An electric pedal cooperative control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide an electric pedal cooperative control method and device, electronic equipment and storage medium, which are applied to the field of intelligent vehicles, and the method comprises the following steps: obtaining vehicle driving scene information of the intelligent vehicle based on a vehicle controller local area network bus and obtaining pedal state information of an electric pedal of the intelligent vehicle according to a multi-modal sensor; determining a scene type of the intelligent vehicle in a preset scene-safety mapping table based on the vehicle driving scene information and the pedal state information; determining a pedal control strategy and a dynamic anti-pinch current threshold corresponding to the scene type according to the pedal state information; and controlling the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold. The embodiments of the present application can control the electric pedal based on the driving state of the whole vehicle, enrich the information source dimension of the electric pedal control, realize the precision of the electric pedal control parameters, enhance the electric pedal control and scene adaptation capability, and improve the stability and safety of the pedal control.

Description

Technical Field

[0001] This invention relates to the field of computer application technology, and in particular to an electric pedal cooperative control method, device, electronic device, and storage medium. Background Technology

[0002] Currently, in-vehicle electric pedal control technology has moved from the early stage of optional configuration to the era of large-scale pre-installed mass production, becoming an important functional component for enhancing the user experience of mid-to-high-end SUVs and rugged off-road vehicles. Existing mature solutions have achieved a basic logic closed loop with the door opening and closing signal as the core trigger source, which can stably support core functions such as pedal extension with the door, folding and returning to its original position, rigid locking at high speeds, and anti-pinch protection based on fixed current threshold monitoring. In terms of conventional paved road scenarios, this technology system performs robustly in terms of response time, action consistency, and basic safety, which is sufficient to meet the daily use needs of urban commuting, highway cruising, and standard parking environments. However, a deeper examination of the current technological evolution path of the industry reveals that it exhibits a significant characteristic of "partial patching and system stagnation."

[0003] Currently, most improvements are still focused on marginal optimization of single-point performance. Examples include repeatedly fine-tuning the anti-pinch current threshold to balance sensitivity and false alarm rate, optimizing the triggering conditions of a single collision avoidance logic for specific corner conditions, or improving the smoothness of movement on flat surfaces by slowing down the extension / retraction speed. While these efforts are practically significant, they fail to address the core architecture of the control system. Existing solutions follow the traditional control paradigm of fixed parameters, isolated modules, and open-loop decision-making. For instance, each functional subsystem—such as extension / retraction drive, anti-pinch monitoring, locking control, and speed planning—operates independently, lacking information exchange channels and strategy coupling mechanisms, leading to the awkward situation of "each performing its own function without knowing the others." This architecture determines that the system lacks environmental awareness, scenario understanding and intent inference capabilities, and explicit arbitration rules for multi-objective conflicts, and it cannot achieve dynamic optimization of control parameters based on real-time operating conditions. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for the coordinated control of electric pedals, in order to solve the problems of existing electric pedal control with its single dimension, weak adaptability to vehicle scenarios, and inherent defects such as fixed control parameters that cannot be dynamically adapted. It also improves the current situation of insufficient intelligent and systematic management and control capabilities, and achieves stable, safe, and precise control in all scenarios.

[0005] According to one aspect of the present invention, an electric pedal cooperative control method is provided, wherein the method includes: The vehicle driving scene information of the intelligent vehicle is obtained based on the vehicle controller local area network bus, and the pedal status information of the electric pedal of the intelligent vehicle is obtained based on the multimodal sensor. The scenario type of the intelligent vehicle is determined in a preset scenario-safety mapping table based on the vehicle driving scenario information and the pedal status information. The pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type are determined based on the pedal status information. The electric pedal is controlled according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0006] According to another aspect of the present invention, an electric pedal cooperative control device is provided, wherein the device comprises: The information acquisition module is used to acquire vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and to acquire pedal status information of the electric pedal of the intelligent vehicle based on multimodal sensors. The scene recognition module is used to determine the scene type of the intelligent vehicle based on the vehicle driving scene information and the pedal status information in a preset scene-safety mapping table; The control strategy module is used to determine the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type according to the pedal state information. An execution control module is used to control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the electric pedal cooperative control method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the electric pedal cooperative control method according to any embodiment of the present invention.

[0009] The technical solution of this invention involves acquiring the vehicle's driving scenario via the vehicle controller local area network bus and obtaining pedal state information from multimodal sensors for the electric pedal. Based on the pedal state information and the driving scenario information, the scene type of the intelligent vehicle is determined within a preset scene-safety mapping table. A pedal control strategy and a dynamic anti-pinch current threshold are generated based on the scene type and pedal state information. The electric pedal is then controlled based on the pedal control strategy and the dynamic anti-pinch current threshold. This invention allows for control of the electric pedal based on the overall vehicle driving state, enriching the information source dimensions for electric pedal control, improving the accuracy of electric pedal control parameters, enhancing the electric pedal control and scene adaptability, and improving the stability and safety of pedal control.

