CN114114969B - Vehicle, control method and device thereof, storage medium and vehicle-mounted controller - Google Patents

Abstract

The present invention discloses a vehicle and a control method, device, storage medium, and vehicle controller thereof. The vehicle includes a foot pad, and the foot pad is provided with a plurality of sensing units. The control method includes: obtaining the foot movement information of the passenger through the sensing unit; determining the target vehicle device; generating a control instruction corresponding to the target vehicle device according to the foot movement information; and sending the control instruction to the target vehicle device to control the target vehicle device to execute the control instruction. The control method can realize the control of the vehicle device through the sensing unit provided on the foot pad, freeing the hands of the passenger and improving the passenger's riding experience.

Description

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

Technical Field

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

Background Art

At present, the vehicle's foot mats, as vehicle interior parts, are mainly used for absorbing water, dust, and sound insulation, and can only achieve basic physical functions. For this reason, a solution is proposed in the related art to control the playback of multimedia files by setting sensors in the foot mats. However, this solution directly realizes the driving function based on whether a signal is detected, has a single function, and a low degree of intelligence, which makes the passenger's riding experience not high.

Summary of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the first object of the present invention is to provide a vehicle control method to achieve control of vehicle-mounted equipment through a foot pad, freeing the hands of passengers and improving the riding experience of passengers.

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

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

A fourth objective of the present invention is to provide a vehicle-mounted controller.

A fifth object of the present invention is to provide a vehicle.

To achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a vehicle control method, wherein the vehicle includes a foot pad, and the foot pad is provided with multiple sensing units, and the method includes the following steps: obtaining foot movement information of the occupant through the sensing unit; determining a target vehicle-mounted device; generating a control instruction corresponding to the target vehicle-mounted device according to the foot movement information; and sending the control instruction to the target vehicle-mounted device to control the target vehicle-mounted device to execute the control instruction.

The vehicle control method of the embodiment of the present invention obtains the passenger's foot movement information through the sensing unit on the foot pad, generates a corresponding control instruction, and then controls the target vehicle-mounted device through the control instruction. Therefore, through the sensing unit set on the foot pad, the vehicle-mounted device can be controlled through the foot pad, freeing the passenger's hands and improving the passenger's riding experience.

In addition, the vehicle control method of the present invention may also have the following additional technical features:

According to one embodiment of the present invention, the vehicle control method further includes: obtaining the occupant's demand information for the target vehicle-mounted device; wherein, after sending the control instruction to the target vehicle-mounted device, the method further includes: obtaining the execution status of the control instruction by the target vehicle-mounted device; judging whether the execution status meets the occupant's demand based on the demand information; if the execution status does not meet the occupant's demand, returning to the step of obtaining the occupant's foot movement information through the perception unit; if the execution status meets the occupant's requirements, determining that the control of the target vehicle-mounted device is completed.

According to one embodiment of the present invention, the determination of the target vehicle-mounted device includes: receiving target vehicle-mounted device information input by an occupant, and determining the target vehicle-mounted device based on the target vehicle-mounted device information; or when it is detected that a function linked to the foot pad is activated, determining the target vehicle-mounted device based on the linked function; or; when it is detected that the environment inside and/or outside the vehicle satisfies any preset condition in a preset condition list, determining the target vehicle-mounted device based on the preset condition that is satisfied.

According to one embodiment of the present invention, the foot motion information includes foot feature information. When the target vehicle-mounted device is a seat belt and/or a seat, the method further includes: obtaining posture information of the occupant; determining the identity information of the occupant based on the foot feature information and the posture information; obtaining the vehicle's in-vehicle environment information and/or out-vehicle environment information; and generating corresponding control instructions based on the foot motion information, the identity information, the in-vehicle environment information and/or the out-vehicle environment information.

According to one embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, the method also includes: receiving a foot pad game request input by an occupant; controlling the foot pad to enter a game mode according to the foot pad game request, and dividing the foot pad into multiple action areas, wherein each action area includes multiple sensing units; determining a corresponding action area according to the foot 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 one embodiment of the present invention, the perception unit includes a pressure perception module, wherein the method further includes: within a first preset time, repeatedly executing the step of constructing an initial pressure perception model, wherein the step of constructing the initial pressure perception model includes: obtaining pressure information detected by each pressure perception module once every second preset time, wherein the second preset time is less than the first preset time, and after the number of times of obtaining pressure information reaches N times, generating pressure points according to N pressure information detected by each pressure perception module, and constructing an initial pressure perception model according to the pressure points; correcting all initial pressure perception models obtained within the first preset time to obtain a first pressure parameter, wherein the first pressure parameter includes at least one of the area, shape, and pressure of the foot.

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

According to one embodiment of the present invention, when executing the step of acquiring the foot movement information of the occupant through the sensing unit, if there is only a first pressure parameter in the pressure parameters, the foot movement information acquired includes the most recently obtained first pressure parameter; if there is a second pressure parameter in the pressure parameters, the foot movement information acquired includes the most recently obtained second pressure parameter.

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

According to one embodiment of the present invention, the vehicle control method further includes: correcting the first pressure parameter according to the first light parameter to obtain a first correction parameter; repeating the step of obtaining the first correction parameter; wherein, when executing the step of obtaining the occupant's foot motion information through the perception unit, if the first correction parameter exists, the foot motion information includes the latest first correction parameter.

