CN113771757A - Automobile pedal mechanism control method, device, equipment and storage medium - Google Patents
Automobile pedal mechanism control method, device, equipment and storage medium Download PDFInfo
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- CN113771757A CN113771757A CN202110983047.4A CN202110983047A CN113771757A CN 113771757 A CN113771757 A CN 113771757A CN 202110983047 A CN202110983047 A CN 202110983047A CN 113771757 A CN113771757 A CN 113771757A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 285
- 238000000034 method Methods 0.000 title claims abstract description 53
- 239000002352 surface water Substances 0.000 claims abstract description 72
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 36
- 230000002093 peripheral effect Effects 0.000 claims description 33
- 238000009825 accumulation Methods 0.000 claims description 17
- 230000006378 damage Effects 0.000 abstract description 10
- 208000027418 Wounds and injury Diseases 0.000 abstract description 9
- 208000014674 injury Diseases 0.000 abstract description 9
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- 238000010586 diagram Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
- B60R3/002—Running boards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R3/00—Arrangements of steps or ladders facilitating access to or on the vehicle, e.g. running-boards
- B60R3/007—Removable steps or ladders, e.g. foldable
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a control method, a device, equipment and a storage medium of an automobile pedal mechanism, wherein the method acquires road environment information, passenger height information and surface water depth information of a to-be-parked area in real time; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the footboard mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's the demand of getting on or off the bus under the multi-scene of multi-environment, has realized the intellectuality of footboard mechanism, has promoted passenger's the travelling comfort of getting on or off the bus, has overcome mechanical type footboard and fixed footboard and has had higher defect to the space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, has improved driver's driving experience.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a method, a device, equipment and a storage medium for controlling an automobile pedal mechanism.
Background
With the development of the automobile industry and the economic level, automobiles have entered ordinary families; among them, Sports Utility Vehicles (SUV) with high chassis and pickup vehicles are popular with consumers because they can adapt to various bad road conditions and have good sports performance; in order to assist drivers and passengers to get on or off the vehicle more conveniently, a vehicle side pedal is usually additionally arranged on a vehicle type with a chassis such as an SUV (sports utility vehicle).
However, the existing side pedals are mainly fixed side pedals, and a few high-end vehicles are provided with intelligent electric pedals; the current solution is through infrared ray mode measurement personnel height, adjusts the terrain clearance of footboard according to measured personnel height, but this kind of regulative mode does not give full consideration to the surrounding environment, probably causes the driver and crew to step on in ponding when getting on or off the bus, perhaps the footboard collides with peripheral barrier, causes the footboard to receive to collide with, makes the passenger receive the injury easily.
Disclosure of Invention
The invention mainly aims to provide a control method, a control device, control equipment and a storage medium for an automobile pedal mechanism, and aims to solve the technical problems that in the prior art, a driver and passengers step in accumulated water when getting on or off a vehicle or the pedal collides with peripheral obstacles to collide with the pedal and easily hurt the passengers due to the fact that the surrounding environment is not comprehensively considered by a pedal adjusting mode.
In a first aspect, the present invention provides a method of controlling a pedal mechanism for an automobile, the method comprising the steps of:
acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear.
Optionally, acquire the road environment information of waiting to park the region in real time, passenger's height information and surface gathered water degree of depth information include:
acquiring road environment information and passenger height information of a to-be-parked area in real time through 360-degree panoramic images and a vehicle-mounted camera;
and acquiring the depth information of the surface water accumulation of the area to be parked through the water accumulation depth sensor.
Optionally, the basis according to road environment information, passenger's height information and surface gathered water depth information confirms height-adjusting, flexible width and the footboard gear of footboard mechanism, includes:
determining a peripheral gap according to the road environment information, controlling a pedal mechanism not to extend out when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, and determining that the adjustment height and the telescopic width of the pedal mechanism are 0;
when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap;
when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism;
and determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
Optionally, the height adjustment and the pedal gear of the pedal mechanism are determined according to the passenger height information and the surface water depth information, and the method includes:
determining the current road surface water depth according to the depth information of the road surface accumulated water, and obtaining the current passenger height according to the passenger height information;
when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height;
when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear;
when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear;
when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0.
Optionally, when it is detected that the speed of the current vehicle is zero and the door of the current vehicle is opened, the pedal mechanism of the current vehicle is adjusted according to the adjustment height, the telescopic width and the pedal gear, including:
when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the height of the pedal mechanism of the current vehicle from the ground according to the adjusting height;
controlling the corresponding extending width of the pedal mechanism relative to the vehicle body according to the telescopic width;
and adjusting the current output gear of the pedal mechanism according to the pedal gear.
