CN115042715A

CN115042715A - Vehicle side pedal anti-pinch control method, device, equipment, medium and vehicle

Info

Publication number: CN115042715A
Application number: CN202111068887.4A
Authority: CN
Inventors: 王朋; 唐冬; 王剑; 魏莎莎
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2022-09-13

Abstract

The utility model relates to a vehicle side footboard anti-pinch control method, device, equipment, medium and vehicle to solve the safety problem that vehicle side footboard runs into the barrier and leads to, include: the method comprises the steps of acquiring a starting signal, controlling a side pedal to move from a first limit position to a second limit position based on the starting signal, controlling the side pedal to move reversely under the condition that the side pedal is determined to be collided and the position of the side pedal is within an anti-clamping protection range, and controlling the side pedal to stop moving if the side pedal moves to the first limit position. Like this, through the collision condition who detects the side footboard, control this side footboard antiport when the collision takes place and this side footboard is in preventing pressing from both sides the protection band, avoided the side footboard harm and the passenger's damage that the collision caused, improved the security of side footboard.

Description

Vehicle side pedal anti-pinch control method, device, equipment, medium and vehicle

Technical Field

The disclosure relates to the field of vehicles, in particular to a vehicle side pedal anti-pinch control method, device, equipment, medium and vehicle.

Background

Along with the continuous improvement of people's trip needs and tourism demand, high-chassis big space SUV (sports Utility Vehicle) motorcycle type receives consumer's favor more and more, nevertheless because Vehicle chassis is too high to bring great inconvenience for the passenger to get on or off the bus, for making things convenient for the passenger to get on or off the bus, the side footboard is all installed to a lot of vehicles. Some manufacturers configure the retractable electric control side pedal for the vehicle, drive the extension pedal through electric energy to facilitate passengers to get on and get off the vehicle, and the extension pedal is folded when the vehicle runs, so that the width of the vehicle cannot be increased, and great convenience is brought to the travel of people.

At present, the electronic side footboard of retractable causes the footboard unable extension because of the other barrier of car in the motion process, perhaps appears electronic side and steps on the unusual circumstances such as taking place footboard clamp foot on the footboard because of the foot when the footboard contracts at the motion process, brings certain potential safety hazard to protection and the passenger of footboard.

Disclosure of Invention

The invention aims to provide an anti-pinch control method, device, equipment, medium and vehicle for a side pedal of a vehicle, which are used for enabling the side pedal to be controlled by a terminal to take anti-pinch protection measures so as to avoid damage to the side pedal and passengers.

In order to achieve the above object, a first aspect of the present disclosure provides a vehicle side pedal anti-pinch control method, including:

acquiring a starting signal;

controlling the side pedal to move from a first extreme position to a second extreme position based on the starting signal;

under the condition that the side pedal is determined to be collided and the position of the side pedal is within an anti-pinch protection range, controlling the side pedal to move reversely;

and if the side pedal moves to the first limit position, controlling the side pedal to stop moving.

Optionally, after the acquiring the start signal, the method further includes:

initializing a position parameter of the side pedal based on the start signal;

controlling the side pedal to stretch and retract to the limit;

and self-learning the stroke data acquired in the limit stretching process to obtain the first limit position and the second limit position of the side pedal.

Optionally, the controlling the side pedal to move reversely in case that it is determined that the side pedal collides and the position of the side pedal is within the anti-pinch protection range includes:

based on a Hall sensor, acquiring a corresponding Hall change rate in the moving process of the side pedal;

if the Hall change rate is smaller than a first threshold value, determining that the side pedal collides;

under the condition that the side pedal is determined to be collided and the position of the side pedal is within the anti-pinch protection range, the side pedal is controlled to move reversely to the first limit position.

Optionally, the method further comprises:

based on a Hall sensor, acquiring a Hall change rate curve corresponding to the movement stroke of the side pedal when the side pedal is subjected to limit expansion;

according to the Hall change rate curve, determining a corresponding Hall change rate curve range when the Hall change rate reaches the second threshold value;

determining a target travel range corresponding to the Hall change rate curve range;

and determining the anti-pinch protection range of the side pedal based on the target travel range.

Optionally, the method further comprises:

and under the condition that the side pedal is determined to collide again and the position of the side pedal is not in the anti-pinch protection range, controlling the side pedal to stop moving.

