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CN-121973710-A - Side pedal control method and device, vehicle and medium

CN121973710ACN 121973710 ACN121973710 ACN 121973710ACN-121973710-A

Abstract

The application provides a side pedal control method, a side pedal control device, a vehicle and a medium, wherein the method comprises the steps of obtaining target information, wherein the target information at least comprises a road surface gradient and a target intention, the road surface gradient is determined based on a road surface image of a road surface on which the vehicle runs, the target intention comprises a get-on intention or a get-off intention, determining the height of a side pedal of the vehicle based on the road surface gradient when the target intention in the target information meets a preset unfolding condition, and controlling the side pedal of the vehicle to be unfolded to the height of the side pedal. Thus, the technical problems of poor scene adaptability and the like in the prior art can be solved.

Inventors

  • ZHANG CHAO

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260505
Application Date
20260123

Claims (10)

  1. 1. A side pedal control method, characterized by comprising: acquiring target information, wherein the target information at least comprises a road gradient and a target intention, the road gradient is determined based on a road surface image of a road surface on which a vehicle runs, and the target intention comprises a get-on intention or a get-off intention; Determining a side pedal height of the vehicle based on the road surface gradient when the target intention in the target information satisfies a preset deployment condition; and controlling the side pedal of the vehicle to be unfolded to the height of the side pedal.
  2. 2. The method of claim 1, wherein the controlling the side pedal of the vehicle to deploy to the side pedal height comprises: before the door of the vehicle is opened, a side step of the vehicle is controlled to be unfolded to the side step height.
  3. 3. The method of claim 1, wherein the target information comprises a road grade, and wherein the obtaining the target information comprises: acquiring a road surface image of a road surface on which the vehicle runs; Preprocessing the pavement image to obtain a processed image, wherein the preprocessing at least comprises one of distortion correction, gray level conversion and filtering processing; Carrying out vanishing point extraction of the lane lines based on the processing image to obtain vanishing point information, wherein the vanishing point is an intersection point of the lane lines on two sides of the road surface in the processing image; and determining the road gradient based on the vanishing point information.
  4. 4. The method of claim 1, wherein the target information comprises a target intent, and wherein the obtaining target information comprises: acquiring vehicle information; carrying out probability prediction on the vehicle information based on a preset on-off probability model to obtain corresponding target probability; Determining the target intent based on the target probability; The vehicle information comprises at least one of key positioning, a vehicle door state and outside personnel data when the target intention is a get-on intention, wherein the target probability is a get-on probability, the vehicle information comprises at least one of a vehicle speed, a driving gear, a vehicle position, a residual navigation distance, a safety belt state, seat pressure data and vehicle door touch data when the target intention is a get-off intention, the target probability is a get-off probability, and the target intention is determined to meet the preset unfolding condition when the target probability corresponding to the target intention exceeds a corresponding preset probability threshold.
  5. 5. The method of claim 4, wherein the probability predicting the vehicle information based on the pre-set get-on/off probability model to obtain the corresponding target probability comprises: normalizing the vehicle information to obtain corresponding processing information, wherein the processing information corresponds to the vehicle information one by one; And weighting the processing information to obtain the target probability.
  6. 6. The method of claim 4, further comprising at least one of: When the vehicle speed is greater than a preset vehicle speed, prohibiting the side pedal of the vehicle from being unfolded; in response to a deployment cancellation instruction of the side step, prohibiting deployment of the side step of the vehicle; when the starting of the preset safety lock in the vehicle is detected, a side pedal of the vehicle side where the preset safety lock is positioned is forbidden to be unfolded; and prohibiting the side pedal of the vehicle from being unfolded when the driver is detected to be still in the preset driving state.
  7. 7. The method according to any one of claims 1-6, further comprising: When the vehicle is in a roof mode, the side pedal of the vehicle is controlled to be unfolded to a preset height, wherein the preset height is the height of the side pedal or a preset reference unfolded height, or When the vehicle is in a driving mode other than the roof mode, in response to a target control instruction of the side step, the side step of the vehicle is controlled to be extended or retracted as instructed by the target control instruction.
  8. 8. A side pedal control apparatus, characterized by comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring target information, the target information at least comprises a road gradient and a target intention, the road gradient is determined based on a road image of a road on which a vehicle runs, and the target intention comprises a get-on intention or a get-off intention; A processing module for determining a side pedal height of the vehicle based on the road surface gradient when a target intention in the target information satisfies a preset deployment condition; The processing module is also used for controlling the side pedal of the vehicle to be unfolded to the height of the side pedal.
  9. 9. A vehicle, characterized by comprising: A processor; a memory for storing processor-executable instructions, wherein the processor is configured to execute the executable instructions to perform the steps of the method of any one of claims 1-7.
  10. 10. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 7.

