CN114114969A

CN114114969A - Vehicle, vehicle control method and device, storage medium and vehicle-mounted controller

Info

Publication number: CN114114969A
Application number: CN202010875639.XA
Authority: CN
Inventors: 李鑫
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2020-08-27
Filing date: 2020-08-27
Publication date: 2022-03-01

Abstract

The invention discloses a vehicle, a control method and a control device thereof, a storage medium and a vehicle-mounted controller. The vehicle comprises a foot pad, the foot pad is provided with a plurality of sensing units, and the control method comprises the following steps: acquiring foot action information of a passenger through a sensing unit; determining target vehicle-mounted equipment; generating a control instruction corresponding to the target vehicle-mounted equipment according to the step action information; and sending the control instruction to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction. According to the control method, the vehicle-mounted equipment can be controlled through the foot pad through the sensing unit arranged on the foot pad, the two hands of a passenger are liberated, and the riding experience of the passenger is improved.

Description

Vehicle, vehicle control method and device, storage medium and vehicle-mounted controller

Technical Field

The invention relates to the technical field of automobiles, in particular to a vehicle, a control method and a control device thereof, a storage medium and a vehicle-mounted controller.

Background

At present, a foot pad of a vehicle is used as an interior part of the vehicle, is mainly used for water absorption, dust absorption, sound insulation and the like, and can only realize basic physical functions. Therefore, in the related art, a scheme for controlling and playing the multimedia file by arranging a sensor in the foot pad is provided, however, the scheme directly realizes a driving function by detecting whether a signal is detected, the function is single, the intelligentization degree is low, and the riding experience of passengers is not high.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a vehicle control method, so as to realize the control of the vehicle-mounted device through the foot pad, thereby freeing both hands of the passenger and improving the riding experience of the passenger.

A second object of the present invention is to provide a control device for a vehicle.

A third object of the invention is to propose a computer-readable storage medium.

A fourth object of the present invention is to provide an onboard controller.

A fifth object of the invention is to propose a vehicle.

In order to achieve the above object, a first aspect of the present invention provides a control method for a vehicle, the vehicle including a floor mat provided with a plurality of sensing units, the method including: acquiring foot action information of the passenger through the sensing unit; determining target vehicle-mounted equipment; generating a control instruction corresponding to the target vehicle-mounted equipment according to the step action information; and sending the control instruction to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction.

According to the vehicle control method, the foot action information of the passengers is acquired through the sensing unit on the foot pad, the corresponding control command is generated, and the target vehicle-mounted equipment is controlled through the control command. From this, through the perception unit that sets up on the callus on the sole, can realize through callus on the sole control mobile unit, liberate passenger's both hands, improve passenger's experience by bus.

In addition, the control method of the vehicle according to the present invention may further include the following additional features:

according to an embodiment of the present invention, the control method of the vehicle further includes: acquiring demand information of the passenger on the target vehicle-mounted equipment; after the control instruction is sent to the target vehicle-mounted device, the method further comprises the following steps: acquiring the execution condition of the target vehicle-mounted equipment on the control instruction; judging whether the execution condition meets the requirement of the passenger according to the requirement information; if the execution condition does not meet the requirement of the passenger, returning to the step of acquiring the foot action information of the passenger through the sensing unit; and determining that the control of the target in-vehicle apparatus is completed if the performance satisfies the occupant request.

According to one embodiment of the invention, the target vehicle-mounted device comprises: receiving information of target vehicle-mounted equipment input by a passenger, and determining the target vehicle-mounted equipment according to the information of the target vehicle-mounted equipment; or when detecting that the function linked with the foot pad is started, determining the target vehicle-mounted equipment according to the linked function; or; and when the condition that the environment inside and/or outside the vehicle meets any preset condition in the preset condition list is detected, determining the target vehicle-mounted equipment according to the met preset condition.

According to an embodiment of the invention, the foot action information comprises foot characteristic information, and when the target vehicle-mounted device is a safety belt and/or a seat, the method further comprises: acquiring attitude information of the occupant; determining identity information of the passenger according to the foot characteristic information and the posture information; acquiring the environment information inside the vehicle and/or the environment information outside the vehicle; and generating a corresponding control instruction according to the step action information, the identity information, the environment information in the vehicle and/or the environment information outside the vehicle.

According to an embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, the method further includes: receiving a foot pad game request input by a passenger; controlling the foot pad to enter a game mode according to the foot pad game request, and dividing the foot pad into a plurality of action areas, wherein each action area comprises a plurality of sensing units; determining a corresponding action area according to the step action information, and generating a corresponding control instruction according to the action area; and controlling the vehicle-mounted terminal to execute the control instruction.

According to an embodiment of the invention, the sensing unit comprises a pressure sensing module, wherein the method further comprises: repeatedly executing the step of constructing the initial pressure perception model within a first preset time, wherein the step of constructing the initial pressure perception model comprises the following steps: acquiring pressure information detected by each pressure sensing module every second preset time, wherein the second preset time is shorter than the first preset time, generating pressure points according to the N pieces of pressure information detected by each pressure sensing module after the frequency of acquiring the pressure information reaches N times, and constructing an initial pressure sensing model according to the pressure points; and correcting all initial pressure perception models acquired within the first preset time to obtain a first pressure parameter, wherein the first pressure parameter comprises at least one of the area, the shape and the pressure of the foot.

According to an embodiment of the present invention, the control method of the vehicle further includes: repeating the step of obtaining the first pressure parameter M0 times to obtain M0 first pressure parameters; randomly calling M1 first pressure parameters from the M0 first pressure parameters, wherein M1 < M0; correcting the M1 first pressure parameters to obtain second pressure parameters; the step of obtaining the second pressure parameter is repeated.

According to an embodiment of the present invention, in executing the step of acquiring foot motion information of the occupant by the sensing unit, if only a first pressure parameter exists in the pressure parameters, the acquired foot motion information includes the latest obtained first pressure parameter; and if the second pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained second pressure parameter.