[0010] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of an electric pedal cooperative control method provided in Embodiment 1 of the present invention; Figure 2 This is a flowchart of another electric pedal cooperative control method provided in Embodiment 2 of the present invention; Figure 3 This is a flowchart of another electric pedal cooperative control method provided in Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the structure of an electric pedal coordination control system according to Embodiment 4 of the present invention; Figure 5 This is a flowchart illustrating an electric pedal cooperative control method according to Embodiment 4 of the present invention. Figure 6 This is an example diagram illustrating the calculation process of a dynamic anti-pinch current threshold according to Embodiment 4 of the present invention; Figure 7 This is a schematic diagram of the structure of an electric pedal cooperative control device provided in Embodiment 5 of the present invention; Figure 8 This is a schematic diagram of the structure of an electronic device that implements the electric pedal cooperative control method of the present invention. Detailed Implementation

[0013] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0014] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0015] Example 1 Figure 1 This is a flowchart of an electric pedal cooperative control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where intelligent vehicles reliably and safely control the electric pedal based on the driving status. The method can be executed by an electric pedal cooperative control device, which can be implemented in hardware and / or software. This electric pedal cooperative control device can be configured in the vehicle's main control unit or vehicle server. Figure 1 As shown, the method includes: Step 110: Obtain vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and obtain pedal status information of the electric pedal of the intelligent vehicle based on multimodal sensors.

[0016] The vehicle controller local area network (VLAN) bus enables data sharing within the intelligent vehicle. Data sources for the VLAN bus can include the vehicle controller, domain controllers, sensors, and various actuators. The VLAN bus can transmit vehicle driving scenario information, which indicates the vehicle's driving conditions. The data source for this driving scenario information can be located within the intelligent vehicle and may include, but is not limited to, all-terrain mode signals, suspension height, vehicle speed, and door status. Multimodal sensors, specifically those configured for electric pedals, can collect different types of data. These multimodal sensors can consist of one or more types of sensors, including temperature sensors, humidity sensors, pressure sensors, and speed sensors.

[0017] In this embodiment of the invention, vehicle driving scene information transmitted within the vehicle controller local area network bus of an intelligent vehicle can be collected, and one or more environmental data and / or pedal operation data collected by multimodal sensors configured for the electric pedal of the intelligent vehicle can be obtained as pedal status information.

[0018] Step 120: Determine the scenario type of the intelligent vehicle in the preset scenario-safety mapping table based on the vehicle driving scenario information and pedal status information.

[0019] The preset scenario-safety mapping table can be composed of the safety conditions of the electric pedal in different scenarios. Different vehicle driving scenarios can correspond to different safety conditions, which may include vehicle speed, basic anti-pinch current threshold, pedal control strategy, pedal extension and retraction speed, etc. Scenario type can indicate information about different preset scenarios. Preset scenarios can describe the application status of the electric pedal in different intelligent vehicles, and preset scenarios may include ordinary roads, snow, off-road, sand, mud, car wash, etc.

[0020] In this embodiment of the invention, a pre-configured preset scenario-safety mapping table can be read, and the vehicle driving scenario information and pedal status information can be matched with the safety conditions in the preset scenario-safety mapping table. The scenario type of the intelligent vehicle can be determined by the matching safety conditions. For example, the safety conditions in the preset scenario-safety mapping table can have different priorities. The highest priority of each safety condition matched by the vehicle driving scenario information and pedal status information can be used as the preset scenario of the intelligent vehicle.

[0021] Step 130: Determine the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type based on the pedal status information.

[0022] The pedal control strategy can be a strategy for coordinated control of the electric pedal under different scenario types. The pedal control strategy can include the control strategy of the electric pedal and other devices that work together in the intelligent vehicle. The devices that work together with the electric pedal can include doors, locking mechanisms, etc.

[0023] In this embodiment of the invention, the pedal control strategy and dynamic anti-pinch current threshold can be jointly determined by combining the pedal state information and the identified scene type. The pedal control strategy includes the control logic of the electric pedal itself and the linkage control strategy of the door, locking mechanism and other cooperating devices. The determination method of the pedal control strategy and dynamic anti-pinch current threshold can be determined by preset calibration rules. For example, the corresponding control strategy and dynamic anti-pinch current threshold can be retrieved and matched in the preset scene-safety mapping table. Alternatively, the pedal state information and the features corresponding to the scene type can be input into the trained neural network model, and the neural network model can output the adapted control strategy and dynamic anti-pinch current threshold in real time. Then, the electric pedal and the supporting cooperating devices can be coordinated and controlled according to the obtained parameters.

[0024] Step 140: Control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0025] In this embodiment of the invention, the pedal control strategy and the dynamic anti-pinch current threshold can be transmitted to the actuator corresponding to the electric pedal, so that the actuator controls the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold. For example, the pedal control strategy is uploaded to the control unit of the electric pedal, and the control unit generates control commands for the electric pedal motor and the door according to the safety pedal control strategy, and controls the electric pedal motor and the door to work according to the control commands. At the same time, the working process of the electric pedal meets the requirements of the dynamic anti-pinch current threshold to prevent the electric pedal from causing safety accidents.