According to one embodiment of the present invention, the sensing unit also includes a temperature sensing module and/or a humidity sensing module, wherein the method further includes: within the first preset time, obtaining the temperature and/or humidity information detected by each temperature and/or humidity sensing module once every second preset time; obtaining the target temperature and/or humidity; according to the target temperature and/or humidity, and all the acquired temperature and/or humidity information, respectively correcting the first pressure parameter and the first light parameter to obtain a first pressure correction parameter and a first light correction parameter; correcting the first pressure correction parameter according to the first light correction parameter to obtain a second correction parameter; repeating the step of obtaining the second correction parameter; wherein, when executing the step of obtaining the occupant's foot movement information through the sensing unit, if there is a second correction parameter, the foot movement information obtained includes the latest second correction parameter.

According to one embodiment of the present invention, the vehicle further includes a temperature regulating device and/or a humidity regulating device, and the method further includes: within the first preset time, 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 to generate a temperature and/or humidity control signal; and controlling the temperature regulating device and/or humidity regulating device according to the temperature and/or humidity control signal.

According to one embodiment of the present invention, the vehicle control method further includes: acquiring light information after acquiring pressure information for a third preset time, 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.

To achieve the above-mentioned purpose, the second aspect of the embodiment of the present invention proposes a vehicle control device, wherein the vehicle includes a foot pad, and the foot pad is provided with multiple sensing units, and the device includes: a determination module, used to determine the target vehicle-mounted device; an acquisition module, used to obtain the foot movement information of the occupant through the sensing unit; a generation module, used to generate a control instruction corresponding to the target vehicle-mounted device according to the foot movement information; and a sending module, used to send the control instruction to the target vehicle-mounted device to control the target vehicle-mounted device to execute the control instruction.

The vehicle control device of the embodiment of the present invention determines the target vehicle-mounted device through the determination module, obtains the foot movement information of the occupant through the acquisition module, generates the corresponding control instruction according to the obtained foot movement information, and sends the generated control instruction to the target vehicle-mounted device through the sending module to control the target vehicle-mounted device to execute the control instruction. Thus, through the sensing unit set on the foot pad, the vehicle-mounted device can be controlled through the foot pad, freeing the hands of the occupant and improving the occupant's riding experience.

To achieve the above-mentioned purpose, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned vehicle control method is implemented.

The computer-readable storage medium of an embodiment of the present invention, when the computer program corresponding to the above-mentioned vehicle control method stored thereon is executed by a processor, can realize the control of vehicle-mounted equipment through foot pads, freeing the passengers' hands and improving the passengers' riding experience.

To achieve the above objectives, the fourth aspect of the present invention proposes a vehicle-mounted controller, including a memory, a processor and a computer program stored in the memory, and when the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

The vehicle-mounted controller of the embodiment of the present invention, by implementing the above-mentioned vehicle control method, can control the vehicle-mounted equipment through the foot pad, freeing the hands of the passengers and improving the passengers' riding experience.

In order to achieve the above-mentioned purpose, a fifth aspect of the present invention proposes a vehicle, including the above-mentioned vehicle control device, or, including the above-mentioned vehicle-mounted controller.

The vehicle of the embodiment of the present invention, through the above-mentioned vehicle control device, or through the above-mentioned vehicle-mounted controller, realizes controlling the vehicle-mounted equipment through the foot pad, freeing the hands of the passengers and improving the passengers' riding experience.

Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of a vehicle control method according to an embodiment of the present invention;

FIG2 is a flow chart of obtaining the foot movement information of the occupant through the pressure sensing module according to an embodiment of the present invention;

FIG3 is a flow chart of constructing an initial pressure perception model according to an embodiment of the present invention;

FIG4 is a flow chart of obtaining the foot movement information of the occupant through the light sensing module according to an embodiment of the present invention;

FIG5 is a flow chart of constructing an initial light perception model according to an embodiment of the present invention;

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

7 is a flow chart of a vehicle control method according to another embodiment of the present invention;

8 is a flow chart of a vehicle control method according to another embodiment of the present invention;

9 is a flow chart of a vehicle control method according to another embodiment of the present invention;

FIG10 is a schematic diagram of the structure of a sensing unit according to an embodiment of the present invention;

11 is a schematic structural diagram of a foot pad control system according to an embodiment of the present invention;

FIG12 is a schematic diagram of the division of action areas of a foot pad according to an embodiment of the present invention;

FIG. 13 is a block diagram showing a structure of a control device for a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION

Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

The following describes a vehicle and a control method, device, and vehicle-mounted controller according to an embodiment of the present invention with reference to FIGS. 1-13 .

In an embodiment of the present invention, the vehicle includes one or more foot pads. When multiple foot pads are included, each foot pad can be set at a different position. As shown in Figure 10, a plurality of sensing units 102 are provided 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 groups of sensors, and the number of each sensing module 103 may be multiple, and different types of sensing modules 103 are used to sense different information. As shown in Figure 11, an external interface 104 may be provided on the foot pad 101, and the external interface 104 is connected to the vehicle's ECU (Electronic Control Unit) 106 through a wiring harness 105, so as to exchange information with the vehicle-mounted device 108 through the vehicle information network 107. Optionally, the foot pad 101 can also communicate wirelessly with the ECU 106, such as radio frequency communication, Bluetooth communication, etc.