Optionally, after determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information, the control method of the automobile pedal mechanism further includes:
when the fact that the speed of the current vehicle is not zero and the driving trend is not stopped and/or the door of the current vehicle is not opened is detected, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0;
when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop;
and controlling the pedal mechanism according to the door opening instruction.
Optionally, the controlling the pedal mechanism according to the door opening command includes:
when the door opening instruction is received, acquiring estimated running and parking time of the vehicle, and adjusting a pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear within the estimated running and parking time of the vehicle;
and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
In a second aspect, to achieve the above object, the present invention further provides an automobile pedal mechanism control device, including:
the information acquisition module is used for acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
the pedal parameter determining module is used for determining the adjusting height, the telescopic width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and the adjusting module is used for adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened.
In a third aspect, to achieve the above object, the present invention also proposes an automobile pedal mechanism control apparatus comprising: a memory, a processor and an automotive pedal mechanism control program stored on the memory and operable on the processor, the automotive pedal mechanism control program being configured to implement the steps of the automotive pedal mechanism control method as described above.
In a fourth aspect, to achieve the above object, the present invention further provides a storage medium having stored thereon an automobile pedal mechanism control program, which when executed by a processor, implements the steps of the automobile pedal mechanism control method as described above.
The control method of the automobile pedal mechanism provided by the invention comprises the steps of acquiring road environment information, passenger height information and surface water accumulation depth information of a to-be-parked area in real time; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the footboard mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's the demand of getting on or off the bus under the multi-scene of multi-environment, has realized the intellectuality of footboard mechanism, has promoted passenger's the travelling comfort of getting on or off the bus, has overcome mechanical type footboard and fixed footboard and has had higher defect to the space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, has improved driver's driving experience.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of a method of controlling a pedal mechanism of an automobile according to the present invention;
FIG. 4 is a schematic flow chart illustrating a third embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a fourth embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention;
FIG. 6 is a schematic flow chart diagram illustrating a fifth embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention;
FIG. 7 is a schematic flow chart diagram illustrating a sixth embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention;
fig. 8 is a functional block diagram of the first embodiment of the control apparatus of a pedal mechanism for an automobile of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The solution of the embodiment of the invention is mainly as follows: the method comprises the steps that road environment information, passenger height information and surface water depth information of a region to be parked are obtained in real time; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the pedal mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's under the multi-scene of multi-environment demand of getting on or off the bus, the intellectuality of pedal mechanism has been realized, the travelling comfort of getting on or off the bus of passenger has been promoted, mechanical type footboard and fixed footboard have been overcome and have been required higher defect to the space, avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, driver's driving experience has been improved, the pedal regulation mode among the prior art does not comprehensively consider the surrounding environment, probably cause the driver and crew to step on in ponding when stepping on from top to bottom, perhaps the footboard collides with peripheral barrier, cause the footboard to receive to collide with, make the passenger receive the technical problem of injury easily.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The Memory 1005 may be a high-speed RAM Memory or a Non-Volatile Memory (Non-Volatile Memory), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an automobile pedal mechanism control program.
Acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
acquiring road environment information and passenger height information of a to-be-parked area in real time through 360-degree panoramic images and a vehicle-mounted camera;
and acquiring the depth information of the surface water accumulation of the area to be parked through the water accumulation depth sensor.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
determining a peripheral gap according to the road environment information, controlling a pedal mechanism not to extend out when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, and determining that the adjustment height and the telescopic width of the pedal mechanism are 0;
when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap;
when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism;
and determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
determining the current road surface water depth according to the depth information of the road surface accumulated water, and obtaining the current passenger height according to the passenger height information;
when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height;
when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear;
when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear;
when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the height of the pedal mechanism of the current vehicle from the ground according to the adjusting height;
controlling the corresponding extending width of the pedal mechanism relative to the vehicle body according to the telescopic width;
and adjusting the current output gear of the pedal mechanism according to the pedal gear.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
when the fact that the speed of the current vehicle is not zero and the driving trend is not stopped and/or the door of the current vehicle is not opened is detected, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0;
when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop;
and controlling the pedal mechanism according to the door opening instruction.
