Method, device and equipment for preventing mistaken stepping of automobile accelerator pedal, medium and automobile

Abstract

The invention relates to the technical field of vehicle control, and discloses a mistaken stepping prevention method, device and equipment for an automobile accelerator pedal, a medium and an automobile. The method comprises the steps that after it is detected that the opening degree of the accelerator pedal is changed, whether a barrier vehicle exists in front of a driving lane of the automobile or not is judged; if the obstacle vehicle exists, predicting whether the user executes lane changing overtaking according to the driving information of the vehicle; if not, judging whether the accelerator pedal is mistakenly stepped according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal; if it is judged that the accelerator pedal is not stepped by mistake, power output is conducted according to the accelerator opening degree corresponding to the accelerator pedal, and if it is judged that the accelerator pedal is stepped by mistake, power output is controlled. The driving intention of the driver can be predicted through multi-parameter comprehensive judgment, so that whether the accelerator pedal is mistakenly stepped or not is accurately judged based on the driving intention, the accelerator pedal is prevented from being limited when not mistakenly stepped, and meanwhile, the driving safety is timely guaranteed when the accelerator pedal is mistakenly stepped.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a method, a device, a equipment, a medium and a vehicle for preventing an automobile accelerator pedal from being accidentally stepped on. Background Art

[0002] Compared with traditional fuel vehicles, pure electric vehicles have a faster power response speed. During high-speed driving, if the accelerator pedal is accidentally stepped on, theoretically, the severity of the accident is unimaginable.

[0003] At present, in order to reduce the safety hazards caused by the driver's mistaken stepping on the accelerator pedal, many methods for preventing the accidental stepping of the accelerator pedal have been proposed. Most of the methods for preventing the accidental stepping of the accelerator pedal are to determine the accidental stepping of the accelerator pedal by setting the threshold of the accelerator pedal opening and the opening change rate, and then control the electric vehicle accordingly according to the determination result. Although these methods for preventing the accidental stepping of the accelerator pedal can reduce the safety hazards caused by the driver's mistaken stepping on the accelerator pedal to a certain extent, the accuracy of the judgment of the accidental stepping of the accelerator pedal is low. In addition, considering that different drivers have different driving behavior characteristics, the opening and opening change rate of the accelerator pedal pressed by some drivers during normal rapid acceleration do not have significant differences from the characteristics of other drivers who mistakenly step on the accelerator pedal. Therefore, in the control process, the influence of the driver's overtaking driving intention on the accelerator pedal opening and the opening change rate is not considered, and it is easy to cause misjudgment by only setting the pedal threshold. Summary of the invention

[0004] In view of this, the present invention provides a method, device, equipment, medium and vehicle for preventing accidental stepping of an automobile accelerator pedal, so as to solve the problem that the accidental stepping of an automobile accelerator pedal is prone to misjudgment.

[0005] In a first aspect, the present invention provides a method for preventing accidental stepping of an automobile accelerator pedal, the method comprising:

[0006] When a change in the opening degree of the accelerator pedal is detected, it is determined whether there is an obstacle vehicle in front of the lane where the car is traveling;

[0007] If there is an obstacle vehicle, the driving information of the car is obtained, and based on the driving information, it is predicted whether the user will perform a lane change and overtaking;

[0008] If lane change overtaking is not performed, the relative driving state of the car and the obstacle vehicle and the accelerator pedal opening information are used to determine whether the accelerator pedal is accidentally pressed;

[0009] If it is determined that the accelerator pedal is not pressed by mistake, power output is performed according to the throttle opening corresponding to the accelerator pedal. If it is determined that the accelerator pedal is pressed by mistake, power output is controlled to keep the speed of the car unchanged, and the throttle opening is set to a preset opening value.

[0010] The method for preventing the automobile accelerator pedal from being accidentally stepped on provides an embodiment of the present invention. After detecting a change in the opening of the accelerator pedal, it is determined whether there is an obstacle vehicle in front of the lane in which the automobile is traveling. If there is, it is predicted whether the user will perform a lane change and overtaking according to the driving information of the automobile. If not, it is determined whether the accelerator pedal is accidentally stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal. If it is not accidentally stepped on, power output is executed, and if it is accidentally stepped on, power output control is performed. The present invention can predict the driver's driving intention according to driving-related information by performing a comprehensive judgment of multiple parameters after the accelerator pedal is stepped on, thereby accurately determining whether the accelerator pedal is accidentally stepped on based on the driving intention, avoiding the accelerator pedal being restricted when it is not accidentally stepped on, and ensuring driving safety in a timely manner when it is accidentally stepped on.

[0011] In an optional implementation, the method further includes: if there is no obstacle vehicle, determining that the accelerator pedal is not mistakenly stepped on.

[0012] The present invention can accurately determine whether the driver has the intention to accelerate by detecting whether there is an obstacle vehicle in front of the car, so as to execute power output. Even if the driver does not have the intention to accelerate, but it has been detected that there is no obstacle vehicle in front, executing power output will not affect driving safety.