When the vehicle is powered on, the foot pad 101 is awakened and performs initialization actions such as electrical connection, environmental monitoring, and self-diagnosis. After the initialization is completed, the foot pad 101 will confirm its position information in the vehicle, and after confirmation, the foot pad 101 will enter the standby state. In the standby state, the foot pad will obtain the vehicle status from the vehicle's ECU, obtain the passenger's demand information, and adjust the system status of the foot pad 101 from time to time to ensure that the foot pad 101 can respond to the passenger's instructions in a timely manner.

Optionally, the identity of the passenger can be identified through the foot mat 101, and different permissions can be opened according to the identified identity of the passenger. As an example, if the foot mat 101 identifies that the passenger is a child, the foot mat 101 only opens the permission of adjusting the ride comfort to the passenger.

FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present invention.

As shown in FIG1 , the vehicle control method includes the following steps:

S11, obtaining the passenger's foot movement information through the sensing unit.

The sensing unit may include a pressure sensing module, a light sensing module, a temperature sensing module and/or a humidity sensing module. Of course, the sensing modules included in the sensing unit are not limited to the above modules, for example, they may also include a sound sensing module, an acceleration sensing module, etc.

As an example, as shown in FIG2 , the process of obtaining the occupant's foot movement information through the pressure sensing module may be as follows:

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

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 then the foot pad starts to execute the process of constructing the initial pressure perception model A1 at time t1, thereby constructing the initial pressure perception model A1. Further, at time t1+B, t1+2B, t1+3B, ..., t1+(n-1)*B, the process of constructing the initial pressure perception model A1 is repeatedly executed, thereby constructing the initial pressure perception models A2, A3, ..., An. Among them, (n-1)*B is less than the first preset time.

The first preset time may be between 0.25s and 0.35s, for example, 0.3s. As shown in FIG3 , the process of constructing the initial pressure perception model A1 may be as follows:

S31, obtaining pressure information detected by each pressure sensing module once every second preset time.

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

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

S32, after the number of times of obtaining 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=N, stop acquiring pressure information, and compare the pressure information (L10, L20, L30, ..., LX0) in a set manner to obtain difference information, and then obtain a pressure point Y1 based on the difference information. The number of times the pressure comparison is performed in a set manner is at least 3 times. Furthermore, the pressure information L11, L21, L31, ..., LX1), (L12, L22, L32, ..., LX2), (L13, L23, L33, ..., LX3), ..., (L1m, L2m, L3m, ..., LXm) is compared in a set manner to obtain pressure points Y2, Y3, ...

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

As an example, an initial pressure perception model A1 is constructed according to the above pressure points Y1, Y2, Y3, ..., YN.

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

Specifically, the initial pressure perception model obtained by repeatedly executing the process of constructing the initial pressure perception model within the first preset time is compared and checked with the initial model, so as to obtain the first pressure parameter.

The initial model may be a model stored in the pressure sensing module when the vehicle leaves the factory, or a model set by the passenger. The first pressure parameter may include at least one of the area of the foot (i.e., the area of the shape formed by the contact point between the foot and the foot pad), the shape (i.e., the shape formed by the contact point between the foot and the foot pad), and the pressure (e.g., the average value of the corresponding pressure values of multiple pressure points in the shape-circled area).

Furthermore, an occupant foot model J1 is constructed according to the first pressure parameter, and the occupant foot model is defined as a spatial pressure model Z1 of the foot pad.

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

Furthermore, M0 occupant foot models J1, J2, J3, ..., JM0 are constructed according to M0 first pressure parameters, thereby obtaining spatial pressure models Z1, Z2, Z3, ..., ZM0 of M0 foot pads.

S24, randomly retrieve M1 first pressure parameters from the M0 first pressure parameters, where M1＜M0.

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

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

Specifically, M1 first pressure parameters are substituted into J1 to obtain M1 pressure parameter variables. The M1 pressure parameter variables are statistically calculated, the mutation data are discarded, and J1 is corrected according to the result of the statistical calculation. The weight of each pressure parameter variable in the correction process of J1 is related to the time interval between the first pressure parameter generating the pressure parameter variable and J1, and is also related to the movement trajectory of the occupant's feet and the frequency of the action. For example, the smaller the time interval, the greater the weight.

S26, repeat the step of obtaining the second pressure parameter.

Specifically, the above steps S24 to S25 are repeated to modify the above J2, J3, ..., JM0. Further, a new control perception model Z is obtained based on the modified occupant foot model.

Therefore, this embodiment utilizes the pressure sensing module to obtain the foot pressure information of the occupant and then construct a control sensing model Z, so that the control sensing model Z can realize accurate sensing of the occupant's foot movements.

Furthermore, the foot movement information of the occupant can be obtained through the light sensing module, so that the foot pad can obtain the foot movement information of the occupant more accurately.

As an example, as shown in FIG4 , the process of obtaining the occupant's foot movement information according to the light sensing module may be as follows:

S41, within a first preset time, repeatedly executing the step of constructing an initial light perception model.

The initial light perception model includes a light plane model and a light height model. The light plane model is responsible for sensing the area and shape of the occupant's feet, and the light height model is responsible for sensing the distance between the occupant's feet and the foot pad. After the pressure information is obtained for a third preset time, the light information is obtained, wherein the third preset time is less than the second preset time.