Optionally, after the controlling the side pedal to move reversely under the condition that the side pedal is determined to collide and the position of the side pedal is in the anti-pinch protection range, the method further comprises the following steps:

if the side pedal is determined to be collided again and the position of the side pedal is in the anti-pinch protection range, obtaining the current anti-pinch fault accumulated times;

if the accumulated times of the anti-pinch faults are smaller than a third threshold value, controlling the side pedal to move to the second limit position, and adding 1 to the accumulated times of the anti-pinch faults;

and if the accumulated times of the anti-pinch faults reach the third threshold value, controlling the side pedal to stop moving.

The second aspect of the present disclosure provides a vehicle side pedal anti-pinch control device, the device includes:

the acquisition module is used for acquiring a starting signal;

the control module is used for controlling the side pedal to move from a first limit position to a second limit position based on the starting signal;

the judging module is used for controlling the side pedal to move reversely under the condition that the side pedal is determined to collide and the position of the side pedal is within an anti-clamping protection range;

and the execution module is used for controlling the side pedal to stop moving if the side pedal moves to the first limit position.

A third aspect of the present disclosure provides an electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program stored in the memory to implement the steps of any of the above-mentioned vehicle side pedal anti-pinch control methods.

A fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, performs the steps of the vehicle side pedal anti-pinch control method of any one of the first aspects.

A fifth aspect of the present disclosure provides a vehicle, further comprising: the electronic device of the third aspect.

In the above embodiment, after the start signal is obtained, the side pedal is controlled to move from the first limit position to the second limit position based on the start signal, the side pedal is controlled to move in the reverse direction when the side pedal is determined to collide and the position of the side pedal is within the anti-pinch protection range, and the side pedal is controlled to stop moving when the side pedal moves to the first limit position. Therefore, the collision condition of the side pedal is detected, the side pedal is controlled to move reversely when the side pedal collides and is in the anti-pinch protection range, the side pedal damage and the passenger damage caused by collision are avoided, and the safety of the side pedal is improved.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

FIG. 1 is a flowchart of a method for vehicle side pedal anti-pinch control provided in an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic illustration of a vehicle side pedal contact barrier position provided by an exemplary embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a vehicle side pedal travel zone division provided by an exemplary embodiment of the present disclosure;

FIG. 4 is a flowchart of a vehicle side pedal initialization method provided by an exemplary embodiment of the present disclosure;

FIG. 5 is a flowchart of a method for determining a side pedal anti-pinch protection range of a vehicle according to an exemplary embodiment of the present disclosure;

FIG. 6 is a flowchart of another vehicle side pedal anti-pinch control method provided in an exemplary embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a vehicle side pedal anti-pinch control device according to an exemplary embodiment of the present disclosure;

fig. 8 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Before introducing the vehicle side pedal anti-pinch control method, device, equipment, medium and vehicle provided by the present disclosure, an application scenario of the present disclosure will be described first. The utility model provides a vehicle side footboard prevents pressing from both sides control can be applied to electric automobile's automatic flexible side footboard, carries out the anti-pinch control to automatic flexible side footboard, and then has avoided the safety problem that the side footboard bumps and leads to.

The applicant finds that in the related art, when the vehicle side pedal encounters an obstacle in the movement process, the pedal cannot be extended or the pedal contracts, and the pedal clamps feet and other abnormal conditions occur when the pedal is stepped on the pedal, and the vehicle side pedal does not have an anti-clamping protection function, so that potential safety hazards are brought to the protection of the pedal and passengers.

In order to solve the above technical problem, the present disclosure provides a vehicle side pedal anti-pinch control method, which refers to a flowchart of the vehicle side pedal anti-pinch control method shown in fig. 1, and the method includes the following steps:

in step S11, a start signal is acquired.

In step S12, the control-side pedal is moved from the first limit position to the second limit position based on the activation signal.

In step S13, in the case where it is determined that the side pedal has collided and the position of the side pedal is within the anti-pinch protection range, the side pedal is controlled to move in the reverse direction.

In step S14, the side pedal is controlled to stop moving if the side pedal moves to the first limit position.

