and the first pedal away from the vehicle, and to move the second pedal away from the vehicle relative to the first pedal. The second control signal is also used to control the first drive mechanism to move the second pedal and the first pedal toward the direction of the vehicle, and to move the second pedal toward the direction of the vehicle relative to the first pedal.

13. The control method according to any one of claims 10-12, characterized in that, The method further includes: In response to the first start information, the first control signal and / or the third control signal are sent, wherein the first start information is used to instruct the door on the side of the vehicle where the adjustable pedal is installed to change from closed to open; In response to the second start information, the second control signal and / or the fourth control signal are sent, wherein the second start information is used to instruct the door on the side of the vehicle where the adjustable pedal is installed to change from open to closed.

14. The control method according to any one of claims 10-13, characterized in that, The method further includes: In response to the first detection information, the first control signal and / or the third control signal are sent, wherein the first detection information is used to indicate that there are no obstacles between the vehicle and the first position; In response to the second detection information, the first control signal is sent but the third control signal is not sent, wherein the second detection information is used to indicate that there is an obstacle between the first position and the second position; In response to the third detection information, neither the first control signal nor the third control signal is sent. The third detection information is used to indicate that there is an obstacle between the second position and the third position, wherein the distance between the vehicle and the first position, the second position and the third position decreases sequentially.

15. The control method according to any one of claims 10-14, characterized in that, The method further includes: In response to the first drive signal, a fifth control signal is sent; The fifth control signal is used to control the first drive mechanism to perform a movement opposite to the movement state prior to responding to the first drive signal, or... Used to control the second drive mechanism to perform a movement opposite to the motion state prior to the first drive signal; The first drive signal is used to indicate that either the first drive mechanism or the second drive mechanism has malfunctioned.

16. The control method according to claim 15, characterized in that, The method further includes: Report the first fault information, which indicates that the adjustable pedal has malfunctioned.

17. The control method according to claim 16, characterized in that, After sending the fifth control signal, the first fault information is reported.

18. A control device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in the memory to cause the device to perform the control method as described in any one of claims 10 to 17.

19. A computer program product, characterized in that, The computer program product includes program code that, when run on an electronic device, causes the control method as described in any one of claims 10 to 17 to be controlled and executed.

20. A computer-readable storage medium, characterized in that, The readable storage medium stores instructions that, when executed on an electronic device, cause the electronic device to perform the control method as described in any one of claims 10 to 17.

21. A vehicle, characterized in that, include: The adjustable pedal as described in any one of claims 1 to 9.

22. The vehicle according to claim 21, characterized in that, The vehicle includes a first door and a body, and the adjustable pedal is installed on the side of the body near the first door.

Images