According to an embodiment of the invention, the sensing unit further comprises a light sensing module, wherein the method further comprises: repeatedly executing the step of constructing an initial light perception model within the first preset time, wherein the initial light perception model comprises a light plane model and a light height model, and the step of constructing the initial light perception model comprises the following steps: acquiring light information detected by each light sensing module every second preset time, generating light sensing points according to the N light information detected by each light sensing module after the number of times of acquiring the light information reaches N times, and constructing an initial light sensing model according to the light sensing points; and correcting all initial light perception models acquired within the first preset time to obtain a first light parameter, wherein the first light parameter comprises at least one of the area and the shape of the foot and the height of the foot relative to the foot pad.

According to an embodiment of the present invention, the control method of the vehicle further includes: correcting the first pressure parameter according to the first light parameter to obtain a first correction parameter; repeatedly executing the step of obtaining the first correction parameter; wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if a first correction parameter exists, the foot motion information includes the latest obtained first correction parameter.

According to an embodiment of the invention, the sensing unit further comprises a temperature sensing module and/or a humidity sensing module, wherein the method further comprises: acquiring temperature and/or humidity information detected by each temperature and/or humidity sensing module every second preset time within the first preset time; acquiring a target temperature and/or humidity; respectively correcting the first pressure parameter and the first light ray parameter according to the target temperature and/or humidity and all the obtained temperature and/or humidity information to obtain a first pressure correction parameter and a first light ray correction parameter; correcting the first pressure correction parameter according to the first light correction parameter to obtain a second correction parameter; repeatedly executing the step of obtaining a second correction parameter; wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if a second correction parameter exists, the acquired foot motion information includes the latest obtained second correction parameter.

According to an embodiment of the invention, the vehicle further comprises a temperature and/or humidity conditioning device, the method further comprising: adjusting according to the target temperature and/or humidity and the temperature and/or humidity information detected by each temperature and/or humidity sensing module within the first preset time to generate a temperature and/or humidity control signal; and controlling the temperature adjusting equipment and/or the humidity adjusting equipment according to the temperature and/or humidity control signal.

According to an embodiment of the present invention, the control method of the vehicle further includes: acquiring light ray information after acquiring third preset time of the pressure information, wherein the third preset time is less than the second preset time; and acquiring temperature and/or humidity information after acquiring light information for a fourth preset time, wherein the fourth preset time is less than the second preset time.

In order to achieve the above object, a second aspect of the present invention provides a control device for a vehicle, the vehicle including a mat provided with a plurality of sensing units, the device including: the determining module is used for determining target vehicle-mounted equipment; the acquisition module is used for acquiring foot action information of the passenger through the sensing unit; the generating module is used for generating a control instruction corresponding to the target vehicle-mounted equipment according to the step action information; and the sending module is used for sending the control instruction to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction.

According to the control device of the vehicle, the determining module is used for determining the target vehicle-mounted equipment, the acquiring module is used for acquiring the foot action information of the passenger, the generating module is used for generating the corresponding control instruction according to the acquired foot action information, the sending module is used for sending the generated control instruction to the target vehicle-mounted equipment, and the target vehicle-mounted equipment is controlled to execute the control instruction. From this, through the perception unit that sets up on the callus on the sole, can realize through callus on the sole control mobile unit, liberate passenger's both hands, improve passenger's experience by bus.

To achieve the above object, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the above-mentioned control method for a vehicle.

According to the computer-readable storage medium of the embodiment of the invention, when the computer program stored on the computer-readable storage medium and corresponding to the control method of the vehicle is executed by the processor, the vehicle-mounted equipment can be controlled through the foot pad, the two hands of the passenger are released, and the riding experience of the passenger is improved.

In order to achieve the above object, a fourth aspect of the present invention provides an onboard controller, including a memory, a processor, and a computer program stored on the memory, wherein when the computer program is executed by the processor, the onboard controller implements the above control method for a vehicle.

According to the vehicle-mounted controller provided by the embodiment of the invention, by implementing the vehicle control method, the vehicle-mounted equipment can be controlled through the foot pad, the two hands of a passenger are liberated, and the riding experience of the passenger is improved.

In order to achieve the above object, a fifth embodiment of the present invention provides a vehicle, including the control device of the vehicle, or including the on-board controller.

According to the vehicle provided by the embodiment of the invention, the control device of the vehicle or the vehicle-mounted controller is used for controlling the vehicle-mounted equipment through the foot pad, so that the two hands of the passenger are released, and the riding experience of the passenger is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a flowchart of a control method of a vehicle of one embodiment of the invention;

FIG. 2 is a flow chart of acquiring foot motion information of an occupant via a pressure sensing module according to an embodiment of the present invention;

FIG. 3 is a flow diagram of constructing an initial pressure sensing model according to one embodiment of the invention;

FIG. 4 is a flowchart of acquiring foot motion information of an occupant through a light sensing module according to an embodiment of the present invention;

FIG. 5 is a flow diagram of constructing an initial light perception model according to one embodiment of the invention;

FIG. 6 is a flow chart of the degree sensing module and/or the humidity sensing module acquiring foot motion information of an occupant according to an embodiment of the present invention;

fig. 7 is a flowchart of a control method of a vehicle of another embodiment of the invention;

fig. 8 is a flowchart of a control method of a vehicle of a further embodiment of the invention;

fig. 9 is a flowchart of a control method of a vehicle according to still another embodiment of the invention;

FIG. 10 is a schematic structural diagram of a sensing unit according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a footbed control system in accordance with an embodiment of this disclosure;

FIG. 12 is a schematic illustration of the action area division of a footpad in accordance with one embodiment of the present invention;

fig. 13 is a block diagram of a control device of a vehicle according to an embodiment of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A vehicle, a control method, a device, and an onboard controller thereof according to an embodiment of the invention are described below with reference to fig. 1 to 13.

In embodiments of the invention, the vehicle includes one or more footpads, and when multiple footpads are included, each footpad may be positioned at a different location. As shown in fig. 10, a plurality of sensing units 102 are disposed on the foot pad 101, each sensing unit 102 may include one or more sensing modules 103, each sensing module may include one or more sets of sensors, the number of each sensing module 103 may be multiple, and different sensing modules 103 are used to sense different information. As shown in fig. 11, the foot pad 101 may be provided with an external interface 104, and the external interface 104 is connected to an ECU (Electronic Control Unit) 106 of the vehicle through a wire harness 105, so as to perform information interaction with an on-vehicle device 108 through an entire vehicle information network 107. Optionally, the foot pad 101 may also communicate wirelessly with the ECU106, such as radio frequency communication, Bluetooth communication, and the like.