Specifically, in step S11, the start signal is a start signal of the vehicle side pedal, the start signal may include an extension start signal and a retraction start signal for controlling extension and retraction of the vehicle side pedal, respectively, and the extension start signal or the retraction start signal may be triggered according to different control signals. When the first extreme position of the side pedal is the maximum extension position, the second extreme position of the side pedal is the maximum contraction position; or when the first extreme position of the side pedal is the maximum contraction position, the second extreme position of the side pedal is the maximum extension position. The anti-pinch protection range is a section of travel range set between the first limit position and the second limit position.

In step S12, the control-side pedal is moved from the first limit position to the second limit position in response to an activation signal of the vehicle-side pedal. Wherein, for making the side footboard can let the passenger trample conveniently when using, and can not influence the normal driving of vehicle when not using, need let the side footboard carry out the limit when using and extend to the maximum extended position, when the side footboard does not use, carry out the limit and contract to the maximum contraction position. Correspondingly, step S12 specifically includes: controlling the process of moving the side pedal from the maximum contracted position to the maximum extended position when the vehicle enters a stopped state; or when the vehicle enters a motion state, controlling the process that the side pedal moves from the maximum extension position to the maximum contraction position.

Alternatively, the activation signal may be triggered by a key signal of the vehicle, and the activation signal may be triggered by monitoring a driving state of the vehicle. Illustratively, when the vehicle is changed from a traveling state to a parking state, an extension starting signal is triggered to control the side pedal to start and automatically extend outwards, or when the vehicle receives an unlocking signal sent by a vehicle key, the extension starting signal is triggered to control the side pedal to start and automatically extend outwards; when the vehicle is changed from a parking state to a traveling state, a contraction starting signal is triggered, and the control side pedal is closed and automatically contracts inwards. After the vehicle becomes a parking state, the control side pedal automatically extends outwards and reaches the maximum extension position, and the control side pedal can be kept at the maximum extension position until the vehicle becomes a traveling state; or, when the vehicle becomes a parking state, the control side pedal automatically extends outwards and starts to time after reaching the maximum extension position, and after the time reaches the preset duration, the control side pedal retracts to the maximum retraction position. For example, the state of the vehicle may be determined by monitoring the driving speed and the shift position of the vehicle, for example, when the driving speed of the vehicle is reduced to 0, and the shift position of the vehicle is monitored to be changed to P shift or the vehicle is monitored to be turned off, it is determined that the vehicle is changed from the driving state to the parking state; when the traveling speed of the vehicle is greater than a preset speed threshold, which may be 0Km/h or may be set to a lower speed, for example, 5 or 10Km/h, it is determined that the vehicle is changed from the stopped state to the traveling state.

Alternatively, the Control of the side pedals may be controlled by a Vehicle controller, such as a VCU (Vehicle Control Unit), or may be independently controlled by a separate controller by an extension or retraction start signal of the side pedals, or may be controlled by a remote Control, such as a Vehicle key. For example, a control button of the side pedal may be provided on the vehicle key, or the control of the side pedal may be realized by a specific operation based on an existing button of the vehicle key, or a dedicated remote controller may be provided for the side pedal. Optionally, a plurality of vehicle side pedals can be arranged according to actual vehicle types, and unified starting control or single starting control can be adopted according to different user requirements.

It should be understood that the vehicle is equipped with a detection device for detecting whether the side step has a collision or not, and the vehicle side step can be extended or retracted along a preset movement track under the traction of the driving motor. It is worth mentioning that when the side pedal encounters an obstacle in the movement process, the detection device detects and judges whether the obstacle is encountered. When an obstacle is encountered, the driving motor applies traction to the obstacle through the side pedal, and when the traction is not properly set, certain damage to the obstacle and the side pedal can still be caused. Therefore, referring to fig. 2 and fig. 2, which are schematic views of the position of the vehicle side pedal contacting the obstacle, the present disclosure proposes to set different anti-pinch torque values according to the different positions of the side pedal contacting the obstacle during the extension and contraction of the side pedal, so as to enable the driving motor to generate different driving forces. Specifically, as shown in fig. 2, during the contraction process of the side pedal, the position (position 1 in fig. 2) at the upper part of the side pedal in the figure is easier to contact with the obstacle and cause corresponding damage, and the anti-pinch torque value during the contraction process determined by the damage test at the position can be set to be 220N; during the process of extending the side pedal, the position (position 2 in fig. 2) at the side of the side pedal in the figure is easier to contact with an obstacle and cause corresponding damage, and the anti-pinch torque value determined by a damage test on the position during extension can be set to be 280N, so that under the condition of ensuring the normal extension and retraction of the side pedal, the safety is further improved, and the side pedal and a passenger are prevented from being damaged.