Description

Side pedal control method and device, vehicle and medium Technical Field The application relates to the technical field of vehicles, in particular to a side pedal control method and device, a vehicle and a medium. Background Along with the intelligent development of vehicles, more and more vehicles are equipped with electric side pedals to promote the technological sense and the comfort of the whole vehicle. However, reactive trigger mechanisms are mostly used in existing side step control schemes, specifically to start deploying the side step to a fixed height when the door is open, and to start automatically retracting the side step when the door is closed. In practice, the above scheme has poor scene adaptability, for example, on a ramp or an uneven road surface, the side pedal with a fixed height cannot provide better stepping convenience for passengers, and even safety accidents caused by improper unfolding of the side pedal may occur. Thus, there is a need to propose a better side pedal control scheme. Disclosure of Invention In view of the above, the embodiments of the present application are directed to providing a method, an apparatus, a vehicle, and a medium for controlling a side pedal, which can solve the technical problems of poor scene adaptability in the prior art. In a first aspect, the present application provides a side pedal control method, including: acquiring target information, wherein the target information at least comprises a road gradient and a target intention, the road gradient is determined based on a road surface image of a road surface on which a vehicle runs, and the target intention comprises a get-on intention or a get-off intention; Determining a side pedal height of the vehicle based on the road surface gradient when the target intention in the target information satisfies a preset deployment condition; and controlling the side pedal of the vehicle to be unfolded to the height of the side pedal. In some embodiments, the controlling the side pedal of the vehicle to deploy to the side pedal height comprises: before the door of the vehicle is opened, a side step of the vehicle is controlled to be unfolded to the side step height. In some embodiments, the target information includes a road surface gradient, and the obtaining the target information includes: acquiring a road surface image of a road surface on which the vehicle runs; Preprocessing the pavement image to obtain a processed image, wherein the preprocessing at least comprises one of distortion correction, gray level conversion and filtering processing; Carrying out vanishing point extraction of the lane lines based on the processing image to obtain vanishing point information, wherein the vanishing point is an intersection point of the lane lines on two sides of the road surface in the processing image; and determining the road gradient based on the vanishing point information. In some embodiments, the target information includes a target intent, and the obtaining target information includes: acquiring vehicle information; carrying out probability prediction on the vehicle information based on a preset on-off probability model to obtain corresponding target probability; Determining the target intent based on the target probability; The vehicle information comprises at least one of key positioning, a vehicle door state and outside personnel data when the target intention is a get-on intention, wherein the target probability is a get-on probability, the vehicle information comprises at least one of a vehicle speed, a driving gear, a vehicle position, a residual navigation distance, a safety belt state, seat pressure data and vehicle door touch data when the target intention is a get-off intention, the target probability is a get-off probability, and the target intention is determined to meet the preset unfolding condition when the target probability corresponding to the target intention exceeds a corresponding preset probability threshold. In some embodiments, the performing probability prediction on the vehicle information based on the preset get-on/get-off probability model, and obtaining the corresponding target probability includes: normalizing the vehicle information to obtain corresponding processing information, wherein the processing information corresponds to the vehicle information one by one; And weighting the processing information to obtain the target probability. In some embodiments, the method further comprises at least one of: When the vehicle speed is greater than a preset vehicle speed, prohibiting the side pedal of the vehicle from being unfolded; in response to a deployment cancellation instruction of the side step, prohibiting deployment of the side step of the vehicle; when the starting of the preset safety lock in the vehicle is detected, a side pedal of the vehicle side where the preset safety lock is positioned is forbidden to be unfolded; and prohibiting the side pedal of the vehicle from be