When the vehicle is powered on, the foot mat 101 is awakened and performs initialization operations such as electrical connection, environmental monitoring, self-diagnosis and the like, after the initialization is completed, the foot mat 101 confirms the position information of the foot mat 101 in the vehicle, and after the confirmation is completed, the foot mat 101 enters a standby state. In the standby state, the foot pad can acquire the state of the vehicle from the ECU of the vehicle, acquire the requirement information of the passenger, and adjust the system state of the foot pad 101 at any time, so as to ensure that the foot pad 101 can respond to the command of the passenger in time.

Alternatively, the identity of the occupant may be identified by the foot pad 101, and different authorities may be opened according to the identified identity of the occupant. As one example, if the footbed 101 recognizes that the identity of the occupant is a child, the footbed 101 only opens the occupant the right to adjust ride comfort.

Fig. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present invention.

As shown in fig. 1, the control method of the vehicle includes the steps of:

and S11, acquiring the foot motion information of the passenger through the sensing unit.

The sensing unit can comprise a pressure sensing module, a light sensing module, a temperature sensing module and/or a humidity sensing module. Of course, the sensing module included in the sensing unit is not limited to the above module, and may also include a sound sensing module, an acceleration sensing module, and the like.

As an example, as shown in fig. 2, the flow of acquiring the foot motion information of the occupant through the pressure sensing module may be as follows:

and S21, repeatedly executing the step of constructing the initial pressure perception model within the first preset time.

Specifically, within a first preset time, a plurality of initial pressure perception models are constructed.

As an example, at time t1, the occupant steps on the foot pad, and the foot pad starts to execute the process of constructing the initial pressure sensing model a1 at time t1, thereby constructing the initial pressure sensing model a 1. Further, the process of constructing the initial pressure sensing model a1 is repeatedly performed starting at times t1+ B, t1+2B, t1+3B, …, t1+ (n-1) × B, thereby constructing the initial pressure sensing models a2, A3, …, An. Wherein (n-1) B is less than a first preset time.

The first preset time may be 0.25s to 0.35s, for example, 0.3 s. As shown in fig. 3, the process of constructing the initial pressure sensing model a1 may be as follows:

and S31, acquiring the pressure information detected by each pressure sensing module every second preset time.

The second preset time may be 15ms to 25ms, for example, 20 ms.

As an example, pressure information (L10, L20, L30, …, LX0) is acquired by the pressure sensing module 1, the pressure sensing module 2, the pressure sensing modules 3, …, and the pressure sensing module X at time t1, and pressure information (L11, L21, L31, …, LX1), (L12, L22, L32, …, LX2), (L13, L23, L33, …, LX3), …, (L1m, L2m, L3m, …, LXm) is acquired at time t1+ b, t1+2b, t1+3b, …, t1+ m b. Wherein B is a second preset time, and m × B is less than B. Wherein the pressure information generated at the same time is stored in a database.

And S32, after the frequency of acquiring the pressure information reaches N times, generating pressure points according to the N pressure information detected by each pressure sensing module.

As an example, when m is equal to N, the pressure information is stopped being acquired, the pressure information (L10, L20, L30, …, LX0) is compared in a set manner to obtain difference information, and one pressure point Y1 is obtained according to the difference information. Wherein the number of pressure comparisons performed in a set manner is at least 3. Further, the pressure information L11, L21, L31, …, LX1), (L12, L22, L32, …, LX2), (L13, L23, L33, …, LX3), …, (L1m, L2m, L3m, …, LXm) are subjected to pressure comparison in a set manner, and pressure points Y2, Y3, … are obtained.

And S33, constructing an initial pressure perception model according to the pressure points.

As an example, an initial pressure sensing model a1 is constructed according to the pressure points Y1, Y2, Y3, …, YN.

And S22, correcting all the initial pressure sensing models acquired within the first preset time to obtain a first pressure parameter.

Specifically, the initial pressure sensing model obtained by repeatedly executing the process of constructing the initial pressure sensing model within the first preset time is compared with the initial model for checking, so as to obtain a first pressure parameter.

The initial model may be a model stored in the pressure sensing module when the vehicle leaves the factory, or may be a model set by the passenger. The first pressure parameter may comprise at least one of an area of the foot (i.e. an area of a shape formed by the contact points of the foot with the footpad), a shape (i.e. a shape formed by the contact points of the foot with the footpad), a pressure (as may be an average of pressure values corresponding to a plurality of pressure points within a shape delineating region).

Further, an occupant foot model J1 is constructed from the first pressure parameters and defined as a spatial pressure model Z1 of the footbed.

S23, the step of obtaining the first pressure parameter is repeated M0 times to obtain M0 first pressure parameters.

Further, M0 passenger foot models J1, J2, J3, … and JM0 are constructed according to M0 first pressure parameters, so that space pressure models Z1, Z2, Z3, … and ZM0 of M0 foot mats are obtained.

S24, randomly calling M1 first pressure parameters from M0 first pressure parameters, wherein M1 < M0.

It should be noted that, limited by the computing power of the pressure sensing module, M1 is generally equal to or less than 4.

And S25, correcting the M1 first pressure parameters to obtain second pressure parameters.

Specifically, M1 first pressure parameters were substituted into J1, resulting in M1 pressure parameter variables. The M1 pressure parameter variables are subjected to statistical operation, mutation data are discarded, and J1 is corrected according to the result of the statistical operation. The weight of each pressure parameter variable in the process of correcting J1, that is, the time interval between the first pressure parameter for generating the pressure parameter variable and J1, is related to the motion trajectory of the foot of the occupant and the frequency of the motion, and the weight is larger as the time interval is smaller.

And S26, repeating the step of obtaining the second pressure parameter.

Specifically, the above steps S24 to S25 are repeated to correct the above J2, J3, …, and JM 0. Further, a new control perception model Z is obtained according to the corrected passenger foot model.

Therefore, according to the embodiment, the pressure sensing module is utilized, the foot pressure information of the passenger is obtained, and then a control sensing model Z is constructed, so that the accurate sensing of the foot action of the passenger can be realized through the control sensing model Z.

Furthermore, the foot action information of the passenger can be acquired through the light sensing module, so that the foot pad can acquire the foot action information of the passenger more accurately.