The apparatus of the present invention calls an automobile pedal mechanism control program stored in the memory 1005 by the processor 1001, and also performs the following operations:
when the door opening instruction is received, acquiring estimated running and parking time of the vehicle, and adjusting a pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear within the estimated running and parking time of the vehicle;
and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
According to the scheme, the road environment information, the height information of passengers and the depth information of surface water are obtained in real time in the area to be parked; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the footboard mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's the demand of getting on or off the bus under the multi-scene of multi-environment, has realized the intellectuality of footboard mechanism, has promoted passenger's the travelling comfort of getting on or off the bus, has overcome mechanical type footboard and fixed footboard and has had higher defect to the space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, has improved driver's driving experience.
Based on the hardware structure, the embodiment of the control method of the automobile pedal mechanism is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a control method of an automobile pedal mechanism according to the invention.
In a first embodiment, the automobile pedal mechanism control method includes the steps of:
and step S10, acquiring road environment information, passenger height information and surface water depth information of the area to be parked in real time.
It should be noted that the area to be parked is an area where a current vehicle is to be prepared for parking, the road environment information is information of road vehicles and pedestrians and environment information around the parking area, the passenger lifting information is lifting length information of passengers, and the surface water depth information is information corresponding to the depth of water accumulated on the ground of the area to be parked.
It should be understood that the height information of the passenger may be for a passenger on the roadside who is ready to get on the vehicle, or for a passenger in the vehicle who is ready to get off the vehicle, the height information of the passenger in the vehicle may be obtained by performing algorithm calculation through a height measuring instrument in combination with image analysis, and of course, the height of the passenger in the vehicle may also be determined by constructing a height model through infrared scanning of a human body, which is not limited in this embodiment.
And S20, determining the adjusting height, the telescopic width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the depth information of the surface water.
It can be understood that according to road environment information, passenger's height information and surface gathered water degree of depth information carries out a series of judgments, can confirm that need carry out corresponding regulation's height-adjusting, flexible width and footboard gear to pedal mechanism, height-adjusting is the upper and lower height-adjusting that reciprocates of footboard, flexible width is the horizontal translation distance of footboard, the footboard gear is the preset's of footboard operation gear.
And step S30, when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear.
It should be understood that the adjustment of the pedal mechanism needs to be performed when the vehicle is in a stationary state, the adjustment of the pedal mechanism in a non-stationary state can be prevented from causing damage to a running vehicle or a roadside pedestrian, and when the vehicle speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, the pedal mechanism of the current vehicle can be adjusted according to the adjustment height, the expansion width and the pedal gear.
According to the scheme, the road environment information, the height information of passengers and the depth information of surface water are obtained in real time in the area to be parked; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the footboard mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's the demand of getting on or off the bus under the multi-scene of multi-environment, has realized the intellectuality of footboard mechanism, has promoted passenger's the travelling comfort of getting on or off the bus, has overcome mechanical type footboard and fixed footboard and has had higher defect to the space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, has improved driver's driving experience.
Further, fig. 3 is a schematic flow chart of a second embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention, and as shown in fig. 3, the second embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention is proposed based on the first embodiment, and in this embodiment, the step S10 specifically includes the following steps:
and step S11, acquiring road environment information and passenger height information of the area to be parked in real time through the 360-degree panoramic image and the vehicle-mounted camera.
It should be noted that the surrounding environment may be detected according to a 360-around view system installed on the roof or the door of the vehicle or integrated with the rearview mirror, the road environment information and the passenger height information of the area to be parked may be collected in real time through the 360-around view image and the vehicle-mounted camera, and the passenger height information may also be obtained through a height measuring instrument installed on the roof or the door of the current vehicle, which is not limited in this embodiment.
And step S12, acquiring the depth information of the surface water in the area to be parked through the water depth sensor.
It is understood that the water accumulation depth sensor may be installed on a side of the chassis of the current vehicle close to the pedal mechanism, or may be installed at any other position where the water accumulation depth can be measured, which is not limited in this embodiment; depth information corresponding to the depth of the surface water accumulation of the parking area can be measured and obtained through the water accumulation depth sensor.
According to the scheme, the road environment information and the passenger height information of the area to be parked are collected in real time through the 360-degree all-round images and the vehicle-mounted camera; acquiring pavement water accumulation depth information of a to-be-parked area through a water accumulation depth sensor; accurate road environment information, passenger height information and surface water depth information can be obtained in real time, preparation is made for selection of subsequent pedal mechanism adjusting strategies, and control accuracy of the automobile pedal mechanism is improved.
Further, fig. 4 is a schematic flow chart of a third embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention, and as shown in fig. 4, the third embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention is proposed based on the first embodiment, and in this embodiment, the step S20 specifically includes the following steps:
and step S21, determining a peripheral gap according to the road environment information, controlling the pedal mechanism not to extend out when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, and determining that the adjustment height and the extension width of the pedal mechanism are 0.