[0026] This invention, in its embodiments, acquires the vehicle's driving scenario via the vehicle controller local area network bus and obtains pedal state information from multimodal sensors for the electric pedal. Based on the pedal state information and the driving scenario information, the scene type of the intelligent vehicle is determined within a preset scene-safety mapping table. A pedal control strategy and a dynamic anti-pinch current threshold are generated based on the scene type and pedal state information. The electric pedal is then controlled based on the pedal control strategy and the dynamic anti-pinch current threshold. This invention allows for control of the electric pedal based on the overall vehicle driving state, enriching the information source dimensions for electric pedal control, improving the accuracy of electric pedal control parameters, enhancing the electric pedal control and scene adaptability, and improving the stability and safety of pedal control.

[0027] Based on the above embodiments of the invention, the method of acquiring vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and acquiring pedal state information of the intelligent vehicle's electric pedal based on multimodal sensors includes: The vehicle controller local area network bus collects all-terrain mode signals, suspension height, vehicle speed, and door status as vehicle driving scene information; it reads the operating status parameters and environmental resistance parameters of the electric pedal collected by the multi-modal sensor as pedal status information; wherein, the operating status parameters include at least one of drive current, real-time position, and operating speed, while the environmental resistance parameters include at least one of surface pressure, ambient temperature, particulate matter concentration, and humidity.

[0028] In this embodiment of the invention, the signal and parameter acquisition process is as follows: The system subscribes to the vehicle network messages in real time through the vehicle CAN bus interface, parses and extracts the all-terrain mode signal, suspension height signal, vehicle speed signal and door status signal in the bus to complete the acquisition of vehicle driving scene information; at the same time, it establishes a data interaction channel with the multimodal sensor, periodically reads the sensor output information, and obtains the operating status parameters and environmental resistance parameters corresponding to the electric pedal, thereby forming pedal status information.

[0029] The operational status parameter acquisition includes at least one of the following: drive current, real-time position, and operating speed. The drive current can be acquired in real time through the motor circuit sampling circuit, while the real-time position and operating speed are detected by Hall position sensors. The environmental resistance parameter acquisition includes at least one of the following: surface pressure, ambient temperature, particulate matter concentration, and humidity. These parameters can be obtained by acquiring environmental data in real time from the corresponding pressure sensor, temperature sensor, particulate matter sensor, and humidity sensor. Specifically, the acquired vehicle driving scenario information and pedal status information are used together as raw input data for subsequent dynamic anti-pinch current threshold calculation and multi-device collaborative control strategy matching.

[0030] Example 2 Figure 2 This is a flowchart of another electric pedal cooperative control method provided in Embodiment 2 of the present invention. This embodiment of the present invention describes the process of determining the scenario type and the control strategy for the electric pedal. See [link to documentation]. Figure 2 The method provided in this embodiment of the invention specifically includes the following steps: Step 210: Obtain vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and obtain pedal status information of the electric pedal of the intelligent vehicle based on multimodal sensors.

[0031] Step 220: Match the all-terrain mode signal, suspension height, vehicle speed, and door status in the vehicle driving scenario information with the safety conditions of different preset scenario types in the preset scenario-safety mapping table.

[0032] In this embodiment of the invention, information such as all-terrain mode signal, suspension height, vehicle speed, and door status can be extracted from the vehicle driving scene information. The all-terrain mode signal can indicate the driving conditions of the vehicle, including highway, off-road, and snow conditions. The suspension height can indicate the relative distance between the vehicle body and wheels, and the door status can indicate the open and closed status of the vehicle doors, including information such as the door opening angle and speed.

[0033] In this embodiment of the invention, parameters such as all-terrain mode signal, suspension height, vehicle speed, and door status can be extracted from vehicle driving scene information. The all-terrain mode signal, suspension height, vehicle speed, and door status can be matched with safety conditions of one or more preset scene types in a preset scene-safety mapping table. It is understood that the safety conditions of preset scene types can include parameter ranges of different types of vehicle driving information. When a certain type of vehicle driving information is within the parameter range of the safety condition, the vehicle driving information is considered to match the safety condition. At least one of the following is different: the number, type, and parameter range of safety conditions corresponding to different preset scene types.

[0034] Step 230: Determine the preset scenario type with the highest priority and / or the largest number of matching security conditions in the preset scenario-security mapping table as the scenario type.

[0035] Specifically, for each preset scenario type in the frame preset scenario-safety mapping table, the safety conditions corresponding to the vehicle driving information matching the preset scenario type can be determined. The number or priority of the safety conditions that successfully match the vehicle driving information for each preset scenario type can be counted. The preset scenario type corresponding to the safety condition with the highest priority can be determined as the scenario type to which the vehicle driving information belongs, or the preset scenario type corresponding to the safety condition with the most matching numbers can be determined as the scenario type to which the vehicle driving information belongs.

[0036] Step 240: Adjust the basic anti-pinch current threshold according to the pedal status information and scene type to obtain the dynamic anti-pinch current threshold.