In step S13, the detecting means is used to detect whether the side pedal collides with an obstacle during movement and generate a corresponding collision signal.

Alternatively, the detection device may be an ultrasonic sensor and is arranged at the upper part and the side surface of the side pedal, and is used for respectively detecting contraction collision and extension collision, and when an ultrasonic return signal with a certain frequency is detected in the movement range of the side pedal, the side pedal is judged to encounter an obstacle, and a corresponding collision signal is generated; in addition, the detection device can also be a collision sensor and is arranged at the upper part and the side surface of the side pedal, the stress condition of the side pedal is detected, the contraction collision and the extension collision are respectively detected, and when the side pedal is detected to be subjected to other external acting force in the motion range, the side pedal is judged to meet an obstacle and generate a corresponding collision signal; in addition, detection device can also be the camera, and this camera sets up in the bottom half, is located the top of side footboard, and the side footboard is located the monitoring visual angle of camera, can acquire the image of side footboard in real time to carry out the analysis to the image, thereby judge whether the side footboard meets the barrier and generates corresponding collision signal. The above detection devices are exemplary, and the selection of the specific detection device is not limited in this disclosure.

Fig. 3 is a schematic diagram for dividing the stroke range of a side pedal of a vehicle according to the present disclosure, and it can be understood that, as shown in fig. 3, in order to prevent damage caused by mechanical hard contact between the mechanical structure of the side pedal and the mechanical structure of the base of the driving motor when the side pedal is retracted and extended to the extreme position, a cushion pad is usually arranged before the side pedal and the base of the driving motor when the side pedal is retracted to the extreme position, so as to cushion the movement process of the side pedal, and in particular, the cushion pad may be arranged on the base of the driving motor; when the pedal extends to the limit position, a buffer cushion block is arranged in front of the main rotating arm and the auxiliary rotating arm so as to buffer the limit extending process of the side pedal, and particularly the buffer cushion block can be arranged on the inner side of the auxiliary rotating arm.

Receive the influence of cushion block, when the side footboard moves near to being close to the biggest extension position or the biggest shrink position, can begin to contact cushion block, the resistance that receives increases gradually until moving stop motion when reaching the biggest extension position or the biggest shrink position, it is short and the movement speed is slow to begin to contact cushion block to this section stroke scope of stop motion at the side footboard, at this in-process, detection device produces misjudgement to whether bumping easily, therefore, for preventing detection device's misjudgement, need set up the detection range as the corresponding protection range that prevents pressing from both sides. When the side pedal leaves from the cushion block at one extreme position, the moving speed of the stroke between the side pedal and the cushion block at the other extreme position is relatively high and constant, so that the stroke can be set as an anti-pinch protection range. Wherein, prevent pressing from both sides the protection zone and can set up according to the turned angle of side footboard rotor arm, also can set up according to the movement track of side footboard, can also set up according to driving motor's rotation mileage. The specific arrangement is not limited in this disclosure.

For example, as shown in fig. 3, the anti-pinch protection range is set according to the rotation angle of the side pedal rotating arm, the side pedal rotating arm is set to 0 ° at the maximum contraction position, the rotation angle of the rotating arm from the maximum contraction position to the cushion block at the side away from the maximum contraction position is 8.90 ° (refer to the angle range 1 shown in fig. 3) according to the measurement of the total movement stroke of the rotating arm from the full contraction to the full extension is 93.40 °, and the rotation angle of the rotating arm from the maximum expansion position to the cushion block at the side away from the maximum expansion position is 4.49 ° (refer to the angle range 2 shown in fig. 3). Therefore, the anti-pinch protection range is 8.90 ° -88.91 ° (refer to the angle range 3 shown in fig. 3), and the stroke range of the side pedal corresponding to the angle range of 8.90 ° -88.91 ° is determined as the anti-pinch protection range, so that the anti-pinch function of the side pedal can be realized by detecting whether the position of the side pedal is in the stroke range.