It should be noted that, a gap between the current vehicle and a surrounding step or an obstacle can be determined through the road environment information, the first preset gap is a preset gap threshold value, and may be 15cm, and of course, may also be other values, for example, 10cm, 20cm, and the like.
Step S22, when there is no step on the periphery, the peripheral gap is not smaller than the first preset gap and smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap.
It is understood that the second preset gap is a preset gap threshold, the first preset gap is smaller than the second preset gap, the second preset gap may be set to be 30cm, and may also be other values, for example, 35cm, 38cm, etc., this embodiment is not limited thereto, there is no step around, the peripheral gap is not smaller than the first preset gap, and when smaller than the second preset gap, the preset expansion ratio is a preset expansion ratio, the preset expansion ratio may be set to the pedal width extension 1/2, and of course, a width ratio of the pedal width extensions 2/3, 3/5, etc. this embodiment is not limited thereto, the expansion width of the pedal width may be adjusted according to different circumstances, and the pedal width extension 1/2 is only a preferred value of the preset expansion ratio, the only pedal mechanism projecting width is not limited in this embodiment.
And step S23, when the peripheral gap is not smaller than the second preset gap, determining the stretching width of the pedal mechanism to be the whole width of the pedal mechanism.
It should be understood that peripheral clearance is not less than during the second predetermines the clearance, can confirm the flexible width of pedal mechanism is all of pedal mechanism width, and pedal mechanism's footboard can stretch out completely promptly, and this kind of setting mainly considers the footboard and stretches out the in-process and can not collide with surrounding environment spare, guarantees simultaneously that self can not collided with, and the passenger has certain space of getting on or off the bus.
And step S24, determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
It can be understood that through passenger's height information reaches surface gathered water degree of depth information can be according to passenger's height and the gear of surface gathered water condition in good time adjustment pedal mechanism, and different passenger's height and surface gathered water condition correspond different pedal mechanism's height and gear.
According to the scheme, the peripheral gap is determined according to the road environment information, when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, the pedal mechanism is controlled not to extend out, and the adjusting height and the stretching width of the pedal mechanism are determined to be 0; when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap; when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism; according to the passenger height information and the depth information of the surface water, the adjusting height and the pedal gear of the pedal mechanism are determined, the getting-on and getting-off requirements of passengers with different heights in multiple environments and multiple scenes can be met, the intellectualization of the pedal mechanism is realized, and the getting-on and getting-off comfort of the passengers is improved.
Further, fig. 5 is a schematic flow chart of a fourth embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention, and as shown in fig. 5, the fourth embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention is proposed based on the third embodiment, and in this embodiment, the step S24 specifically includes the following steps:
and S241, determining the current road depth according to the depth information of the surface gathered water, and obtaining the height of the current passenger according to the height information of the passenger.
It should be noted that, through road surface ponding depth information can confirm current road surface depth of water, and the prerequisite is that there is ponding on the road surface, and the road surface does not have ponding then current road surface depth of water is zero, according to passenger height information obtains current passenger's height, and current passenger probably is one or many, and when current passenger was many, can adjust pedal mechanism in proper order according to current passenger's the order of getting on the bus in proper order for pedal mechanism adaptation is in every passenger, thereby improves passenger's riding comfort.
And step S242, when the current road surface water depth is smaller than the preset depth, judging whether the height of the current passenger is smaller than the preset height.
It is understood that the preset depth is a preset accumulated water depth threshold, and may be set to 10cm, or may be set to other values, for example, 8cm, 5cm, and the like, which is not limited in this embodiment; the preset height is a preset height threshold, and may be set to 1.2m, or may be set to other values, such as 1m, 1.1m, and the like, which is not limited in this embodiment; when the current road surface water depth is smaller than the preset depth, whether the height of the current passenger is smaller than the preset height can be further judged.
And S243, when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear.
It should be understood that, when the height of the current passenger is not less than the preset height, it may be determined that the adjustment height of the pedal mechanism corresponds to a preset first-level pedal height, the pedal gear corresponds to a first gear, for example, the water depth is less than 10cm, and the height is greater than or equal to 1.2m, and the telescopic pedal starts the first-level pedal to work.
And step S244, when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear.
It can be understood that when the height of the current passenger is smaller than the preset height, it can be determined that the adjustment height of the pedal mechanism corresponds to the preset second-stage pedal height, the pedal gear corresponds to a second gear, for example, the water depth is less than 10cm, and the height is less than 1.2m, and the telescopic pedal can start the second-stage pedal to work.