As an example, as shown in fig. 4, the flow of acquiring the foot motion information of the occupant according to the light sensing module may be as follows:

s41, repeating the step of constructing the initial light perception model within a first preset time.

The initial light perception model comprises a light plane model and a light height model. The light plane model is responsible for perceiving the foot area and the foot shape of the passenger, and the light height model is responsible for perceiving the distance between the foot of the passenger and the foot pad. And acquiring light ray information after acquiring third preset time of the pressure information, wherein the third preset time is less than the second preset time.

As an example, at time t1, the occupant steps on the foot pad, and the foot pad starts to perform the process of building the initial light perception model C1 at time t2 (this t2 may be delayed from t1 by a third preset time), so as to build the initial light perception model a 1. Further, the process of constructing the initial light perception model C1 is repeatedly performed starting at time t2+ B, t2+2B, t2+3B, …, t2+ (n-1) × B, thereby constructing the initial light perception models C2, C3, …, Cn. Wherein (n-1) × B is less than the first predetermined time, and the time t2 occurs after the time t1 and before the time t1+ B. As shown in fig. 5, the process of constructing the initial light perception model C1 may be as follows:

and S51, acquiring the light information detected by each light sensing module every second preset time.

As an example, at time t2, the light information (I10, I20, I30, …, IW0) is obtained by the light sensing module 1, the light sensing module 2, the light sensing module 3, …, and the light sensing module W, and at times t2+ b, t2+2b, t2+3b, …, t2+ m b, the light information is obtained (I11, I21, I31, …, IW1), (I12, I22, I32, …, IW2), (I13, I23, I33, …, IW3), …, (I1m, I2m, I3m, …, IWm). Wherein the light information generated at the same time is stored in a database.

And S52, after the number of times of obtaining the light information reaches N times, generating light sensing points according to the N light information detected by each light sensing module.

As an example, when m is equal to N, the light ray information is stopped being acquired, and the light ray information (I10, I20, I30, …, IW0) acquired by the light ray sensing module 1 is compared in a set manner to obtain difference information, and then one light sensing point G1 is obtained according to the difference information. Wherein, the number of times of information comparison in a set mode is at least 3. Further, the light ray information (I11, I21, I31, …, IW1), (I12, I22, I32, …, IW2), (I13, I23, I33, …, IW3), …, (I1m, I2m, I3m, …, IWm) is compared in a set manner to obtain light sensation points G2, G3, ….

S53, constructing an initial light perception model according to the light sensing points.

As an example, an initial light perception model C1 is constructed according to the light sensing points G1, G2, G3, ….

Specifically, the light sensing points are subjected to track fitting to form one or more continuous curves, and a specific unit range can be defined through the continuous curves. The continuous curve is subjected to fuzzy processing to obtain a light plane model which can mark the shape formed by the contact point of the foot and the foot pad. Further, a light height model is constructed according to the light sensation points.

And S42, performing correction processing on all initial light sensing models acquired within a first preset time to obtain a first light parameter.

Specifically, the initial light sensing model obtained by repeatedly executing the procedure of constructing the initial light sensing model within the first preset time is compared with the initial model for checking, so as to obtain a first light parameter.

The initial model may be a model stored in the pressure sensing module when the vehicle leaves the factory, or may be a model set by the passenger. The first light parameter includes at least one of an area, a shape, and a height of the foot relative to the footbed.

S43, the first pressure parameter is corrected according to the first light parameter to obtain a first correction parameter.

Specifically, the first pressure parameter is fused and corrected through the first light parameter, that is, the difference value between the information of the feet of the passenger sensed by the pressure sensing module and the information of the feet of the passenger sensed by the light sensing module is compared, and the information of the feet of the passenger sensed by the pressure sensing module is corrected through the information of the feet of the passenger sensed by the light sensing module.

As an example, when the first light parameter includes the height of the foot relative to the foot pad, the state of the foot of the passenger (such as lifting, half lap, moving, etc.) can be accurately known through sensing the distance, and based on this, the next action of the foot of the passenger can be accurately evaluated, and information is sent out in advance and a response is made. For example, when a passenger lifts his foot, the pressure sensing module cannot detect foot action information, but the light sensing module can still sense the foot action in real time, and according to parameters such as the movement speed and the position increment detected by the light sensing module, the next action can be accurately judged, if the passenger lifts his foot quickly and falls back quickly, the passenger is likely to trample the foot pad again immediately, and if the passenger lifts his foot quickly and falls back slowly, the passenger may want to stop his foot and not fall back quickly.

S44, the step of obtaining the first correction parameter is repeatedly executed.

Further, the first pressure parameter is continuously corrected through the first light parameter, so that a more accurate control perception model Z is obtained.

Therefore, the embodiment utilizes the light sensing module to sense the area and the shape of the feet of the passengers and the height of the feet relative to the foot pad, and corrects the information of the feet of the passengers sensed by the pressure sensing module, so that the foot pad can more accurately acquire the information of the feet of the passengers.

Further, in order to enable the foot mat to accurately acquire the foot action information of the passenger in special conditions such as rainy days, the foot action information of the passenger can be acquired by using the temperature sensing module and/or the humidity sensing module.

As an example, as shown in fig. 6, the flow of acquiring the foot motion information of the occupant by the temperature sensing module and/or the humidity sensing module may be as follows:

and S61, acquiring the temperature and/or humidity information detected by each temperature and/or humidity sensing module once every second preset time within the first preset time.

And acquiring temperature and/or humidity information after acquiring light information for a fourth preset time, wherein the fourth preset time is less than the second preset time.

As an example, at time t3, temperature and/or humidity information (J10, J20, J30, …, JV0) is obtained by temperature and/or humidity sensing module 1, temperature and/or humidity sensing module 2, temperature and/or humidity sensing module 3, …, temperature and/or humidity sensing module V, and at times t3+ b, t3+2b, t3+3b, …, t3+ i b, temperature and/or humidity information (J11, J21, J31, …, JV1), (J12, J22, J32, …, JV2), (J13, J23, J33, …, JV3), JV …, (J1i, J2i, J3i, …, JVi) is obtained. Here, the time t3 occurs after the time t2 and before the above-described time t1+ b.

And S62, acquiring the target temperature and/or humidity.