[0037] The basic anti-pinch current threshold can be a pre-configured anti-pinch current threshold, and its value can be configured based on the scenario type. In some embodiments, the basic anti-pinch current threshold can be configured for the scenario type, that is, the value of the basic anti-pinch current threshold can be different in different scenario types. The basic anti-pinch current threshold can be set in a preset scenario-safety mapping table, or it can exist in the form of other configuration information.

[0038] In this embodiment of the invention, a basic anti-pinch current threshold can be obtained. This threshold can be adjusted based on the currently acquired pedal state information and the identified scenario type of the intelligent vehicle, making the adjusted dynamic anti-pinch current threshold more suitable for the electric pedal's operation in the current environment. The aforementioned adjustment of the basic anti-pinch current threshold based on pedal state information and scenario type can include determining an adjustment amount based on a mapping relationship or specific rules according to the pedal state information and scenario type, and adjusting the basic anti-pinch current threshold based on the determined adjustment amount; alternatively, the basic anti-pinch current threshold can be directly adjusted according to an adjustment formula, where the basic anti-pinch current threshold can be the dependent variable.

[0039] Step 250: Determine the target control strategy that matches the scenario type in the preset scenario-safety mapping table as the pedal control strategy.

[0040] Specifically, the target control strategy associated with the scenario type can be found in the preset scenario-safety mapping table according to the scenario type of the vehicle driving scenario information. The target control strategy can be used as the pedal control strategy. It can be understood that the preset scenario-safety mapping table can be configured with corresponding control strategies for different preset scenarios. For example, the control strategy for ordinary road scenarios is to extend the door when it opens and retract it after a delay when it closes, while the control strategy for car wash scenarios is to lock the electric pedal and not know how to extend or retract it, and the control strategy for snow scenarios is to increase the drive current of the electric pedal through low-level compensation, etc.

[0041] Step 260: Control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0042] This invention collects driving scenario information of the intelligent vehicle via the vehicle's CAN bus and acquires pedal status information of the electric pedal using multimodal sensors. The all-terrain mode signal, suspension height, vehicle speed, and door status within the driving scenario information are compared and matched with the safety conditions corresponding to each preset scenario type in a preset scenario-safety mapping table. The preset scenario with the highest safety condition priority and / or the most matching items is selected as the current vehicle scenario type. The basic anti-pinch current threshold is corrected based on the pedal status information and the identified scenario type to generate a dynamic anti-pinch current threshold. Simultaneously, the target control strategy corresponding to the matched scenario is retrieved from the preset scenario-safety mapping table as the pedal control strategy. The electric pedal is controlled based on this pedal control strategy and the dynamic anti-pinch current threshold. This invention can control the electric pedal based on the vehicle's driving state, enriching the information source dimensions for electric pedal control, improving the accuracy of electric pedal control parameters, enhancing the electric pedal control and scenario adaptability, and improving the stability and safety of pedal control.

[0043] Furthermore, based on the above embodiments of the invention, the basic anti-pinch current threshold is adjusted according to the pedal state information and scene type to obtain a dynamic anti-pinch current threshold, including: Within a preset configuration parameter set, determine the weighting coefficients for scene type matching, where the weighting coefficients include at least surface pressure weight, ambient temperature weight, particulate matter concentration weight, and humidity weight; determine the environmental resistance coefficient according to the weighting coefficients and the surface pressure, ambient temperature, particulate matter concentration, and humidity in the pedal status information; determine the scene scaling coefficient for matching scene types within the preset configuration parameter set; adjust the basic anti-pinch current threshold to a dynamic anti-pinch current threshold according to the scene scaling coefficient and the environmental resistance coefficient, where the adjustment process includes at least: I_threshold = I_base × S_coeff × (1 + k_env × ε), where I_threshold represents the dynamic anti-pinch current threshold, I_base represents the basic anti-pinch current threshold, S_coeff represents the scene scaling coefficient, k_env represents the environmental resistance coefficient, and ε represents the preset scaling coefficient.

[0044] The preset configuration parameter set can be a pre-configured set of parameters for controlling the electric pedal. The preset configuration parameter set can be pre-configured in the intelligent vehicle. The preset configuration parameter set can include a weighting coefficient, which is used to determine the environmental drag coefficient.

[0045] Specifically, weighting coefficients can be extracted from a preset configuration parameter set according to the scenario type. These weighting coefficients include at least surface pressure weight, ambient temperature weight, particulate matter concentration weight, and humidity weight. The surface pressure, ambient temperature, particulate matter concentration, and humidity within the pedal status information can be obtained. The environmental resistance coefficient can be determined based on these obtained weights, as well as the surface pressure, ambient temperature, particulate matter concentration, and humidity within the pedal status information. For example, this determination process can be as follows: K_env=а×P / P0+β×|T-T0| / T_range+γ×C / C0+δ×H / H0; Wherein, K_env represents the environmental resistance coefficient, P0, T0, C0 and H0 represent the standard surface pressure, standard ambient temperature, standard particulate matter concentration and standard humidity respectively, T_range is the preset temperature range, P, T, C and H represent the surface pressure, ambient temperature, particulate matter concentration and humidity respectively, and a, β, γ and δ represent the surface pressure weight, ambient temperature weight, particulate matter concentration weight and humidity weight respectively.