As an example, at time t1, the occupant puts his foot on the foot mat, and then the foot mat starts to execute the process of constructing the initial light perception model C1 at time t2 (the t2 may be delayed by a third preset time from t1), thereby constructing the initial light perception model A1. Furthermore, at times t2+B, t2+2B, t2+3B, …, t2+(n-1)*B, the process of constructing the initial light perception model C1 is repeated, thereby constructing initial light perception models C2, C3, …, Cn. Among them, (n-1)*B is less than the first preset time, and the moment t2 occurs after the moment t1 and before the above-mentioned moment t1+b. As shown in Figure 5, the process of constructing the initial light perception model C1 may be as follows:

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

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

S52, after the number of times of obtaining 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=N, stop acquiring light information, and compare the light information (I10, I20, I30, ..., IW0) acquired by the light sensing module 1 in a set manner to obtain difference information, and then obtain a light sensing point G1 based on the difference information. The number of times the information is compared in a set manner is at least 3 times. Furthermore, the light 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 sensing 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 based on the above light sensing points G1, G2, G3, ...

Specifically, the light sensing points are fitted with trajectories to form one or more continuous curves, through which a specific unit range can be delineated. The continuous curves are fuzzy processed to obtain a light plane model, which can indicate the shape formed by the contact point between the foot and the foot pad. Furthermore, a light height model is constructed based on the light sensing points.

S42: Correct all initial light perception models acquired within a first preset time to obtain first light parameters.

Specifically, the initial light perception model obtained by repeatedly executing the process of constructing the initial light perception model within the first preset time is compared and checked with the initial model, so as to obtain the first light parameter.

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

S43, correcting the first pressure parameter according to the first light parameter to obtain a first corrected 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 occupant's feet perceived by the pressure sensing module and the information of the occupant's feet perceived by the light sensing module is compared, and the information of the occupant's feet perceived by the pressure sensing module is corrected through the information of the occupant's feet perceived 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 occupant's foot (such as lifting the foot, half-hanging, moving, etc.) can be accurately understood through the perception of distance. Based on this, the next action of the occupant's foot can be accurately evaluated, and information can be sent in advance and prepared for response. For example, when the occupant lifts his foot, the pressure sensing module cannot detect the foot movement information, but the light sensing module can still sense the foot movement in real time. According to the parameters such as the movement speed and position increment detected by the light sensing module, the next action can be judged more accurately. If the occupant lifts his foot quickly and falls back quickly, then the occupant is likely to step on the foot pad again immediately. If the occupant lifts his foot quickly but falls back slowly, he may want to rest his foot and is not in a hurry to fall back on the foot pad.

S44, repeat the step of obtaining the first correction parameter.

Furthermore, the first pressure parameter is continuously corrected by the first light parameter, so as to obtain a more accurate control perception model Z.

Therefore, this embodiment uses the light sensing module to sense the area, shape and height of the occupant's feet relative to the foot pad, and corrects the occupant's foot information sensed by the pressure sensing module, so that the foot pad can obtain the occupant's foot information more accurately.

Furthermore, in order to enable the foot mat to accurately obtain the occupant's foot movement information in special circumstances such as rainy days, a temperature sensing module and/or a humidity sensing module may also be used to obtain the occupant's foot movement information.

As an example, as shown in FIG6 , the process of the temperature sensing module and/or the humidity sensing module acquiring the foot movement information of the occupant may be as follows:

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

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

As an example, at time t3, 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 obtain temperature and/or humidity information (J10, J20, J30, ..., JV0), and at time t3+b, t3+2b, t3+3b, ..., t3+i*b, obtain temperature and/or humidity information (J11, J21, J31, ..., JV1), (J12, J22, J32, ..., JV2), (J13, J23, J33, ..., JV3), ..., (J1i, J2i, J3i, ..., JVi). Among them, time t3 occurs after time t2 and before the above-mentioned time t1+b.

S62, obtaining target temperature and/or humidity.

The initial state of the foot pad may be set to the target temperature and/or humidity, or the most comfortable temperature of 23°C and 60RH% may be set to the target temperature and/or humidity, or the occupants may set the target temperature and/or humidity themselves.

S63, correcting the first pressure parameter and the first light 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 correction parameter.

Specifically, a temperature and humidity space model is constructed by using the target temperature and/or humidity and all the acquired temperature and/or humidity information, and an adjustment action is performed in the temperature and humidity space model to return all the acquired temperature and/or humidity information to the target temperature and/or humidity, and a corresponding adjustment parameter is output. The first pressure parameter and the first light parameter are corrected according to the adjustment parameter, and a first pressure correction parameter and a first light correction parameter are obtained.

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

S65, repeat the step of obtaining the second correction parameter.

Furthermore, by continuously correcting the first pressure parameter and the first light parameter, a control perception model Z is obtained that can still accurately obtain the occupant's foot information under special circumstances.

It should be noted that when executing the step of obtaining the occupant's foot movement information through the sensing unit, if there is only the first pressure parameter in the pressure parameters, the foot movement information obtained includes the latest first pressure parameter; if there is a second pressure parameter in the pressure parameters, the foot movement information obtained includes the latest second pressure parameter; if there is a first correction parameter, the foot movement information includes the latest first correction parameter; if there is a second correction parameter, the foot movement information obtained includes the latest second correction parameter.

Furthermore, the occupant's foot movement information is accurately obtained based on the above-mentioned control perception model Z.

S12, determining the target vehicle-mounted device.