Here, the initial state of the footpad may be set as the target temperature and/or humidity, the 23 ℃ and 60 RH%, which are most comfortable to the human body, may be set as the target temperature and/or humidity, or the occupant may set the target temperature and/or humidity by himself/herself.

And S63, respectively correcting the first pressure parameter and the first light ray parameter according to the target temperature and/or humidity and all the acquired temperature and/or humidity information to obtain a first pressure correction parameter and a first light ray correction parameter.

Specifically, a temperature and humidity space model is constructed through the target temperature and/or humidity and all the acquired temperature and/or humidity information, an adjusting action of returning all the acquired temperature and/or humidity information to the target temperature and/or humidity is performed in the temperature and humidity space model, and corresponding adjusting parameters are output. And correcting the first pressure parameter and the first light ray parameter according to the adjusting parameter to obtain a first pressure correction parameter and a first light ray correction parameter.

And S64, correcting the first pressure correction parameter according to the first light correction parameter to obtain a second correction parameter.

S65, the step of obtaining the second correction parameter is repeated.

Further, the first pressure parameter and the first light parameter are continuously corrected, so that the control perception model Z which can still accurately acquire the foot information of the passenger under special conditions is obtained.

When the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if only the first pressure parameter exists in the pressure parameters, the acquired foot motion information includes the latest acquired first pressure parameter; if the second pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained second pressure parameter; if the first correction parameter exists, the foot action information comprises the latest obtained first correction parameter; and if the second correction parameter exists, the acquired foot action information comprises the latest acquired second correction parameter.

Furthermore, the foot motion information of the passenger is accurately acquired according to the control perception model Z.

And S12, determining the target vehicle-mounted device.

Specifically, receiving information of target vehicle-mounted equipment input by a passenger, and determining the target vehicle-mounted equipment according to the information of the target vehicle-mounted equipment, namely determining the target vehicle-mounted equipment directly through passenger operation; or when detecting that the function linked with the foot pad is started, determining the target vehicle-mounted equipment according to the linked function, namely determining the target vehicle-mounted equipment by matching the function; or; when the situation that the environment inside and/or outside the vehicle meets any preset condition in the preset condition list is detected, the target vehicle-mounted equipment is determined according to the met preset condition, namely the target vehicle-mounted equipment is determined through self-adaptive starting.

Optionally, after the target vehicle-mounted device is confirmed, the information of the requirement of the passenger on the target vehicle-mounted device may be acquired at the same time, and at this time, the identity information of the passenger, such as a child, an adult female, and an adult male, may also be acquired. For example, if the target vehicle-mounted device is a window, and if the window is in a closed state and the window needs to be controlled to be opened, the requirement of a passenger a (such as a child) on the window is 1/4 degrees, the requirement of a passenger B (such as an adult female) on the window is 1/2 degrees, and the requirement of a passenger C (such as an adult male) on the window is full open, when the passenger a is determined according to foot motion information (such as the detected foot shape and the pressure of stepping on a foot pad), the corresponding requirement is 1/4.

And S13, generating a control command corresponding to the target vehicle-mounted device according to the step motion information.

For example, the target vehicle-mounted device is a vehicle-mounted air conditioner, the foot pad detects foot step action information, specifically, the foot step action information is detected in the left half area of the foot pad, the pressure is greater than a pressure threshold value, the shape of the foot step action information reflects that a passenger is an adult, and the area of the foot step action information is smaller than an area threshold value, and then a control instruction for controlling refrigeration of the vehicle-mounted air conditioner can be generated; correspondingly, the step action information is detected in the right half area of the foot pad, the pressure is greater than the pressure threshold value, the shape reflects that the passenger is an adult, and the area is smaller than the area threshold value, so that a control instruction for controlling heating of the vehicle-mounted air conditioner can be generated.

For another example, the target vehicle-mounted device is a vehicle-mounted terminal, and the control requirement is to control an audio player in the vehicle-mounted terminal, if the foot pad detects foot step action information, specifically, the foot step action information is detected in the left half area of the foot pad, and the pressure is greater than the pressure threshold, the shape response is full foot, and at this time, a control instruction for controlling the audio player to play the previous head can be generated; correspondingly, the step action information is detected in the right half area of the foot pad, the pressure is greater than the pressure threshold value, the shape response is a full foot, and a control instruction for controlling the audio player to play the next head can be generated at the moment.

Alternatively, the sensing unit may predict the next movement of the occupant's foot based on the continuous movement of the occupant's foot after acquiring the foot movement information of the occupant, and generate the control command based on the predicted movement. For example, when the target temperature for controlling the vehicle-mounted air conditioner is reduced, the foot pad is detected to be continuously trodden twice and the foot pad is predicted to be trodden for the 3 rd time, and when the foot pad is not trodden for the 3 rd time, a control instruction for reducing the target temperature by 1 ℃ can be generated, so that the vehicle-mounted air conditioner can respond to temperature reduction more quickly.

And S14, sending the control instruction to the target vehicle-mounted device so as to control the target vehicle-mounted device to execute the control instruction.

Optionally, in another embodiment of the present invention, after the control instruction is sent to the target vehicle-mounted device, as shown in fig. 7, the control method of the vehicle further includes:

and S71, acquiring the execution condition of the target vehicle-mounted device to the control command.

And S72, judging whether the execution condition meets the requirement of the passenger according to the requirement information.

Specifically, the execution condition of the control command is compared with the requirement information of the passenger on the target vehicle-mounted device, so as to judge whether the current execution condition meets the requirement of the passenger.

And S73, if the execution situation does not meet the requirement of the passenger, returning to the step of acquiring the foot motion information of the passenger through the sensing unit.

S74, if the execution situation meets the requirement of the passenger, the control of the target vehicle-mounted device is determined to be finished.

As an example, when the sunroof is controlled to be opened, a first opening step of opening the sunroof, such as 1/10 being fully opened, may be set each time the foot motion information is detected, such as when all the soles are on the right side of the foot pad and the pressure is greater than the pressure threshold. If the requirement of the passenger A is 1/2 that the skylight is opened to full, the steps S12-S14 are repeated five times to meet the requirement of the passenger A.