In concrete realization, predetermine one-level footboard height, predetermine one-level footboard, the second grade footboard that second grade footboard height corresponds mainly refer to the different gears of footboard, and the quantity of footboard is different, and the height and the terrain clearance difference between each step that sets up are applicable to infinitely variable pedal structure equally to bring better experience of getting on or off the bus for driver and passenger.
And step S245, when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop at the position, controlling the pedal mechanism not to extend out, and determining that the adjustment height and the extension width of the pedal mechanism are 0.
It should be understood that when the current road surface water depth is not less than the preset depth, the driver can be reminded not to suggest parking at the position, the pedal mechanism is controlled not to extend out, the corresponding adjustment height and the extension width of the pedal mechanism are 0 at the moment, for example, when the preset depth is 10cm, if the water depth is more than or equal to 10cm, a voice alarm prompt can be given to a driver and passengers, the driver and passengers are advised not to park at the position, and the extension pedal is hidden at the bottom of the vehicle and does not work.
In a specific implementation, the setting of the pedal gear may only set the first gear and the second gear, or may set all the situations, for example: steps are arranged on the periphery corresponding to the gear 1, or the gap is less than 15cm, or the water depth is more than or equal to the preset depth of 10 cm; the gear 2 corresponds to a first preset gap of which the diameter is not less than 15cm and is less than a second preset gap of which the diameter is 30cm, a water depth is less than 10cm and a height is less than 1.2 m; the corresponding clearance of the gear 3 is more than or equal to a second preset clearance of 30cm, the water depth is less than the preset depth of 10cm, and the height is less than the preset height of 1.2 m; the gear 4 corresponds to a first preset gap of 15cm or less and a gap of 30cm or less and a second preset gap of 10cm or less, the water depth is less than the preset depth, and the height is more than or equal to the preset height of 1.2 m; the corresponding clearance of the gear 5 is more than or equal to a second preset clearance 30cm, the water depth is less than the preset depth 10cm, and the height is more than or equal to the preset height 1.2 m; of course, a corresponding number of gears set according to the preset gear setting logic may also be set, which is not limited in this embodiment.
According to the scheme, the current road surface water depth is determined according to the depth information of the surface water, and the height of the current passenger is obtained according to the height information of the passenger; when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height; when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear; when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear; when the current road surface water depth is not less than the preset depth, reminding a driver of not suggesting parking, controlling the pedal mechanism not to extend out, and determining that the adjustment height and the extension width of the pedal mechanism are 0; the intelligent pedal mechanism can meet the getting-on and getting-off requirements of passengers with different heights in multiple environments and multiple scenes, achieves the intelligence of the pedal mechanism, and improves the comfort of the passengers for getting-on and getting-off.
Further, fig. 6 is a schematic flow chart of a fifth embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention, and as shown in fig. 6, the fifth embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention is proposed based on the first embodiment, and in this embodiment, the step S30 specifically includes the following steps:
and step S31, when the vehicle speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the ground clearance of the pedal mechanism of the current vehicle according to the adjusting height, controlling the corresponding extending width of the pedal mechanism relative to the vehicle body according to the stretching width, and adjusting the current output gear of the pedal mechanism according to the pedal gear.
It should be noted that the adjustment of the pedal mechanism needs to be performed when the vehicle is in a stationary state, so that the adjustment of the pedal mechanism in a non-stationary state can be prevented from damaging a running vehicle or a roadside pedestrian, when the vehicle speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, the height of the current pedal mechanism of the current vehicle from the ground can be adjusted according to the adjustment height, the corresponding width of the pedal mechanism extending relative to the vehicle body is controlled according to the expansion width, and the current output gear of the pedal mechanism is adjusted according to the pedal gear.
According to the technical scheme, the vehicle speed of the current vehicle is zero through detection, and when the door of the current vehicle is opened, the ground clearance of the pedal mechanism of the current vehicle is adjusted according to the height adjustment, the corresponding width of the pedal mechanism relative to the vehicle body is extended according to the telescopic width control, and the current output gear of the pedal mechanism is adjusted according to the current output gear of the pedal mechanism, so that the getting-on and getting-off requirements of passengers with different heights under multiple environments and multiple scenes can be met, the intellectualization of the pedal mechanism is realized, the comfort of the passengers getting-on and getting-off is improved, and the defect that mechanical pedals and fixed pedals have high space requirements is overcome.