Specifically, the target vehicle device information input by the occupant is received, and the target vehicle device is determined according to the target vehicle device information, that is, the target vehicle device is determined directly through the occupant's operation; or when it is detected that the function linked to the foot pad is started, the target vehicle device is determined according to the linked function, that is, the target vehicle device is determined jointly by the coordinated function; or; when it is detected that the environment inside and/or outside the vehicle meets any preset condition in the preset condition list, the target vehicle device is determined according to the preset conditions met, that is, the target vehicle device is determined through adaptive startup.

Optionally, after confirming the target vehicle-mounted device, the occupant's demand information for the target vehicle-mounted device can also be obtained at the same time. In this case, the occupant's identity information, such as a child, an adult female, or an adult male, is also required. For example, if the target vehicle-mounted device is a window, and if the window is in a closed state and needs to be controlled to open, occupant A (such as a child) needs the window to be opened 1/4, occupant B (such as an adult female) needs the window to be opened 1/2, and occupant C (such as an adult male) needs the window to be fully opened. If the occupant is confirmed to be occupant A based on foot action information (such as the detected foot shape and the pressure of stepping on the foot pad), the corresponding demand is to open the window 1/4.

S13, generating a control instruction corresponding to the target vehicle-mounted device according to the foot movement information.

For example, the target vehicle-mounted device is a vehicle-mounted air conditioner, and the foot movement information is detected by the foot pad. Specifically, the foot movement information is detected in the left half area of the foot pad, and the pressure is greater than the pressure threshold, the shape reflects that the occupant is an adult, and the area is less than the area threshold. At this time, a control instruction for controlling the cooling of the vehicle-mounted air conditioner can be generated; correspondingly, the foot movement information is detected in the right half area of the foot pad, and the pressure is greater than the pressure threshold, the shape reflects that the occupant is an adult, and the area is less than the area threshold. At this time, a control instruction for controlling the 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 the audio player in the vehicle-mounted terminal. If the foot pad detects foot movement information, specifically, the foot movement information is detected in the left half area of the foot pad, and the pressure is greater than the pressure threshold, and the shape response is the whole foot, then a control instruction can be generated to control the audio player to play the previous song; correspondingly, the foot movement information is detected in the right half area of the foot pad, and the pressure is greater than the pressure threshold, and the shape response is the whole foot, then a control instruction can be generated to control the audio player to play the next song.

Optionally, after acquiring the occupant's foot movement information, the sensing unit can also predict the next movement of the occupant's foot according to the continuous movement of the occupant's foot, and generate a control instruction according to the predicted movement. For example, when controlling the target temperature of the vehicle air conditioner to decrease, if it is detected that the foot pad is stepped on twice in a row, and it is predicted that the foot pad will be stepped on for the third time, a control instruction to decrease the target temperature by 1°C can be generated before the third step, so that the vehicle air conditioner can respond to cooling more quickly.

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

Optionally, in another embodiment of the present invention, after sending the control instruction to the target vehicle-mounted device, as shown in FIG7 , the vehicle control method further includes:

S71, obtaining the execution status of the control instruction by the target vehicle-mounted device.

S72: Determine whether the execution status meets the passenger's needs based on the demand information.

Specifically, the execution status of the control instruction is compared with the above-mentioned passenger's demand information for the target vehicle-mounted device, so as to determine whether the current execution status meets the passenger's demand.

S73: If the execution status does not meet the needs of the occupant, return to the step of obtaining the occupant's foot movement information through the sensing unit.

S74: If the execution status meets the passenger's requirements, it is determined that the control of the target vehicle-mounted device is completed.

As an example, when controlling the opening of the sunroof, it can be set that each time the foot movement information is detected, such as the entire sole of the foot is on the right side of the foot pad and the pressure is greater than the pressure threshold, the sunroof is opened to the first opening step, such as 1/10 of the full opening. If the demand of occupant A is to open the sunroof to 1/2 of the full opening, steps S12-S14 need to be repeated five times to meet the demand of occupant A.

It should be noted that the above-mentioned steps of obtaining pressure parameters, light parameters, correction parameters, etc. are carried out in parallel with steps S11-S14 and steps S71-S74. For example, the steps of obtaining pressure parameters, light parameters, correction parameters, etc. can be executed by one processor 001, and steps S11-S14 and steps S71-S74 can be executed by another processor 002. When processor 002 executes steps S11-S14 and steps S71-S74, the parameters obtained by processor 001 can be called as foot movement information when needed.

Furthermore, if the execution status meets the requirements of the occupant, the foot mat can record the occupant's command and execution status so that the next time the occupant issues the same command to the foot mat, the foot mat can respond quickly. If a pair of commands and execution status frequently occurs, the vehicle will store the command and execution status.

Optionally, in another embodiment of the present invention, the foot motion information further includes foot feature information. When the target vehicle-mounted device is a seat belt and/or a seat, as shown in FIG8 , after the control perception model Z is constructed, the vehicle control method further includes:

S81, obtaining the posture information of the occupant.

S82, determining the identity information of the occupant based on the foot feature information and posture information.

Optionally, the identity information of the occupant may also be obtained by confirming the occupant's status, weight, habits, etc.

S83, obtaining the vehicle's interior environment information and/or exterior environment information.

Specifically, the vehicle's in-vehicle environment information and/or the vehicle's out-vehicle environment information may be acquired through the vehicle's ECU.

Optionally, the vehicle's own status information may also be obtained, for example, the vehicle's fuel level information and vehicle speed information may also be obtained, so as to adjust the generated control instructions according to the vehicle's own status information.

S84, generating corresponding control instructions according to the foot movement information, identity information, in-vehicle environment information and/or out-vehicle environment information.