Confirm according to detection device that the side footboard bumps to after the position of side footboard was in anti-pinch protection scope, for preventing that the side footboard from continuing to move and causing the damage of side footboard and barrier, according to this disclosure provides corresponding anti-pinch protection strategy, control side footboard stop to remove to reverse extreme position. Optionally, in another embodiment, the angle range of 8.90 ° to 88.91 ° may be used as the anti-pinch protection range, so that the anti-pinch function of the side pedal can be realized by monitoring whether the angle of the rotating arm of the side pedal is in the angle range.

In step S14, the real-time position of the side pedal may be detected by a detecting device, and when it is detected that the side pedal moves to the first limit position, the driving motor is controlled to stop driving so that the side pedal is maintained at the first limit position.

Optionally, referring to a flowchart of a vehicle side pedal initialization method shown in fig. 4, after acquiring the start signal, the vehicle side pedal anti-pinch control method further includes:

in step S21, the position parameter of the side pedal is initialized based on the start signal.

In step S22, the control-side pedal performs limit expansion and contraction.

In step S23, the stroke data acquired during the extreme extension and retraction process is self-learned, and the first extreme position and the second extreme position of the side pedal are obtained.

It can be understood that, in the vehicle side footboard use, because of mechanical structure looks mutual friction such as side footboard and driving motor base and buffer spacer to lead to the biggest extension position and the biggest shrink position of side footboard to probably change, can influence the unable vehicle parameter that combines reality of side footboard like this and carry out the limit flexible, can probably can make the unable extreme position that reaches reality of side footboard, thereby influence follow-up judgement to preventing pressing from both sides the protection zone. In order to avoid misjudgment of the detection device caused by deviation of an anti-pinch range of the vehicle, after a starting signal is received, initialization and verification are required to be carried out on relevant parameters of the side pedal.

Specifically, in step S21, the parameters related to the side pedal in the controller or the memory are initialized according to the start signal, wherein the parameters of the side pedal may include the current position of the side pedal, the extreme position parameters when fully retracted, the extreme position parameters when fully extended, the drive motor bearing data, the anti-pinch protection range, and the like.

In step S22, the limit retracting process is that the driving motor moves the side pedal from the current stop position to the maximum retracting position, and then moves the side pedal to the maximum extending position in the opposite direction, where the maximum retracting position and the maximum extending position may be determined by disposing a pressure sensor on the cushion block, and determining that the side pedal moves to the limit position when the pressure reaches a certain threshold; the position detection device can be further arranged on the buffer cushion block, the relative position of the buffer cushion block and the side pedal rotating arm is detected, when the rotating arm rotates to a certain preset position, the side pedal is judged to move to the maximum contraction position or the maximum extension position, the resisting moment met by the motor can also be detected through the detection device, and when the resisting moment reaches a certain threshold value, the side pedal is judged to move to the maximum contraction position or the maximum extension position.

In step S23, after the side pedal moves from the current position to the first limit position, the control module receives the trigger signal of the detecting device, controls the side pedal to move to the second limit position, and receives the trigger signal of the detecting device again, thereby completing a limit retracting process. And recording stroke data generated in the limit expansion and contraction process in real time, and self-learning the stroke data to obtain position information of the side pedal in the limit expansion and contraction process when the side pedal is fully expanded and fully contracted. For example, the corresponding first limit position and the second limit position may be determined according to bearing data of the driving motor recorded twice when the detecting device sends out two triggering signals; or, the limit extending and retracting process is analyzed according to the rotating angle of the rotating arm relative to the rotating shaft, and the rotating angle of the rotating arm relative to the rotating shaft when the checking device sends the two triggering signals is determined, so that the first limit position and the second limit position of the corresponding side pedal are determined.

It can be understood that the detection device can also record the actual rotation number of turns of the driving motor in the limit expansion process so as to verify the effectiveness of the limit expansion process, when the actual number of turns is smaller than a certain threshold value, the limit expansion process is judged to be invalid, prompt information is sent to a controller of the vehicle, and the limit expansion in the self-learning process is judged, so that the accurate operation of the self-learning process is ensured, and further the occurrence of misjudgment is avoided.

Adopt above-mentioned embodiment, obtain the first extreme position of reality and the second extreme position of vehicle, further avoided detection device's misjudgement, guaranteed this disclosure and prevented pressing from both sides the accuracy of judging the process.