It should be noted that, in parallel with the steps S11-S14 and S71-S74, the above-mentioned steps of acquiring the pressure parameter, the light parameter, the correction parameter, etc. may be executed by one processor 001, the steps S11-S14 and the steps S71-S74 may be executed by another processor 002, and when the processor 002 executes the steps S11-S14 and the steps S71-S74, the parameters obtained by the processor 001 may be called as the foot motion information as needed.

Further, if the performance meets the requirements of the occupant, the foot pad may record the occupant's command and performance so that the foot pad may respond quickly the next time the occupant issues the same command to the foot pad. If a command and execution are frequently generated, the vehicle stores the command and execution.

Optionally, in a further embodiment of the present invention, the foot motion information further includes foot characteristic information, and when the target vehicle-mounted device is a seat belt and/or a seat, as shown in fig. 8, after the control perception model Z is constructed, the control method of the vehicle further includes:

and S81, acquiring the posture information of the passenger.

And S82, determining the identity information of the passenger according to the foot characteristic information and the posture information.

Alternatively, it is also possible to acquire identification information of the occupant confirmed by information of the state, weight, habit, and the like of the occupant.

And S83, acquiring the environment information inside the vehicle and/or the environment information outside the vehicle.

Specifically, the in-vehicle environmental information and/or the out-vehicle environmental information may be acquired by an ECU of the vehicle.

Alternatively, the state information of the vehicle itself, for example, the oil amount information and the vehicle speed information of the vehicle, may also be acquired, so as to adjust the generated control command according to the state information of the vehicle itself.

And S84, generating a corresponding control command according to the step action information, the identity information, the environment information in the vehicle and/or the environment information outside the vehicle.

As an example, if the foot pad determines that the passenger is a middle-aged man with a fat body, a high height and a tired body, the riding time is midnight, and the passenger enters the carriage to form "kudzu paralysis", the foot pad determines that the passenger needs to rest, and controls the safety belt and/or the seat to perform corresponding adjustment, so as to improve the comfort level of the passenger.

Optionally, in a further embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, as shown in fig. 9, after the control perception model Z is constructed, the method for controlling a vehicle further includes:

and S91, receiving the foot pad game request input by the passenger.

Specifically, after the game interface is displayed on the vehicle-mounted terminal, the foot pad access option can be selected on the game interface to input the foot pad game request.

And S92, controlling the foot pad to enter a game mode according to the foot pad game request, and dividing the foot pad into a plurality of action areas, wherein each action area comprises a plurality of sensing units.

Alternatively, the operation region of the foot pad may be divided when the vehicle leaves the factory, or may be divided by the occupant.

As an example, the game is an angry bird and the division of the action area of the footpad may be as shown in FIG. 12.

And S93, determining the corresponding action area according to the step action information, and generating a corresponding control command according to the action area.

Specifically, the foot pad determines the type of the command to be sent according to the position of the foot of the passenger, and then generates a control command by recognizing the action of the foot of the passenger.

For example, referring to fig. 12, if the foot motion information is detected in the direction area, a direction control command is generated; if the foot action information is detected in the force area, a force control instruction is generated; if the foot action information is detected in the power accumulation area, a power accumulation control command is generated; if the foot action information is detected in the release area, a release control instruction is generated; detecting foot action information in the radian track area, and generating a track control instruction; if the foot action information is detected in the initial speed area, generating an initial speed control instruction; if the foot motion information is detected in the foot rest area, no control command is generated.

And S94, controlling the vehicle-mounted terminal to execute the control command.

In one embodiment of the invention, the vehicle further comprises a temperature and/or humidity conditioning device, the method further comprising: adjusting according to the target temperature and/or humidity and the temperature and/or humidity information detected by each temperature and/or humidity sensing module within a first preset time to generate a temperature and/or humidity control signal; and controlling the temperature regulating device and/or the humidity regulating device according to the temperature and/or humidity control signal.

Optionally, a PID regulator valve may be selected to regulate the temperature and/or humidity information detected by the temperature and/or humidity sensing module.

Specifically, the vehicle can adjust the temperature and/or humidity in the vehicle while adjusting the control sensing module Z according to the target temperature and/or humidity and the temperature and/or humidity information detected by each temperature and/or humidity sensing module, thereby improving the comfort of the passengers.

It should be noted that the sensing unit in the embodiment of the present invention may also include only the light sensing module, or include both the light sensing module and the temperature and/or humidity sensing module, or include only the temperature and/or humidity sensing module.

In summary, according to the control method of the vehicle provided by the embodiment of the invention, the vehicle-mounted equipment can be controlled through the foot pad through the sensing unit arranged on the foot pad, so that both hands of the passenger are liberated, and the riding experience of the passenger is improved.

As shown in fig. 13, the control device 200 includes a determination module 201, an acquisition module 202, a generation module 203, and a transmission module 204.

Specifically, the determining module 201 is configured to determine a target vehicle-mounted device; an obtaining module 202, configured to obtain foot motion information of a passenger through a sensing unit; the generating module 203 is used for generating a control instruction corresponding to the target vehicle-mounted device according to the step action information; the sending module 204 is configured to send the control instruction to the target vehicle-mounted device to control the target vehicle-mounted device to execute the control instruction.

This controlling means, the perception unit that sets up through the callus on the sole can realize through callus on the sole control mobile unit, liberates passenger's both hands, improves passenger's experience by bus.

In an embodiment of the present invention, the obtaining module 202 is further configured to: and acquiring the demand information of the passenger on the target vehicle-mounted equipment. Further, after sending the control instruction to the target vehicle-mounted device, the obtaining module 202 is further configured to: acquiring the execution condition of the target vehicle-mounted equipment on the control instruction; judging whether the execution condition meets the requirement of the passenger according to the requirement information; if the execution condition does not meet the requirement of the passenger, returning to the step of acquiring the foot action information of the passenger through the sensing unit; if the execution situation satisfies the occupant's request, it is determined that the control of the target in-vehicle apparatus is completed.

In an embodiment of the present invention, the determining module 201 is specifically configured to; receiving information of target vehicle-mounted equipment input by a passenger, and determining the target vehicle-mounted equipment according to the information of the target vehicle-mounted equipment; or when detecting that the function linked with the foot pad is started, determining target vehicle-mounted equipment according to the linked function; or; and when the condition that the environment inside and/or outside the vehicle meets any preset condition in the preset condition list is detected, determining the target vehicle-mounted equipment according to the met preset condition.