[0013] In an optional implementation, the driving information includes: driving status information and driving environment information; obtaining the driving information of the car, and predicting whether the user will execute a lane change and overtaking based on the driving information, including: obtaining the driving status information of the car, and judging whether the user has an intention to change lanes and overtake based on the driving status information; if there is an intention to change lanes and overtake, determining the overtaking direction based on the driving status information; obtaining the driving environment information of the car based on the overtaking direction, and judging whether there are conditions for changing lanes and overtaking based on the driving environment information; if there is an intention to change lanes and overtaking conditions, determining that the user has executed a lane change and overtaking, and determining that the accelerator pedal has not been accidentally stepped on, otherwise determining that the user does not execute a lane change and overtaking.

[0014] After detecting an obstacle vehicle in front of the car, the present invention comprehensively judges whether the driver has the intention to overtake and whether the overtaking conditions are met. It can also make an anti-misstepping judgment on the accelerator pedal in combination with the driver's driving intention, thereby improving the accuracy and reliability of the judgment result.

[0015] In an optional embodiment, whether the accelerator pedal is mistakenly stepped on is determined based on the relative driving states of the automobile and the obstacle vehicle and the opening information of the accelerator pedal, including: obtaining a first speed of the automobile and a second speed of the obstacle vehicle; if the first speed is greater than or equal to the second speed, obtaining a distance interval and a safety distance between the automobile and the obstacle vehicle; if the distance interval is greater than the safety distance, obtaining the opening and the opening change rate of the accelerator pedal; if the opening or the opening change rate is greater than or equal to the corresponding preset threshold value, determining that the accelerator pedal is mistakenly stepped on.

[0016] The present invention determines whether the accelerator pedal is mistakenly stepped on according to the speed and distance between the automobile and the obstacle vehicle and the change of the accelerator pedal, and can predict that an accident may be caused if power output is executed. Therefore, the collision between the automobile and the obstacle vehicle in front is avoided through power output control, thereby ensuring driving safety.

[0017] In an optional embodiment, judging whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal also includes: if the first speed is less than the second speed, determining that the accelerator pedal is not mistakenly stepped on, and performing power output according to the throttle opening corresponding to the accelerator pedal; if the first speed is greater than or equal to the second speed, and the distance interval is less than or equal to the safety distance, reducing the power output until the first speed is less than or equal to the second speed; if the first speed is greater than or equal to the second speed, the distance interval is greater than the safety distance, and the opening or the opening change rate is less than the corresponding preset threshold value, determining that the accelerator pedal is not mistakenly stepped on.

[0018] The present invention determines that the accelerator pedal is not mistakenly stepped on according to the speed and distance between the automobile and the obstacle vehicle and the change of the accelerator pedal, and can predict that no accident will occur if power output is executed. Therefore, by executing power output, the automobile is accelerated while ensuring driving safety.

[0019] In an optional embodiment, obtaining a safe distance between a car and an obstacle vehicle includes: calculating the product of the braking signal transmission time of the car and the first speed to obtain the braking distance of the car; obtaining the friction coefficient between the car and the ground, and calculating the braking distance traveled in the process of reducing the first speed to the second speed according to the first speed, the second speed and the friction coefficient; and calculating the sum of the braking distance and the braking distance to obtain the safe distance.

[0020] The present invention calculates the braking distance and the distance to be braked of the automobile, and can determine the safe distance required for the automobile to decelerate without colliding with an obstacle vehicle when an accident is likely to occur, thereby avoiding the occurrence of traffic accidents and improving driving safety.

[0021] In a second aspect, the present invention provides a device for preventing accidental stepping of an automobile accelerator pedal, the device comprising:

[0022] The obstacle vehicle detection module is used to determine whether there is an obstacle vehicle in front of the lane where the car is traveling after detecting a change in the accelerator pedal;

[0023] A lane-changing overtaking prediction module is used to obtain the driving information of the car if there is an obstacle vehicle, and predict whether the user will perform a lane-changing overtaking according to the driving information;

[0024] The anti-misstep detection module is used to determine whether the accelerator pedal is misstepped based on the relative driving state of the car and the obstacle vehicle and the accelerator pedal opening information if lane change overtaking is not performed;

[0025] The anti-misstepping processing module is used to output power according to the throttle opening corresponding to the accelerator pedal if it is determined that the accelerator pedal is not mistakenly stepped on. If it is determined that the accelerator pedal is mistakenly stepped on, the power output is controlled to keep the speed of the car unchanged and the throttle opening is set to a preset opening value.

[0026] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for preventing accidental stepping on the automobile accelerator pedal of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for preventing accidental stepping on an automobile accelerator pedal of the first aspect or any corresponding embodiment thereof.