As an example, if the foot mat determines that the occupant is a middle-aged man who is fat, tall, and lazy, and the boarding time is midnight, and he forms a "Ge You pose" when entering the car, the foot mat will determine that he needs to rest, control the seat belt and/or seat to make corresponding adjustments, and improve the comfort of the occupant.

Optionally, in another embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, as shown in FIG9 , after the control perception model Z is constructed, the vehicle control method further includes:

S91, receiving a foot mat game request input by an occupant.

Specifically, after the game interface is displayed on the vehicle terminal, the option of accessing the foot pad can be selected in the game interface to input a foot pad game request.

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 includes a plurality of sensing units.

Optionally, the action area division of the foot mat may be determined when the vehicle leaves the factory, or may be determined by the passengers themselves.

As an example, the game is Angry Birds, and the action area division of the foot pad can be shown in FIG. 12 .

S93, determining a corresponding motion area according to the foot motion information, and generating a corresponding control instruction according to the motion area.

Specifically, the foot pad determines the type of command to be issued by the position of the occupant's feet, and then generates a control command by identifying the movement of the occupant's feet.

For example, referring to Figure 12, if foot movement information is detected in the direction area, a direction control instruction is generated; if foot movement information is detected in the force area, a force control instruction is generated; if foot movement information is detected in the force storage area, a force storage control instruction is generated; if foot movement information is detected in the release area, a release control instruction is generated; if foot movement information is detected in the arc trajectory area, a trajectory control instruction is generated; if foot movement information is detected in the initial speed area, an initial speed control instruction is generated; if foot movement information is detected in the resting area, no control instruction is generated.

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

In one embodiment of the present invention, the vehicle also includes a temperature control device and/or a humidity control device, and the method also includes: within a first preset time, 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 to generate a temperature and/or humidity control signal; controlling the temperature control device and/or humidity control device according to the temperature and/or humidity control signal.

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

Specifically, while the vehicle adjusts 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, it can also adjust the temperature and/or humidity inside the vehicle, 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 a light sensing module, or include a light sensing module and a temperature and/or humidity sensing module, or include only a temperature and/or humidity sensing module.

In summary, the vehicle control method of the embodiment of the present invention can realize the control of the vehicle-mounted equipment through the foot pad through the sensing unit provided on the foot pad, freeing the hands of the passengers and improving the riding experience of the passengers.

FIG. 13 is a block diagram showing a structure of a control device for a vehicle according to an embodiment of the present invention.

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

Specifically, the determination module 201 is used to determine the target vehicle-mounted device; the acquisition module 202 is used to obtain the foot movement information of the occupant through the perception unit; the generation module 203 is used to generate the control instructions corresponding to the target vehicle-mounted device according to the foot movement information; the sending module 204 is used to send the control instructions to the target vehicle-mounted device to control the target vehicle-mounted device to execute the control instructions.

The control device can control the vehicle-mounted equipment through the foot pad through the sensing unit arranged on the foot pad, freeing the hands of the passengers and improving the passengers' riding experience.

In one embodiment of the present invention, the acquisition module 202 is further used to: acquire the passenger's demand information for the target vehicle-mounted device. Further, after sending the control instruction to the target vehicle-mounted device, the acquisition module 202 is further used to: acquire the execution status of the control instruction by the target vehicle-mounted device; determine whether the execution status meets the passenger's demand based on the demand information; if the execution status does not meet the passenger's demand, return to the step of acquiring the passenger's foot movement information through the perception unit; if the execution status meets the passenger's requirements, determine that the control of the target vehicle-mounted device is completed.

In one embodiment of the present invention, the determination module 201 is specifically used to: receive target vehicle-mounted device information input by the occupant, and determine the target vehicle-mounted device based on the target vehicle-mounted device information; or when it is detected that the function linked to the foot pad is activated, determine the target vehicle-mounted device based on the linked function; or; when it is detected that the in-vehicle and/or out-of-vehicle environment meets any preset condition in the preset condition list, determine the target vehicle-mounted device based on the preset condition met.

In one embodiment of the present invention, when the target vehicle-mounted device is a seat belt and/or a seat, the acquisition module 202 is further used to: acquire the posture information of the occupant; determine the identity information of the occupant based on the foot feature information and the posture information; and acquire the vehicle's in-vehicle environment information and/or the vehicle's exterior environment information. The generation module 203 is further used to: generate corresponding control instructions based on the foot motion information, identity information, in-vehicle environment information, and/or exterior environment information.

In one embodiment of the present invention, when the target vehicle-mounted device is a vehicle-mounted terminal, the acquisition module 202 is also used to: receive a foot pad game request input by the occupant; control the foot pad to enter a game mode according to the foot pad game request, and divide the foot pad into multiple action areas, wherein each action area includes multiple sensing units. The generation module 203 is also used to: determine the corresponding action area according to the foot action information, and generate the corresponding control instruction according to the action area. Further, the sending module 204 controls the vehicle-mounted terminal to execute the control instruction.

In one embodiment of the present invention, the acquisition module 202 is also used to: repeatedly execute the step of constructing an initial pressure perception model within a first preset time, wherein the step of constructing the initial pressure perception model includes: obtaining pressure information detected by each pressure perception module once every second preset time, wherein the second preset time is less than the first preset time, and after the number of times of obtaining pressure information reaches N times, generating pressure points according to the N pressure information detected by each pressure perception module, and constructing the initial pressure perception model according to the pressure points; correcting all initial pressure perception models obtained within the first preset time to obtain a first pressure parameter, wherein the first pressure parameter includes at least one of the area, shape, and pressure of the foot.