Further, fig. 7 is a schematic flowchart of a sixth embodiment of a method for controlling a pedal mechanism of an automobile according to the present invention, and as shown in fig. 7, the sixth embodiment of the method for controlling a pedal mechanism of an automobile according to the present invention is proposed based on the first embodiment, and in this embodiment, after the step S20, the method for controlling a pedal mechanism of an automobile further includes the following steps:
step S201, when the fact that the speed of the current vehicle is not zero and the driving trend is no stop and/or the door of the current vehicle is not opened is detected, controlling the pedal mechanism not to extend out, and determining that the adjustment height and the extension width of the pedal mechanism are 0.
It should be noted that, the detection that the vehicle speed of the current vehicle is not zero and the driving trend is not stopped may be a numerical value determination by a vehicle speed sensor, that is, the vehicle speed obtained by the vehicle speed sensor determines whether the current vehicle is about to stop, that is, whether there is a tendency to stop, and when the driving trend is not stopped and/or the door of the current vehicle is not opened, that is, when the vehicle is determined to be running normally, the pedal mechanism may be controlled to be stationary without any operation, that is, the pedal mechanism does not extend out, and the adjustment height and the extension width of the pedal mechanism are determined to be 0.
And S202, judging whether a door opening instruction exists or not when the current vehicle speed is detected to be not zero and the driving trend is to stop.
It should be understood that, when it is detected that the vehicle speed of the current vehicle is not zero, the driving trend is to stop, and it is further determined whether there is a door opening instruction, where the door opening instruction may be a door opening instruction in an auxiliary driving system, such as an instruction of gesture or voice control, or may be an instruction that the driver and the passenger actively open the door, such as a mechanical push switch door opening or a remote control door opening, which is not limited in this embodiment.
And S203, controlling the pedal mechanism according to the door opening instruction.
It will be appreciated that the pedal mechanism may be adjusted by the door open command.
Further, the step S203 specifically includes the following steps:
when the door opening instruction is received, acquiring estimated running and parking time of the vehicle, and adjusting a pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear within the estimated running and parking time of the vehicle;
and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
It should be understood that when the door opening instruction is received, estimated time for vehicle driving and parking is obtained, the estimated time for parking is estimated from the current driving state to the complete stop of the vehicle, the pedal mechanism is controlled to perform corresponding adjustment actions within the estimated time for parking, so that the time for passengers to get on and off the vehicle can be saved, the riding experience of the passengers is further improved, and the time for passengers to get on and off the vehicle is shortened and the traffic smoothness and convenience are further improved for a section with large traffic flow and complicated traffic and difficult long-time parking; the driving experience of a driver is improved, and the pedal mechanism can be controlled not to extend out when the door opening instruction is not received.
In the concrete implementation, when the speed of a vehicle is zero and the vehicle receives a door opening signal, the motor is controlled by a vehicle door switch controller and can rotate in the positive and negative directions, and the vehicle door is opened and closed through a worm and gear mechanism or a mechanism such as an air pump and a swing arm.
According to the scheme, when the fact that the speed of the current vehicle is not zero and the driving trend is no stop and/or the door of the current vehicle is not opened is detected, the pedal mechanism is controlled not to extend out, and the adjusting height and the telescopic width of the pedal mechanism are determined to be 0; when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop; controlling the pedal mechanism according to the door opening instruction; the situation of regulation and control pedal mechanism when can further subdivide and be about to park satisfies the demand of getting on or off the bus of different height passengers under the multi-environment multi-scene, has realized pedal mechanism's intellectuality, has promoted the travelling comfort of getting on or off the bus of passenger, has overcome mechanical type footboard and fixed footboard and to the higher defect of space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition emergence of injury, has improved driver's driving experience.
Correspondingly, the invention further provides a control device of the pedal mechanism of the automobile.
Referring to fig. 8, fig. 8 is a functional block diagram of a first embodiment of the control device of a pedal mechanism for an automobile of the present invention.
In a first embodiment of the control device of a pedal mechanism for an automobile according to the present invention, the control device of a pedal mechanism for an automobile includes:
and the information acquisition module 10 is used for acquiring road environment information, passenger height information and surface water depth information of the area to be parked in real time.
And the pedal parameter determining module 20 is used for determining the adjusting height, the telescopic width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information.
And the adjusting module 30 is configured to adjust the pedal mechanism of the current vehicle according to the adjustment height, the telescopic width and the pedal gear when it is detected that the vehicle speed of the current vehicle is zero and the door of the current vehicle is opened.
The information acquisition module 10 is further configured to acquire road environment information and passenger height information of the area to be parked in real time through 360-degree panoramic images and the vehicle-mounted camera; and acquiring the depth information of the surface water accumulation of the area to be parked through the water accumulation depth sensor.