Optionally, referring to the flowchart of the method for determining the anti-pinch protection range of the vehicle pedal shown in fig. 5, the method for controlling anti-pinch protection of the vehicle side pedal further includes:

in step S31, a hall change rate curve corresponding to the movement process of the side pedal when the side pedal is subjected to extreme expansion and contraction is obtained based on the hall sensor.

In step S32, a hall change rate curve range corresponding to the hall change rate reaching the second threshold is determined based on the hall change rate curve.

In step S33, a target stroke range corresponding to the hall rate curve range is determined.

In step S34, based on the target stroke range, the anti-pinch protection range of the side pedal is determined.

It can be understood that the detection process in the present scheme is further detection and self-learning according to the above-mentioned limit expansion process, wherein the hall sensor determines the number of turns and the rotation stroke of the driving motor by detecting and analyzing the current and voltage in the driving motor.

Specifically, the hall change rate is a change amount of the hall value per unit time. In step S31, the vehicle is provided with a hall sensor that is provided on the drive motor and detects the rotating bearing of the drive motor in real time, for example, setting the drive motor to rotate 5 times and recording as 1 hall value. In the whole limit telescopic movement process, the rotating arm of the side pedal is driven by the driving motor to rotate, the rotating arm is influenced by the cushion block, friction is generated between the rotating arm and the cushion block, the rotating arm reacts on the driving motor, so that the rotation of the driving motor is hindered, the number of rotating turns in unit time cannot reach a preset value, and the corresponding Hall change rate is presented as a gradually changing curve; when the rotating arm leaves the buffer cushion block, the rotating arm is not influenced by friction of the buffer cushion block, the rotating arm is driven by the driving motor to rotate at a constant speed, the number of rotation turns in unit time is stabilized within a certain range, and the corresponding Hall change rate is stabilized within a certain range after reaching a certain threshold value. The Hall change rate curve corresponding to the movement stroke of the side pedal is obtained by detecting and calculating the Hall value change condition in unit time in the whole limit expansion and contraction process.

In step S32, after the rotating arm leaves the cushion block, the rotating arm moves at a constant speed toward the second limit position under the influence of the constant driving force of the driving motor, calculates the related parameters during the constant speed movement, determines the corresponding hall change rate in the process as a second threshold, where the second threshold may be a preset experimental value, and compares the hall change rate curve with the corresponding second threshold to determine the range of the hall change rate curve reaching the second threshold in the hall change rate curve. Optionally, because the related parameters of different vehicles are different, in the process of the side pedal continuously moving at a uniform speed in a telescopic manner, the side pedal cannot move at a constant speed in a telescopic manner in the process of the uniform speed movement due to the influence of related factors such as the performance of an engine, the weight of the side pedal, the resistance of an external environment and the like, so that the constant speed movement in the process of the uniform speed movement stroke cannot be maintained, and for accurately obtaining the target stroke range, the corresponding hall change rate curve can be recorded as the target curve range when the hall change rate threshold is reached for the first time and the hall change rate curve is lower than the hall change rate threshold for the first time according to the corresponding hall change rate threshold.

In step S33, the obtained hall change rate curve range is a hall value change condition corresponding to the driving motor when the rotating arm leaves the cushion block and enters another cushion block, that is, a hall change rate condition in a stroke range in which the vehicle side pedal needs to be protected against pinching, and the corresponding anti-pinching protection range of the side pedal is obtained by analyzing the hall change rate curve when the threshold is reached.

In step S34, a target stroke range corresponding to the hall change rate threshold is obtained by analyzing the hall change rate during the limit expansion and contraction process, and an anti-pinch protection range of the side pedal is obtained according to the conversion relationship between the stroke and the angle.

In the embodiment, the anti-pinch protection range of the side pedal can be self-learned according to the actual limit stretching condition, so that the anti-pinch protection of the side pedal of the vehicle can be accurately defined according to actual vehicle parameters, and the accuracy of the anti-pinch protection range is improved.

Optionally, the step S13 includes:

and obtaining a corresponding Hall change rate in the side pedal moving process based on the Hall sensor.

and under the condition that the side pedal is determined to be collided and the position of the side pedal is within the anti-pinch protection range, the side pedal is controlled to move to the first limit position in a ringing mode.