[0046] In this embodiment of the invention, a scene scaling factor matching the scene type within a preset configuration parameter set can also be determined, and a dynamic anti-pinch current threshold can be determined according to the obtained scene scaling factor and environmental resistance factor. The process of determining the dynamic anti-pinch current threshold includes at least: I_threshold=I_base×S_coeff×(1+k_env×ε), where I_threshold represents the dynamic anti-pinch current threshold, I_base represents the base anti-pinch current threshold, S_coeff represents the scene scaling factor, k_env represents the environmental resistance factor, and ε represents the preset scaling factor.

[0047] Example 3 Figure 3 This is a flowchart of another electric pedal coordinated control method provided in Embodiment 3 of the present invention. The embodiments of the present invention illustrate the synchronous control process of different electric pedals. See [link to documentation]. Figure 3 The method provided in this embodiment of the invention specifically includes the following steps: Step 310: Obtain vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and obtain pedal status information of the electric pedal of the intelligent vehicle based on multimodal sensors.

[0048] Step 320: Determine the scenario type of the intelligent vehicle in the preset scenario-safety mapping table based on the vehicle driving scenario information and pedal status information.

[0049] Step 330: Determine the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type based on the pedal status information.

[0050] Step 340: Control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0051] Step 350: Collect the positions of different electric pedals inside the intelligent vehicle.

[0052] Among them, the electric pedal position can indicate the position of the electric pedal during the control process. The electric pedal position can include the extension length of the electric pedal or the position coordinates of the electric pedal in space.

[0053] In this embodiment of the invention, each electric pedal in the intelligent vehicle can be monitored based on a multimodal sensor to determine its position information at different times during the control process.

[0054] Step 360: If the position difference of each electric pedal is greater than the first synchronization threshold, the speed of the electric pedal motor of the electric pedal on the leading side of the control position will be reduced.

[0055] Specifically, the positions of each electric pedal can be compared at fixed time intervals to determine the positional difference between them. This positional difference can include differences in the extension length of the electric pedals or differences in their spatial height. The obtained positional difference can be compared with a first synchronization threshold. If the positional difference is greater than or equal to the first synchronization threshold, the leading side of the electric pedals is determined based on the positional difference, that is, the electric pedal with a longer extension distance. The speed of the electric pedal motor on the leading side can be reduced, thereby reducing the positional difference between different electric pedals and enhancing the synchronization of the electric pedal extension. Furthermore, if the positional difference of the electric pedals is less than the first synchronization threshold, no operation is required on the electric pedal motors.

[0056] Step 370: If the position difference of each electric pedal is greater than the second synchronization threshold, then the electric pedal motor of the electric pedal on the leading side of the control position is paused until the position difference of each electric pedal is less than the first synchronization threshold.

[0057] In this embodiment of the invention, the position difference of the electric pedal position can also be compared with a second synchronization threshold. The value of the second synchronization threshold is greater than the first synchronization threshold. When the position difference is greater than the second synchronization threshold, the electric pedal motor of the electric pedal on the leading side is stopped until the position difference between the electric pedals on each side is less than the first synchronization threshold. When the position difference is less than the first synchronization threshold, the electric pedal motor on the leading side is restarted.

[0058] This invention, in its embodiments, acquires vehicle driving scenarios from the vehicle controller local area network bus and pedal state information from multimodal sensors for the electric pedal. Based on the pedal state information and driving scenario information, the scenario type of the intelligent vehicle is determined within a preset scenario-safety mapping table. A pedal control strategy and a dynamic anti-pinch current threshold are generated based on the scenario type and pedal state information. The electric pedal is then controlled based on the pedal control strategy and the dynamic anti-pinch current threshold. The electric pedal position is acquired, and the position difference between each electric pedal position is obtained. When the position difference is greater than a first synchronization threshold, the speed of the electric pedal motor on the leading side is reduced. When the position difference is greater than a second synchronization threshold, the electric pedal motor on the leading side can be paused. When the position difference is less than the first synchronization threshold, the electric pedal motor is restarted. This invention can control the electric pedal based on the overall vehicle driving state, enriching the information source dimensions for electric pedal control, improving the accuracy of electric pedal control parameters, enhancing the electric pedal control and scenario adaptability, and improving the stability and safety of pedal control.

[0059] Furthermore, based on the above embodiments of the invention, the electric pedal is controlled according to the pedal control strategy and the dynamic anti-pinch current threshold, including: The pedal control strategy and dynamic anti-pinch current threshold are transmitted to the main control unit of the intelligent vehicle; the main control unit generates device control commands according to the pedal control strategy and dynamic anti-pinch current threshold, and transmits the device control commands to the actuators corresponding to the electric pedal; wherein, the actuators include at least one of the electric pedal motor and the locking motor.