The pedal parameter determining module 20 is further configured to determine a peripheral gap according to the road environment information, and when the peripheral gap is smaller than a first preset gap or a step is formed on the periphery, control the pedal mechanism not to extend out, and determine that the adjustment height and the telescopic width of the pedal mechanism are 0; when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap; when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism; and determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
The pedal parameter determining module 20 is further configured to determine the current road depth according to the depth information of the surface gathered water, and obtain the current passenger height according to the passenger height information; when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height; when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear; when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear; when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0.
The adjusting module 30 is further configured to, when it is detected that the speed of the current vehicle is zero and the door of the current vehicle is opened, adjust the ground clearance of the pedal mechanism of the current vehicle according to the adjustment height, control the corresponding width of the pedal mechanism extending out of the vehicle body according to the expansion width, and adjust the current output gear of the pedal mechanism according to the pedal gear.
The adjusting module 30 is further configured to control the pedal mechanism not to extend out when it is detected that the speed of the current vehicle is not zero and the driving trend is no stop, and/or when the door of the current vehicle is not opened, and determine that the adjustment height and the telescopic width of the pedal mechanism are 0; when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop; and controlling the pedal mechanism according to the door opening instruction.
The adjusting module 30 is further configured to obtain estimated time for vehicle driving and parking when the door opening instruction is received, and adjust the pedal mechanism of the current vehicle according to the adjusted height, the telescopic width and the pedal gear within the estimated time for vehicle driving and parking; and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
The steps implemented by the functional modules of the control device of the automobile pedal mechanism can refer to the embodiments of the control method of the automobile pedal mechanism, and are not described herein again.
In addition, an embodiment of the present invention further provides a storage medium, where an automobile pedal mechanism control program is stored on the storage medium, and when executed by a processor, the automobile pedal mechanism control program implements the following operations:
acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
acquiring road environment information and passenger height information of a to-be-parked area in real time through 360-degree panoramic images and a vehicle-mounted camera;
and acquiring the depth information of the surface water accumulation of the area to be parked through the water accumulation depth sensor.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
determining a peripheral gap according to the road environment information, controlling a pedal mechanism not to extend out when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, and determining that the adjustment height and the telescopic width of the pedal mechanism are 0;
when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap;
when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism;
and determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
determining the current road surface water depth according to the depth information of the road surface accumulated water, and obtaining the current passenger height according to the passenger height information;
when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height;
when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear;
when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear;
when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
when the fact that the speed of the current vehicle is zero and the door of the current vehicle is opened is detected, the ground clearance of a pedal mechanism of the current vehicle is adjusted according to the adjusting height, the corresponding extending width of the pedal mechanism relative to the vehicle body is controlled according to the stretching width, and the current output gear of the pedal mechanism is adjusted according to the pedal gear.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
when the fact that the speed of the current vehicle is not zero and the driving trend is not stopped and/or the door of the current vehicle is not opened is detected, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0;
when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop;
and controlling the pedal mechanism according to the door opening instruction.
Further, the automobile pedal mechanism control program, when executed by the processor, further implements the following operations:
when the door opening instruction is received, acquiring estimated running and parking time of the vehicle, and adjusting a pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear within the estimated running and parking time of the vehicle;
and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
According to the scheme, the road environment information, the height information of passengers and the depth information of surface water are obtained in real time in the area to be parked; determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information; the speed of a motor vehicle that detects current vehicle is zero, just when the door of current vehicle is opened, according to height-adjusting flexible width reaches the footboard mechanism of current vehicle is adjusted to the footboard gear, can satisfy the different height passenger's the demand of getting on or off the bus under the multi-scene of multi-environment, has realized the intellectuality of footboard mechanism, has promoted passenger's the travelling comfort of getting on or off the bus, has overcome mechanical type footboard and fixed footboard and has had higher defect to the space requirement, has avoided the footboard to receive to collide with and the passenger receives the condition of injury to take place, has improved driver's driving experience.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A control method of an automobile pedal mechanism, characterized by comprising:
acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
determining the adjustment height, the expansion width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened, adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear.
2. The control method of a pedal mechanism of an automobile according to claim 1, wherein the real-time acquisition of road environment information, passenger height information and surface water depth information of the area to be parked comprises:
acquiring road environment information and passenger height information of a to-be-parked area in real time through 360-degree panoramic images and a vehicle-mounted camera;
and acquiring the depth information of the surface water accumulation of the area to be parked through the water accumulation depth sensor.