It can be understood that after the rotating arm leaves the cushion pad, the driving motor drives the side pedal to move at a constant speed, and the rotation condition of the driving motor is detected through the hall sensor, so that whether the moving process of the side pedal is abnormal or not is judged; at the moment, the moving position of the side pedal is detected, whether the side pedal is in an anti-pinch protection range or not is judged, when the side pedal is in the anti-pinch protection range, the controller judges that anti-pinch protection measures are taken, the side pedal is controlled to stop and move to a reverse limit position in the reverse direction, and damage to obstacles is avoided.

Further, the anti-pinch control method for the side pedal of the vehicle provided by the disclosure further comprises the following steps:

and controlling the side pedal to stop moving under the condition that the side pedal is determined to be collided again and the position of the side pedal is not in the anti-pinch protection range.

It can be understood that, after the rotor arm began to contact cushion block, relevant parameter such as pressure parameter, corresponding change can take place for stroke parameter etc. detection device can produce the collision signal, need judge the shift position of offside footboard this moment, when the shift position of offside footboard is not preventing pressing from both sides the within range, then judge not to prevent pressing from both sides the protection to the offside footboard, avoid the sideside footboard when getting back to extreme position, prevent pressing from both sides the spurious triggering of protection tactics, and then improved this disclosed reliability.

Optionally, referring to fig. 6, fig. 6 is a schematic flowchart illustrating another exemplary embodiment of a vehicle side pedal anti-pinch control method according to the present disclosure, the method further includes:

in step S41, if it is determined that the side pedal has collided again and the position of the side pedal is within the anti-pinch protection range, the current anti-pinch failure count is obtained.

In step S42, if the accumulated number of anti-pinch failures is less than the third threshold, the side pedal is controlled to move to the second limit position, and 1 is added to the accumulated number of anti-pinch failures.

In step S43, if the accumulated number of anti-pinch failure times reaches the third threshold, the side pedal is controlled to stop moving.

It will be appreciated that the environment in which the vehicle is travelling is complex and not constant, and that the present embodiment is primarily directed to situations where obstacles are repeatedly encountered during extension and retraction. In the example, when the side pedal collides from the first limit position to the second limit position in the moving process and the collision position is in the anti-pinch protection range, adding 1 to the anti-pinch fault accumulated frequency record, and controlling the side pedal to move to the first limit position. For protection side footboard can not lead to the collision damage because of the collision back and forth, need set for this third threshold value to the accumulative number of times of anti-pinch trouble, for example, can set for in this embodiment and prevent that the accumulative number of times of pinch trouble is 5 times, when the side footboard judges to reach 5 times in the collision of preventing the pinch protection within range, control side footboard stop to remove.

In the embodiment, the bidirectional anti-pinch protection of the vehicle side pedal is realized, the side pedal damage caused by multiple anti-pinch protection judgment is avoided, and the safety is improved.

The embodiment of the present disclosure also provides a control device is prevented pressing from both sides by vehicle side footboard, and fig. 7 is a schematic structural diagram of a control device is prevented pressing from both sides by vehicle side footboard that an exemplary embodiment of the present disclosure provides, as shown in fig. 7, this control device is prevented pressing from both sides by vehicle side footboard 600 includes:

an obtaining module 610, configured to obtain a start signal;

the control module 620 is used for controlling the side pedal to move from the first limit position to the second limit position based on the starting signal;

the judging module 630 is used for controlling the side pedal to move reversely under the condition that the side pedal is determined to collide and the position of the side pedal is within the anti-pinch protection range;

and the execution module 640 is used for controlling the side pedal to stop moving if the side pedal moves to the first limit position.

Optionally, the anti-pinch control device 600 for the vehicle side pedal further includes: an initialization module to:

initializing a position parameter of the side pedal based on the start signal;

controlling a side pedal to perform limit expansion;

and self-learning the stroke data acquired in the limit expansion and contraction process to obtain the first limit position and the second limit position of the side pedal.

Optionally, the control module 620 is specifically configured to:

Optionally, the anti-pinch control device 600 for the vehicle side pedal further includes: a range determination module to:

according to the Hall change rate curve, determining a corresponding Hall change rate curve range when the Hall change rate reaches a second threshold value;

based on the target travel range, an anti-pinch protection range of the side pedal is determined.