In an embodiment of the present invention, when the target vehicle-mounted device is a seat belt and/or a seat, the obtaining module 202 is further configured to: acquiring the posture information of the passenger; determining identity information of the passenger according to the foot characteristic information and the posture information; and acquiring the environment information inside the vehicle and/or the environment information outside the vehicle. The generating module 203 is further configured to: and generating a corresponding control instruction according to the step action information, the identity information, the environment information in the vehicle and/or the environment information outside the vehicle.

In an embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, the obtaining module 202 is further configured to: receiving a foot pad game request input by a passenger; and controlling the foot pad to enter a game mode according to the foot pad game request, and dividing the foot pad into a plurality of action areas, wherein each action area comprises a plurality of sensing units. The generating module 203 is further configured to: and determining a corresponding action area according to the step action information, and generating a corresponding control instruction according to the action area. Further, the sending module 204 controls the vehicle-mounted terminal to execute the control command.

In an embodiment of the present invention, the obtaining module 202 is further configured to: repeatedly executing the step of constructing the initial pressure perception model within a first preset time, wherein the step of constructing the initial pressure perception model comprises the following steps: acquiring pressure information detected by each pressure sensing module every second preset time, wherein the second preset time is shorter than the first preset time, generating pressure points according to the N pieces of pressure information detected by each pressure sensing module after the frequency of acquiring the pressure information reaches N times, and constructing an initial pressure sensing model according to the pressure points; and correcting all initial pressure perception models acquired within a first preset time to obtain a first pressure parameter, wherein the first pressure parameter comprises at least one of the area, the shape and the pressure of the foot.

In an embodiment of the present invention, the obtaining module 202 is further configured to: repeating the step of obtaining the first pressure parameter M0 times to obtain M0 first pressure parameters; randomly calling M1 first pressure parameters from M0 first pressure parameters, wherein M1 < M0; correcting the M1 first pressure parameters to obtain second pressure parameters; the step of obtaining the second pressure parameter is repeated.

In an embodiment of the present invention, the obtaining module 202 is further configured to: if only the first pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained first pressure parameter; and if the second pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained second pressure parameter.

In an embodiment of the present invention, the obtaining module 202 is further configured to: repeatedly executing the step of constructing the initial light perception model within a first preset time, wherein the initial light perception model comprises a light plane model and a light height model, and the step of constructing the initial light perception model comprises the following steps: acquiring light information detected by each light sensing module every second preset time, generating light sensing points according to the N light information detected by each light sensing module after the number of times of acquiring the light information reaches N times, and constructing an initial light sensing model according to the light sensing points; and correcting all initial light perception models acquired within a first preset time to obtain a first light parameter, wherein the first light parameter comprises at least one of the area and the shape of the foot and the height of the foot relative to the foot pad.

In an embodiment of the present invention, the obtaining module 202 is further configured to: correcting the first pressure parameter according to the first light parameter to obtain a first correction parameter; repeatedly executing the step of obtaining the first correction parameter; wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if the first correction parameter exists, the foot motion information includes the latest obtained first correction parameter.

In an embodiment of the present invention, the obtaining module 202 is further configured to: acquiring temperature and/or humidity information detected by each temperature and/or humidity sensing module once every second preset time within first preset time; acquiring a target temperature and/or humidity; respectively correcting the first pressure parameter and the first light ray parameter according to the target temperature and/or humidity and all the obtained temperature and/or humidity information to obtain a first pressure correction parameter and a first light ray correction parameter; correcting the first pressure correction parameter according to the first light correction parameter to obtain a second correction parameter; repeatedly executing the step of obtaining a second correction parameter; wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is executed, if the second correction parameter exists, the acquired foot motion information includes the newly obtained second correction parameter.

In an embodiment of the present invention, the obtaining module 202 is further configured to: adjusting according to the target temperature and/or humidity and the temperature and/or humidity information detected by each temperature and/or humidity sensing module within a first preset time to generate a temperature and/or humidity control signal; and controlling the temperature regulating device and/or the humidity regulating device according to the temperature and/or humidity control signal.

In an embodiment of the present invention, the obtaining module 202 is further configured to: acquiring light ray information after acquiring third preset time of the pressure information, wherein the third preset time is less than the second preset time; and acquiring temperature and/or humidity information after acquiring light information for a fourth preset time, wherein the fourth preset time is less than the second preset time.

For another specific embodiment of the vehicle control device according to the embodiment of the present invention, reference may be made to the vehicle control method according to the above-described embodiment.

Further, the present invention proposes a computer-readable storage medium.

In the embodiment of the present invention, a computer program is stored on a computer-readable storage medium, and when the computer program is executed by a processor, the control method of the vehicle described above is implemented.

According to the computer-readable storage medium provided by the embodiment of the invention, by implementing the vehicle control method, the vehicle-mounted equipment can be controlled through the foot pad, the two hands of the passenger are liberated, and the riding experience of the passenger is improved.

Further, the invention provides a vehicle-mounted controller.

In an embodiment of the present invention, an onboard controller includes a memory, a processor, and a computer program stored on the memory, and when the computer program is executed by the processor, the control method of the vehicle described above is implemented.

Further, the invention provides a vehicle.

In an embodiment of the present invention, a vehicle includes the control device of the vehicle described above, or includes the on-vehicle controller described above.

According to the vehicle-mounted controller provided by the embodiment of the invention, the vehicle-mounted equipment can be controlled through the foot pad through the vehicle control device or the vehicle-mounted controller, so that both hands of a passenger are liberated, and the riding experience of the passenger is improved.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A control method of a vehicle, characterized in that the vehicle comprises a foot mat provided with a plurality of sensing units, the method comprising the steps of:

acquiring foot action information of the passenger through the sensing unit;

determining target vehicle-mounted equipment;

generating a control instruction corresponding to the target vehicle-mounted equipment according to the step action information;

and sending the control instruction to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction.

2. The control method of a vehicle according to claim 1, characterized by further comprising:

acquiring demand information of the passenger on the target vehicle-mounted equipment;

after the control instruction is sent to the target vehicle-mounted device, the method further comprises the following steps:

acquiring the execution condition of the target vehicle-mounted equipment on the control instruction;

judging whether the execution condition meets the requirement of the passenger according to the requirement information;

if the execution condition does not meet the requirement of the passenger, returning to the step of acquiring the foot action information of the passenger through the sensing unit;

and determining that the control of the target in-vehicle apparatus is completed if the performance satisfies the occupant request.