[0060] In this embodiment of the invention, the obtained pedal control strategy and dynamic anti-pinch current threshold can be transmitted to the main control unit of the intelligent vehicle. The main control unit can process the pedal control strategy and dynamic anti-pinch current threshold into device control instructions for controlling the electric pedal. The instruction format of the device control instructions can correspond to the communication protocol within the intelligent vehicle. The generated device control instructions can be transmitted to the actuators corresponding to the electric pedal, controlling actuators including the electric pedal motor and locking motor to work together, so that the electric pedal can work according to the pedal control strategy and dynamic anti-pinch current threshold.

[0061] Example 4 Figure 4 This is a schematic diagram of an electric pedal coordination control system according to Embodiment 4 of the present invention. See also... Figure 4 The control system provided in this embodiment of the invention may include an input signal layer, a core processing layer, a functional module layer, and an execution output layer. The input signal layer can automatically identify the current vehicle driving scenario by acquiring vehicle all-terrain mode signals, vehicle suspension height signals, vehicle speed signals, door status signals, collision signals, and power status signals through the CAN bus. It can also collect the operating status parameters (drive current, real-time position, and operating speed) and environmental resistance parameters (surface pressure, ambient temperature, particulate matter concentration, and humidity) of the electric pedal through multimodal sensors.

[0062] The main control unit of the core processing layer can receive and fuse data from the scene perception unit and the multimodal sensing unit, execute scene-driven control strategies, safety protection logic, and synchronous control algorithms, and generate motor drive commands. Meanwhile, the scene adaptive decision unit can calculate, based on the scene type and environmental resistance parameters, dynamic anti-pinch current threshold, dynamic operating parameters, and dynamic safety protection parameters that match the scene type using an adaptive algorithm.

[0063] The functional module layer includes a safety protection unit, a synchronization control unit, and a human-machine interaction unit. The safety protection unit integrates driving speed protection, collision disabling protection, thermal protection, and ice-breaking protection functions, forming a multi-level safety protection system. It specifically includes a scene-aware safety arbitration module, used to determine the priority order of safety protection based on the current scene type when multiple safety conditions are triggered simultaneously. The synchronization control unit monitors the position difference between the left and right pedals in real time. When the position difference exceeds a preset threshold, it dynamically adjusts the drive speed of the motors on both sides to ensure synchronized movement of both pedals. The human-machine interaction unit can display the pedal operating status, scene recognition results, and fault information on the central control screen, and receive user mode setting commands.

[0064] Based on the above embodiments of the invention, the drive execution unit can drive the motor to perform the unfolding or retracting action of the pedal according to the instructions of the main control unit and the safety protection unit.

[0065] See Figure 5 The system provided in this embodiment of the invention can perform the following steps: 1. The system is powered on and initialized, and reads the non-volatile memory and restores the previous state.

[0066] 2. Real-time acquisition of CAN bus signals and multimodal sensor data.

[0067] 3. Based on the scene perception unit identifying the current scene type, the scene adaptive decision unit calculates dynamic parameters according to the current scene type; wherein, the calculation process of these dynamic parameters can be as follows: Figure 6As shown, the environmental resistance feature vector E=[P,T,C,H] is collected, where P, T, C, and H represent surface pressure, ambient temperature, particulate matter concentration, and humidity, respectively. Weighting coefficients а, β, γ, and δ are selected according to the scene type; where а, β, γ, and δ represent the weights for surface pressure, ambient temperature, particulate matter concentration, and humidity, respectively. The environmental resistance coefficient is calculated as follows: K_env=а×P / P0+β×|T-T0| / T_range+γ×C / C0+δ×H / H0, where K_env represents the environmental resistance coefficient, P0, T0, C0, and H0 represent standard surface pressure, standard ambient temperature, standard particulate matter concentration, and standard humidity, respectively, and T_range is the preset temperature range. Select the scene scaling factor S_coeff according to the scene type, and calculate the dynamic anti-pinch current threshold: I_threshold=I_base×S_coeff×(1+k_env×ε), where I_threshold represents the dynamic anti-pinch current threshold, I_base represents the base anti-pinch current threshold, S_coeff represents the scene scaling factor, which can range from 0.7 to 1.3, k_env represents the environmental resistance factor, and ε represents the preset scaling factor, which can be a sensitivity factor, and can range from 0.1 to 0.5. Output the dynamic anti-pinch current threshold to the main control unit.

[0068] In one exemplary implementation, an example of the weighting of the environmental drag coefficient may be as follows: 4. The safety protection unit queries the scenario-safety mapping table to determine if multiple safety conditions are triggered simultaneously. If so, the scenario-aware safety arbitration module executes safety protection according to the priority of the safety conditions; otherwise, the normal control strategy is executed. The scenario-safety mapping table can include the safety protection priority order, trigger threshold, and response strategy. The safety protection priority order is the priority arrangement of each safety protection function under different scenarios. The trigger threshold is the overspeed threshold or ice-breaking temperature threshold of the corresponding preset scenario. The response strategy can be the control strategy of each electric pedal pre-configured under different scenarios.

[0069] 5. The synchronous control unit monitors the synchronicity of the left and right pedals and controls the motor action according to the drive execution unit, and updates the display status during human-machine interaction.

[0070] 6. Detect whether the current scene type has changed. If so, perform differentiated scene switching processing; otherwise, continue to collect CAN bus signals and multimodal sensor data in real time.