Optionally, the control module 620 is further configured to:

and in the case that the side pedal is determined to be collided again and the position of the side pedal is not in the anti-pinch protection range, controlling the side pedal to stop moving.

Optionally, the executing module 640 is further configured to:

if the collision signal is received again and the position of the side pedal is within the anti-pinch protection range, acquiring the current anti-pinch fault accumulated times;

if the accumulated times of the anti-pinch faults are smaller than a third threshold value, controlling the side pedal to move to a second limit position, and adding 1 to the accumulated times of the anti-pinch faults;

and if the accumulated times of the anti-pinch faults reach a third threshold value, the control side pedal stops moving.

In the above embodiment, after the start signal is obtained, the side pedal is controlled to move from the first limit position to the second limit position based on the start signal, the side pedal is controlled to move in the reverse direction when the side pedal is determined to collide and the position of the side pedal is within the anti-pinch protection range, and the side pedal is controlled to stop moving when the side pedal moves to the first limit position. Therefore, the side pedal can be controlled to move reversely when the side pedal is in an anti-pinch protection range in case of collision by detecting the collision condition of the side pedal, so that the side pedal is prevented from being damaged by collision and passengers, and the safety of the side pedal is improved.

An embodiment of the present disclosure further provides an electronic device, including:

a memory having a computer program stored thereon;

a processor for executing the computer program stored in the memory to implement any of the steps of the vehicle side pedal anti-pinch control method described above.

Referring to fig. 8, fig. 8 is a block diagram illustrating a structure of an electronic device 700 according to an example embodiment. The electronic device 700 may be configured as a vehicle side pedal anti-pinch control device 600, as shown in fig. 7, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.

The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps of the vehicle side pedal anti-pinch control method. The memory 702 is used to store various types of data to support operation of the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: Wi-Fi module, Bluetooth module, NFC module, etc.

In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the vehicle side pedal anti-pinch control method described above.

In another exemplary embodiment, a computer readable storage medium is also provided that includes program instructions that, when executed by a processor, implement the steps of any of the vehicle side pedal anti-pinch control methods described above. For example, the computer readable storage medium may be the memory 702 that includes program instructions executable by the processor 701 of the electronic device 700 to perform the vehicle side pedal anti-pinch control method described above.

The disclosed embodiment also provides a vehicle including a detection device for detecting a collision and generating a collision signal when a collision obstacle is detected, the vehicle further including: the electronic device described above. The method for detecting the collision by the detection device may refer to the methods shown in the above embodiments, and will not be described again.

The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A vehicle side pedal anti-pinch control method is characterized by comprising the following steps:

acquiring a starting signal;

2. The control method of claim 1, wherein after said acquiring the start signal, the method further comprises:

initializing a position parameter of the side pedal based on the start signal;

controlling the side pedal to stretch and retract to the limit;

3. The control method of claim 1, wherein controlling the side pedal to move in a reverse direction in the event that it is determined that the side pedal is in a collision and the position of the side pedal is within the anti-pinch protection range comprises:

under the condition that it is determined that the side pedal collides and the position of the side pedal is within the anti-pinch protection range, the side pedal is controlled to move reversely to the first limit position.

4. The control method according to claim 2, characterized in that the method further comprises:

5. The control method according to claim 1, characterized in that the method further comprises:

6. The control method of claim 1, wherein after controlling the side pedal to move in a reverse direction in the event that it is determined that the side pedal is in a collision and the position of the side pedal is within the anti-pinch protection range, the method further comprises:

if the side pedal is determined to be collided again and the position of the side pedal is within the anti-pinch protection range, obtaining the current anti-pinch fault accumulated times;

if the accumulated times of the anti-pinch faults are smaller than a third threshold value, controlling the side pedal to move to the second limiting position, and adding 1 to the accumulated times of the anti-pinch faults;

7. A vehicle side pedal anti-pinch control device, comprising:

the acquisition module is used for acquiring a starting signal;

the judging module is used for controlling the side pedal to move reversely under the condition that the side pedal is determined to collide and the position of the side pedal is within an anti-pinch protection range;

8. An electronic device, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the vehicle side pedal anti-pinch control method as claimed in any one of claims 1-6.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the vehicle side pedal anti-pinch control method according to any one of claims 1 to 6.

10. A vehicle characterized in that it comprises an electronic device according to claim 8.