3. The method for controlling a pedal mechanism of an automobile according to claim 1, wherein the determining of the adjustment height, the expansion width and the pedal position of the pedal mechanism according to the information on the road environment, the information on the height of the passenger and the information on the depth of the surface water comprises:
determining a peripheral gap according to the road environment information, controlling a pedal mechanism not to extend out when the peripheral gap is smaller than a first preset gap or steps are arranged on the periphery, and determining that the adjustment height and the telescopic width of the pedal mechanism are 0;
when no step is arranged on the periphery, the peripheral gap is not smaller than the first preset gap and is smaller than the second preset gap, the telescopic width of the pedal mechanism is determined to be the preset telescopic proportion of the width of the pedal mechanism, wherein the first preset gap is smaller than the second preset gap;
when the peripheral gap is not smaller than the second preset gap, determining the telescopic width of the pedal mechanism to be the whole width of the pedal mechanism;
and determining the adjusting height and the pedal gear of the pedal mechanism according to the passenger height information and the depth information of the surface water.
4. The method of controlling a pedal mechanism of a vehicle according to claim 3, wherein determining an adjustment height and a pedal position of the pedal mechanism based on the passenger height information and the surface water depth information comprises:
determining the current road surface water depth according to the depth information of the road surface accumulated water, and obtaining the current passenger height according to the passenger height information;
when the current road surface water depth is smaller than a preset depth, judging whether the height of the current passenger is smaller than a preset height;
when the height of the current passenger is not less than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset first-level pedal height, and the pedal gear corresponds to a first gear;
when the height of the current passenger is smaller than the preset height, determining that the adjusting height of the pedal mechanism corresponds to a preset secondary pedal height, and the pedal gear corresponds to a second gear;
when the current road surface water depth is not less than the preset depth, reminding a driver of not advising the driver to stop, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0.
5. The automobile pedal mechanism control method according to any one of claims 1 to 4, wherein the adjusting of the pedal mechanism of the present vehicle in accordance with the adjustment height, the telescopic width, and the pedal gear when it is detected that the speed of the present vehicle is zero and the door of the present vehicle is open, includes:
when the fact that the speed of the current vehicle is zero and the door of the current vehicle is opened is detected, the ground clearance of a pedal mechanism of the current vehicle is adjusted according to the adjusting height, the corresponding extending width of the pedal mechanism relative to the vehicle body is controlled according to the stretching width, and the current output gear of the pedal mechanism is adjusted according to the pedal gear.
6. The method of controlling a pedal mechanism of an automobile according to any one of claims 1 to 4, wherein after determining the adjustment height, the expansion width, and the pedal position of the pedal mechanism based on the road environment information, the passenger height information, and the surface water depth information, the method further comprises:
when the fact that the speed of the current vehicle is not zero and the driving trend is not stopped and/or the door of the current vehicle is not opened is detected, controlling the pedal mechanism not to extend out, and determining that the adjusting height and the telescopic width of the pedal mechanism are 0;
when the speed of the current vehicle is detected to be not zero, judging whether a door opening instruction exists or not when the driving trend is that the vehicle is about to stop;
and controlling the pedal mechanism according to the door opening instruction.
7. The control method of a pedal mechanism for an automobile according to claim 6, wherein the controlling the pedal mechanism according to the door opening command includes:
when the door opening instruction is received, acquiring estimated running and parking time of the vehicle, and adjusting a pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear within the estimated running and parking time of the vehicle;
and when the door opening instruction is not received, controlling the pedal mechanism not to extend.
8. An automobile pedal mechanism control device characterized by comprising:
the information acquisition module is used for acquiring road environment information, passenger height information and surface water depth information of a to-be-parked area in real time;
the pedal parameter determining module is used for determining the adjusting height, the telescopic width and the pedal gear of the pedal mechanism according to the road environment information, the passenger height information and the surface water depth information;
and the adjusting module is used for adjusting the pedal mechanism of the current vehicle according to the adjusting height, the telescopic width and the pedal gear when the speed of the current vehicle is detected to be zero and the door of the current vehicle is opened.
9. An automobile pedal mechanism control apparatus characterized by comprising: memory, a processor and an automotive pedal mechanism control program stored on the memory and operable on the processor, the automotive pedal mechanism control program being configured to implement the steps of the automotive pedal mechanism control method according to any one of claims 1 to 7.
10. A storage medium, characterized in that an automobile pedal mechanism control program is stored thereon, which when executed by a processor implements the steps of the automobile pedal mechanism control method according to any one of claims 1 to 7.
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