3. The control method of the vehicle according to claim 1, wherein the determining of the target in-vehicle device includes:

receiving information of target vehicle-mounted equipment input by a passenger, and determining the target vehicle-mounted equipment according to the information of the target vehicle-mounted equipment; or

When the linkage function with the foot pad is detected to be started, determining the target vehicle-mounted equipment according to the linkage function; or;

and when the condition that the environment inside and/or outside the vehicle meets any preset condition in the preset condition list is detected, determining the target vehicle-mounted equipment according to the met preset condition.

4. The control method of the vehicle according to claim 1, wherein the foot action information includes foot characteristic information, and when the target in-vehicle device is a seatbelt and/or a seat, the method further includes:

acquiring attitude information of the occupant;

determining identity information of the passenger according to the foot characteristic information and the posture information;

acquiring the environment information inside the vehicle and/or the environment information outside the vehicle;

and generating a corresponding control instruction according to the step action information, the identity information, the environment information in the vehicle and/or the environment information outside the vehicle.

5. The control method of the vehicle according to claim 1, wherein when the target in-vehicle device is an in-vehicle terminal, the method further comprises:

receiving a foot pad game request input by a passenger;

controlling the foot pad to enter a game mode according to the foot pad game request, and dividing the foot pad into a plurality of action areas, wherein each action area comprises a plurality of sensing units;

determining a corresponding action area according to the step action information, and generating a corresponding control instruction according to the action area;

and controlling the vehicle-mounted terminal to execute the control instruction.

6. The control method of a vehicle according to claim 1, wherein the sensing unit includes a pressure sensing module, wherein the method further comprises:

repeatedly executing the step of constructing the initial pressure perception model within a first preset time, wherein the step of constructing the initial pressure perception model comprises the following steps:

acquiring pressure information detected by each pressure sensing module every second preset time, wherein the second preset time is less than the first preset time,

after the frequency of acquiring the pressure information reaches N times, generating pressure points according to the N pieces of pressure information detected by each pressure sensing module,

constructing an initial pressure perception model according to the pressure points;

and correcting all initial pressure perception models acquired within the first preset time to obtain a first pressure parameter, wherein the first pressure parameter comprises at least one of the area, the shape and the pressure of the foot.

7. The control method of a vehicle according to claim 6, characterized by further comprising:

repeating the step of obtaining the first pressure parameter M0 times to obtain M0 first pressure parameters;

randomly calling M1 first pressure parameters from the M0 first pressure parameters, wherein M1 < M0;

correcting the M1 first pressure parameters to obtain second pressure parameters;

the step of obtaining the second pressure parameter is repeated.

8. The control method of a vehicle according to claim 6 or 7, wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed,

if only a first pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained first pressure parameter;

and if the second pressure parameter exists in the pressure parameters, the obtained foot action information comprises the latest obtained second pressure parameter.

9. The control method of a vehicle according to claim 6 or 7, wherein the sensing unit further includes a light sensing module, wherein the method further includes:

repeatedly executing the step of constructing an initial light perception model within the first preset time, wherein the initial light perception model comprises a light plane model and a light height model, and the step of constructing the initial light perception model comprises the following steps:

acquiring the light information detected by each light sensing module every second preset time,

after the number of times of obtaining the light information reaches N times, generating light sensing points according to the N light information detected by each light sensing module,

constructing an initial light sensing model according to the light sensing points;

and correcting all initial light perception models acquired within the first preset time to obtain a first light parameter, wherein the first light parameter comprises at least one of the area and the shape of the foot and the height of the foot relative to the foot pad.

10. The control method of a vehicle according to claim 9, characterized by further comprising:

correcting the first pressure parameter according to the first light parameter to obtain a first correction parameter;

repeatedly executing the step of obtaining the first correction parameter;

wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if a first correction parameter exists, the foot motion information includes the latest obtained first correction parameter.

11. The control method of a vehicle according to claim 9, wherein the sensing unit further comprises a temperature sensing module and/or a humidity sensing module, wherein the method further comprises:

acquiring temperature and/or humidity information detected by each temperature and/or humidity sensing module every second preset time within the first preset time;

acquiring a target temperature and/or humidity;

respectively correcting the first pressure parameter and the first light ray parameter according to the target temperature and/or humidity and all the obtained temperature and/or humidity information to obtain a first pressure correction parameter and a first light ray correction parameter;

correcting the first pressure correction parameter according to the first light correction parameter to obtain a second correction parameter;

repeatedly executing the step of obtaining a second correction parameter;

wherein, when the step of acquiring the foot motion information of the occupant by the sensing unit is performed, if a second correction parameter exists, the acquired foot motion information includes the latest obtained second correction parameter.

12. The control method of a vehicle according to claim 11, characterized in that the vehicle further includes a temperature adjusting device and/or a humidity adjusting device, the method further comprising:

adjusting according to the target temperature and/or humidity and the temperature and/or humidity information detected by each temperature and/or humidity sensing module within the first preset time to generate a temperature and/or humidity control signal;

and controlling the temperature adjusting equipment and/or the humidity adjusting equipment according to the temperature and/or humidity control signal.

13. The control method of a vehicle according to claim 11,

acquiring light ray information after acquiring third preset time of the pressure information, wherein the third preset time is less than the second preset time;

14. A control device for a vehicle, characterized in that the vehicle comprises a foot mat provided with a plurality of sensing units, the device comprising:

the determining module is used for determining target vehicle-mounted equipment;

the acquisition module is used for acquiring foot action information of the passenger through the sensing unit;

the generating module is used for generating a control instruction corresponding to the target vehicle-mounted equipment according to the step action information;

and the sending module is used for sending the control instruction to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a control method of a vehicle according to any one of claims 1 to 13.

16. An on-board controller comprising a memory, a processor and a computer program stored on the memory, characterized in that the computer program, when executed by the processor, implements a control method of a vehicle as claimed in any one of claims 1-13.

17. A vehicle characterized by comprising a control apparatus of the vehicle according to claim 14 or comprising an on-board controller according to claim 16.