[0071] Based on the above embodiments of the invention, the preset scene types may include six preset scene types, including but not limited to: ordinary road scene, snow scene, off-road scene, sand / mud scene, car wash scene, and car roof scene.

[0072] Example 5 Figure 7 This is a structural schematic diagram of an electric pedal cooperative control device provided according to Embodiment 5 of the present invention. Figure 7 As shown, the device includes: The information acquisition module 410 is used to acquire vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and to acquire pedal status information of the electric pedal of the intelligent vehicle based on the multimodal sensor.

[0073] The scene recognition module 420 is used to determine the scene type of the intelligent vehicle based on the vehicle driving scene information and the pedal status information in a preset scene-safety mapping table.

[0074] The control strategy module 430 is used to determine the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type according to the pedal state information.

[0075] The execution control module 440 is used to control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

[0076] In this embodiment of the invention, the information acquisition module obtains the vehicle driving scene of the intelligent vehicle through the vehicle controller local area network bus and the pedal state information of the electric pedal according to multimodal sensors. The scene recognition module determines the scene type of the intelligent vehicle in a preset scene-safety mapping table based on the pedal state information and the driving scene information. The control strategy module generates a pedal control strategy and a dynamic anti-pinch current threshold based on the scene type and pedal state information. The execution control module controls the electric pedal based on the pedal control strategy and the dynamic anti-pinch current threshold. This embodiment of the invention can control the electric pedal based on the overall vehicle driving state, enriching the information source dimensions of the electric pedal control, improving the accuracy of the electric pedal control parameters, enhancing the electric pedal control and scene adaptability, and improving the stability and safety of pedal control.

[0077] In some embodiments of the invention, the information acquisition module 410 is specifically used to: acquire all-terrain mode signals, suspension height, vehicle speed, and door status within the vehicle controller local area network bus as vehicle driving scenario information; read the operating status parameters and environmental resistance parameters of the electric pedal acquired by the multimodal sensor as pedal status information; wherein the operating status parameters include at least one of drive current, real-time position, and operating speed, and the environmental resistance parameters include at least one of surface pressure, ambient temperature, particulate matter concentration, and humidity.

[0078] In some embodiments of the invention, the scene recognition module 420 includes: The condition matching unit is used to match the all-terrain mode signal, suspension height, vehicle speed and door status in the vehicle driving scenario information with the safety conditions of different preset scenario types in the preset scenario-safety mapping table.

[0079] The target determination unit is used to determine the preset scenario type with the highest priority and / or the largest number of matching security conditions in the preset scenario-security mapping table as the scenario type.

[0080] In some embodiments of the invention, the control strategy module 430 includes: The basic adjustment unit is used to adjust the basic anti-pinch current threshold according to the pedal state information and the scene type to obtain the dynamic anti-pinch current threshold.

[0081] The strategy acquisition unit is used to determine the target control strategy that matches the scenario type in the preset scenario-safety mapping table as the pedal control strategy.

[0082] Based on the above embodiments of the invention, the basic adjustment unit is specifically used to: determine the weight coefficient for matching the scene type within a preset configuration parameter set, wherein the weight coefficient includes at least surface pressure weight, ambient temperature weight, particulate matter concentration weight, and humidity weight; The environmental resistance coefficient is determined based on the weighting coefficient and the surface pressure, ambient temperature, particulate matter concentration, and humidity within the pedal status information. Determine the scene scaling factor within the preset configuration parameter set that matches the scene type; The basic anti-pinch current threshold is adjusted to the dynamic anti-pinch current threshold according to the scene scaling factor and the environmental resistance factor, wherein the adjustment process includes at least: I_threshold = I_base × S_coeff × (1 + k_env × ε), where I_threshold represents the dynamic anti-pinch current threshold, I_base represents the base anti-pinch current threshold, S_coeff represents the scene scaling factor, k_env represents the environmental resistance factor, and ε represents the preset scaling factor.

[0083] In some embodiments of the invention, the execution control module 440 is specifically used to: transmit the pedal control strategy and the dynamic anti-pinch current threshold to the main control unit of the intelligent vehicle; control the main control unit to generate device control instructions according to the pedal control strategy and the dynamic anti-pinch current threshold, and transmit the device control instructions to the execution device corresponding to the electric pedal; wherein, the execution device includes at least one of an electric pedal motor and a locking motor.

[0084] Based on the above embodiments, the invention further includes: a synchronization control module, used to collect the electric pedal positions of different electric pedals in the intelligent vehicle; if the position difference between each electric pedal position is greater than a first synchronization threshold, then the speed of the electric pedal motor of the electric pedal on the leading side of the control position is reduced; if the position difference between each electric pedal position is greater than a second synchronization threshold, then the electric pedal motor of the electric pedal on the leading side of the control position is paused until the position difference between each electric pedal position is less than the first synchronization threshold.

[0085] The electric pedal cooperative control device provided in the embodiments of the present invention can execute the electric pedal cooperative control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0086] Example 6 Figure 8 This is a schematic diagram of an electronic device implementing the electric pedal cooperative control method of this invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0087] like Figure 8As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0088] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0089] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the electric pedal cooperative control method.