In one embodiment of the present invention, the acquisition module 202 is also used to: repeat the step of obtaining the first pressure parameter M0 times to obtain M0 first pressure parameters; randomly retrieve M1 first pressure parameters from the M0 first pressure parameters, where M1＜M0; correct the M1 first pressure parameters to obtain the second pressure parameter; and repeat the step of obtaining the second pressure parameter.

In one embodiment of the present invention, the acquisition module 202 is also used for: if there is only a first pressure parameter in the pressure parameters, the acquired foot movement information includes the latest first pressure parameter; if there is a second pressure parameter in the pressure parameters, the acquired foot movement information includes the latest second pressure parameter.

In one embodiment of the present invention, the acquisition module 202 is also used to: repeatedly execute the step of constructing an initial light perception model within a first preset time, wherein the initial light perception model includes a light plane model and a light height model, and the step of constructing the initial light perception model includes: acquiring light information detected by each light perception module once every second preset time, and after the number of times of acquiring light information reaches N times, generating light sensing points according to the N light information detected by each light perception module, and constructing the initial light perception model according to the light sensing points; correcting all initial light perception models acquired within the first preset time to obtain first light parameters, wherein the first light parameters include at least one of the area and shape of the foot, and the height of the foot relative to the foot pad.

In one embodiment of the present invention, the acquisition module 202 is also used to: correct the first pressure parameter according to the first light parameter to obtain a first correction parameter; repeat the step of obtaining the first correction parameter; wherein, when executing the step of obtaining the foot movement information of the occupant through the perception unit, if the first correction parameter exists, the foot movement information includes the latest first correction parameter.

In one embodiment of the present invention, the acquisition module 202 is also used to: acquire the temperature and/or humidity information detected by each temperature and/or humidity sensing module once every second preset time within a first preset time; acquire the target temperature and/or humidity; correct the first pressure parameter and the first light parameter according to the target temperature and/or humidity, and all the acquired temperature and/or humidity information, to obtain the first pressure correction parameter and the first light correction parameter; correct the first pressure correction parameter according to the first light correction parameter to obtain the second correction parameter; repeat the step of obtaining the second correction parameter; wherein, when executing the step of obtaining the occupant's foot movement information through the sensing unit, if there is a second correction parameter, the acquired foot movement information includes the latest obtained second correction parameter.

In one embodiment of the present invention, the acquisition module 202 is also used to: within a first preset time, adjust according to the target temperature and/or humidity, and the temperature and/or humidity information detected by each temperature and/or humidity sensing module to generate a temperature and/or humidity control signal; control the temperature control device and/or humidity control device according to the temperature and/or humidity control signal.

In one embodiment of the present invention, the acquisition module 202 is also used to: acquire light information after acquiring the pressure information for a third preset time, wherein the third preset time is less than the second preset time; and acquire temperature and/or humidity information after acquiring the light information for a fourth preset time, wherein the fourth preset time is less than the second preset time.

It should be noted that, for other specific implementations of the vehicle control device of the embodiment of the present invention, reference may be made to the vehicle control method of the above embodiment.

In summary, the vehicle control method of the embodiment of the present invention can realize the control of the vehicle-mounted equipment through the foot pad through the sensing unit provided on the foot pad, freeing the hands of the passengers and improving the riding experience of the passengers.

Furthermore, the present invention provides a computer-readable storage medium.

In an 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 above-mentioned vehicle control method is implemented.

The computer-readable storage medium of the embodiment of the present invention can realize the control of the vehicle-mounted equipment through the foot pad by implementing the above-mentioned vehicle control method, freeing the hands of the passengers and improving the passengers' riding experience.

Furthermore, the present invention provides a vehicle-mounted controller.

In an embodiment of the present invention, the vehicle-mounted controller includes a memory, a processor, and a computer program stored in the memory. When the computer program is executed by the processor, the above-mentioned vehicle control method is implemented.

The vehicle-mounted controller of the embodiment of the present invention, by implementing the above-mentioned vehicle control method, can control the vehicle-mounted equipment through the foot pad, freeing the hands of the passengers and improving the passengers' riding experience.

Furthermore, the present invention provides a vehicle.

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

The vehicle-mounted controller of the embodiment of the present invention, through the above-mentioned vehicle control device, or, through the above-mentioned vehicle-mounted controller, can realize the control of vehicle-mounted equipment through the foot pad, freeing the hands of the passengers and improving the passengers' riding experience.

It should be noted that the logic and/or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims (11)

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

acquiring foot action information of an occupant through the sensing unit;

determining target vehicle-mounted equipment;

Generating a control instruction corresponding to the target vehicle-mounted equipment according to the foot action information;

the control instruction is sent to the target vehicle-mounted equipment so as to control the target vehicle-mounted equipment to execute the control instruction;

After the determination of the target in-vehicle device, the method further includes:

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

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

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

Judging whether the execution condition meets the requirements of passengers according to the requirement information;

returning to the step of acquiring the foot motion information of the passenger through the sensing unit if the execution condition does not meet the passenger demand;

if the execution condition meets the passenger demand, judging that the control of the target vehicle-mounted equipment is completed;

the foot motion information includes foot feature information, and when the target in-vehicle device is a seat belt and/or a seat, the method further includes:

Acquiring attitude information of the passenger;

Determining identity information of the passenger according to the foot characteristic information and the gesture information;

Acquiring in-vehicle environment information and/or out-of-vehicle environment information of the vehicle;

Generating corresponding control instructions according to the foot action information, the identity information, the in-vehicle environment information and/or the in-vehicle environment information;

The sensing unit comprises a pressure sensing module, wherein the method further comprises:

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

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

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,

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

correcting all initial pressure perception models acquired in the first preset time to obtain first pressure parameters, wherein the first pressure parameters comprise at least one of the area, the shape and the pressure of the foot;

Repeatedly executing the step M0 times to obtain first pressure parameters to obtain M0 first pressure parameters;

Randomly retrieving M1 first pressure parameters from the M0 first pressure parameters, wherein M1 is less than M0;

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

Repeating the step of obtaining the second pressure parameter;

The sensing unit further comprises a light sensing module, wherein the method further comprises:

And 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 acquiring the light information reaches N, generating light sensing points according to the N light information detected by each light sensing module,

Constructing an initial light perception model according to the light sensing points;

correcting all initial light perception models acquired in the first preset time to obtain first light parameters, wherein the first light parameters comprise at least one of the area, the shape and the height of feet relative to foot pads;

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

repeatedly executing the step of obtaining the first correction parameter;

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

2. The control method of the vehicle according to claim 1, characterized in that the determination target in-vehicle apparatus includes:

receiving information of target vehicle-mounted equipment input by an occupant, and determining the target vehicle-mounted equipment according to the information of the target vehicle-mounted equipment; or alternatively

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

When the fact that the interior and/or exterior of the vehicle meet any preset condition in the preset condition list is detected, the target vehicle-mounted equipment is determined according to the met preset condition.

3. The control method of a vehicle according to claim 1, characterized in that when the target in-vehicle apparatus is an in-vehicle terminal, the method further comprises:

Receiving a foot pad game request input by an occupant;

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

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

4. The control method of the vehicle according to claim 1, wherein, when the step of acquiring foot motion information of the occupant through the sensing unit is performed,

If only the first pressure parameter exists in the pressure parameters, the acquired foot action information comprises the latest first pressure parameter;

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

5. The control method of a vehicle according to claim 1, 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 once every second preset time within the first preset time;

Acquiring target temperature and/or humidity;

According to the target temperature and/or humidity and all acquired temperature and/or humidity information, respectively correcting the first pressure parameter and the first light parameter to obtain a first pressure correction parameter and a first light 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 the second correction parameter;

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

6. The control method of a vehicle according to claim 5, 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 regulating device and/or the humidity regulating device according to the temperature and/or humidity control signal.

7. The control method of a vehicle according to claim 5, characterized in that,

After a third preset time of the pressure information is obtained, obtaining light information, wherein the third preset time is smaller than the second preset time;

and after acquiring the fourth preset time of the light information, acquiring temperature and/or humidity information, wherein the fourth preset time is smaller than the second preset time.

8. A control device for a vehicle, the vehicle comprising a footpad provided with a plurality of sensing units, the device comprising:

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

the acquisition module is used for acquiring foot action information of the passenger through the sensing unit; after the target vehicle-mounted equipment is determined, acquiring the requirement information of the passenger on the target vehicle-mounted equipment; after a control instruction is sent to the target vehicle-mounted equipment, acquiring the execution condition of the control instruction by the target vehicle-mounted equipment; judging whether the execution condition meets the requirements of passengers according to the requirement information; returning to the step of acquiring the foot motion information of the passenger through the sensing unit if the execution condition does not meet the passenger demand; if the execution condition meets the passenger demand, judging that the control of the target vehicle-mounted equipment is completed;

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

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;

The foot motion information includes foot feature information, and when the target vehicle-mounted device is a seat belt and/or a seat, the method further includes:

Acquiring attitude information of the passenger;

Determining identity information of the passenger according to the foot characteristic information and the gesture information;

Acquiring in-vehicle environment information and/or out-of-vehicle environment information of the vehicle;

Generating corresponding control instructions according to the foot action information, the identity information, the in-vehicle environment information and/or the in-vehicle environment information;

The sensing unit comprises a pressure sensing module, wherein the method further comprises:

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

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

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,

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

Correcting all initial pressure perception models acquired in the first preset time to obtain first pressure parameters, wherein the first pressure parameters comprise at least one of the area, the shape and the pressure of the foot;

Repeatedly executing the step M0 times to obtain first pressure parameters to obtain M0 first pressure parameters;

Randomly retrieving M1 first pressure parameters from the M0 first pressure parameters, wherein M1 is less than M0;

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

Repeating the step of obtaining the second pressure parameter;

The sensing unit further comprises a light sensing module, wherein the method further comprises:

And 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 acquiring the light information reaches N, generating light sensing points according to the N light information detected by each light sensing module,

Constructing an initial light perception model according to the light sensing points;

correcting all initial light perception models acquired in the first preset time to obtain first light parameters, wherein the first light parameters comprise at least one of the area, the shape and the height of feet relative to foot pads;

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

repeatedly executing the step of obtaining the first correction parameter;

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

9. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the control method of a vehicle according to any one of claims 1-7.

10. An in-vehicle 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 the control method of the vehicle according to any one of claims 1-7.

11. A vehicle comprising the control device of the vehicle according to claim 8, or comprising the in-vehicle controller according to claim 10.