[0090] In some embodiments, the electric pedal coordination control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the electric pedal coordination control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the electric pedal coordination control method by any other suitable means (e.g., by means of firmware).

[0091] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0093] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0094] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0095] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0096] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0097] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0098] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for coordinated control of an electric pedal, characterized in that, Applied to intelligent vehicles, the method includes: The vehicle driving scene information of the intelligent vehicle is obtained based on the vehicle controller local area network bus, and the pedal status information of the electric pedal of the intelligent vehicle is obtained based on the multimodal sensor. The scenario type of the intelligent vehicle is determined in a preset scenario-safety mapping table based on the vehicle driving scenario information and the pedal status information. The pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type are determined based on the pedal status information. The electric pedal is controlled according to the pedal control strategy and the dynamic anti-pinch current threshold.

2. The method according to claim 1, characterized in that, The process of acquiring vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and acquiring pedal status information of the intelligent vehicle's electric pedal based on multimodal sensors includes: The vehicle controller local area network bus collects all-terrain mode signals, suspension height, vehicle speed, and door status as vehicle driving scenario information; The operating status parameters and environmental resistance parameters of the electric pedal collected by the multimodal sensor are read as the pedal status information; The operating status parameters include at least one of drive current, real-time position, and operating speed, while the environmental resistance parameters include at least one of surface pressure, ambient temperature, particulate matter concentration, and humidity.

3. The method according to claim 1, characterized in that, The step of determining the scenario type of the intelligent vehicle based on the vehicle driving scenario information within a preset scenario-safety mapping table includes: The all-terrain mode signal, suspension height, vehicle speed, and door status in the vehicle driving scenario information are matched with the safety conditions of different preset scenario types in the preset scenario-safety mapping table. The preset scenario type with the highest priority and / or the largest number of matching security conditions in the preset scenario-security mapping table is determined as the scenario type.

4. The method according to claim 1, characterized in that, The step of determining the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type based on the pedal state information includes: The basic anti-pinch current threshold is adjusted according to the pedal status information and the scenario type to obtain the dynamic anti-pinch current threshold. The target control strategy that matches the scenario type is determined in the preset scenario-safety mapping table and used as the pedal control strategy.

5. The method according to claim 4, characterized in that, The step of adjusting the basic anti-pinch current threshold according to the pedal state information and the scene type to obtain the dynamic anti-pinch current threshold includes: Within a preset set of configuration parameters, a weighting coefficient for matching the scene type is determined, wherein the weighting coefficient includes at least surface pressure weight, ambient temperature weight, particulate matter concentration weight, and humidity weight. The environmental resistance coefficient is determined based on the weighting coefficient and the surface pressure, ambient temperature, particulate matter concentration, and humidity within the pedal status information. Determine the scene scaling factor within the preset configuration parameter set that matches the scene type; The basic anti-pinch current threshold is adjusted to the dynamic anti-pinch current threshold according to the scene scaling factor and the environmental resistance factor, wherein the adjustment process includes at least: I_threshold = I_base × S_coeff × (1 + k_env × ε), where I_threshold represents the dynamic anti-pinch current threshold, I_base represents the base anti-pinch current threshold, S_coeff represents the scene scaling factor, k_env represents the environmental resistance factor, and ε represents the preset scaling factor.

6. The method according to claim 1, characterized in that, The step of controlling the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold includes: The pedal control strategy and the dynamic anti-pinch current threshold are transmitted to the main control unit of the intelligent vehicle. The main control unit generates device control commands according to the pedal control strategy and the dynamic anti-pinch current threshold, and transmits the device control commands to the actuators corresponding to the electric pedal. The actuator includes at least one of an electric pedal motor and a locking motor.

7. The method according to claim 1, characterized in that, Also includes: The positions of the electric pedals in different electric pedals inside the intelligent vehicle are collected; If the position difference between the positions of each electric pedal is determined to be greater than a first synchronization threshold, the speed of the electric pedal motor of the electric pedal on the leading side of the control position is reduced. If the position difference between each of the electric pedal positions is determined to be greater than the second synchronization threshold, then the electric pedal motor of the electric pedal on the leading side of the control position is paused until the position difference between each of the electric pedal positions is less than the first synchronization threshold.

8. An electric pedal cooperative control device, characterized in that, The device, used in intelligent vehicles, includes: The information acquisition module is used to acquire vehicle driving scene information of the intelligent vehicle based on the vehicle controller local area network bus and to acquire pedal status information of the electric pedal of the intelligent vehicle based on multimodal sensors. The scene recognition module is used to determine the scene type of the intelligent vehicle based on the vehicle driving scene information and the pedal status information in a preset scene-safety mapping table; The control strategy module is used to determine the pedal control strategy and dynamic anti-pinch current threshold corresponding to the scenario type according to the pedal state information. An execution control module is used to control the electric pedal according to the pedal control strategy and the dynamic anti-pinch current threshold.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the electric pedal cooperative control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the electric pedal cooperative control method according to any one of claims 1-7.

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