[0028] In a fifth aspect, the present invention provides an automobile, comprising: a vehicle controller, used to execute the method for preventing accidental stepping on an automobile accelerator pedal according to the first aspect or any corresponding embodiment thereof; a terminal sensor, connected to the vehicle controller, or connected to the vehicle controller through a regional controller, for collecting driving status information and driving environment information, and sending the driving status information and driving environment information to the vehicle controller; a motor controller and a braking module, connected to the vehicle controller, for jointly controlling the power of the automobile. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1is a schematic flow chart of a method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention;

[0031] Figure 2 is a schematic flow chart of another method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention;

[0032] Figure 3 is a schematic diagram of a judgment flow of another method for preventing mis-stepping of an automobile accelerator pedal according to an embodiment of the present invention;

[0033] Figure 4 is a flow chart of another method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention;

[0034] Figure 5 is a structural block diagram of a device for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention;

[0036] Figure 7 It is a schematic diagram of the structure of a car according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] The embodiment of the present invention is applicable to the scene where the accelerator pedal is detected during the driving process of the driver to prevent the driver from accidentally stepping on the accelerator pedal and causing a traffic accident. The embodiment of the present invention provides a method for preventing the accidental stepping of the accelerator pedal of an automobile. After detecting that the opening of the accelerator pedal has changed, a comprehensive analysis is performed based on the driving information of the obstacle vehicle in front, the driving information of the automobile and the opening of the accelerator pedal to achieve the effect of accurately preventing the accidental stepping judgment.

[0039] According to an embodiment of the present invention, an embodiment of a method for preventing accidental stepping on an automobile accelerator pedal is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0040] In this embodiment, a method for preventing accidental stepping on the accelerator pedal of a vehicle is provided, which can be used for the above-mentioned riding. Figure 1 FIG. 1 is a flow chart of a method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0041] Step S101, when it is detected that the opening degree of the accelerator pedal changes, it is determined whether there is an obstacle vehicle in front of the lane where the vehicle is traveling.

[0042] Specifically, in an embodiment of the present invention, the driver controls the opening of the engine throttle through the accelerator pedal during driving the car, thereby controlling the power output of the engine. The driver changes the pedal depth of the accelerator pedal, so that the power output of the engine also changes accordingly, thereby realizing the acceleration or deceleration of the car. However, if the driver accidentally steps on the accelerator pedal, a traffic accident may occur. For example, if the car suddenly accelerates due to accidentally stepping on the accelerator pedal, a rear-end collision may occur if there is a car driving in front. Therefore, the embodiment of the present invention detects the opening of the accelerator pedal in real time. If the opening changes, the radar in front of the vehicle immediately determines whether there is an obstacle vehicle in front of the lane where the car is traveling (i.e., directly in front of the vehicle driven by the driver), thereby determining whether the driver has the intention to accelerate forward, but not limited to this. If there is no obstacle vehicle in front, it is determined that the driver has the intention to accelerate forward, that is, it is determined that the accelerator pedal is not accidentally stepped on at this time. In this case, even if the driver does not have the intention to accelerate forward, because there is no vehicle in front, the acceleration of the car will not cause a Giti accident, and the driver will also react quickly and control the car in time after acceleration.

[0043] Step S102: If there is an obstacle vehicle, the driving information of the car is obtained, and based on the driving information, it is predicted whether the user performs a lane change and overtaking.

[0044] Specifically, in the embodiment of the present invention, although it is detected that there is an obstacle vehicle in front of the car driven by the driver, it cannot be determined that the driver does not have the intention to accelerate forward, because in the scenario where there is an obstacle vehicle in front, it is possible that the driver pre-controls the vehicle to change lanes and overtake, so it is necessary to determine whether the driver has the intention to change lanes and overtake. The embodiment of the present invention obtains driving information such as the driving state information and driving environment information of the car through terminal sensors such as radar sensors, steering wheel sensors, and speed sensors deployed by the vehicle, so as to determine whether the driver has the intention to change lanes and overtake and the conditions for changing lanes and overtaking based on the driving information, and predict whether the user will perform a lane change and overtake. If the driver does want to perform a lane change and overtake, it is determined that the driver has the intention to accelerate forward, that is, it is determined that the accelerator pedal is not accidentally stepped on at this time, and the driver controls the car to accelerate and turn to achieve a lane change and overtake.

[0045] Step S103: If lane changing and overtaking is not performed, it is determined whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal.

[0046] Specifically, in the embodiment of the present invention, although it is determined that there is an obstacle vehicle in front of the car driven by the driver and the driver does not perform a lane change to overtake, it cannot be determined that the driver does not have the intention to accelerate forward, because the obstacle vehicle in front may be far away, and it may be that the driver pre-controls the vehicle to accelerate forward, so it is necessary to determine whether the conditions for forward acceleration are met at this time. The embodiment of the present invention obtains the relative driving state between the car driven by the driver and the obstacle vehicle through the radar sensor deployed by the vehicle, including the relative speed and relative distance, and determines whether the conditions for forward acceleration are met based on the opening information of the accelerator pedal, which is equivalent to determining whether a rear-end collision will occur if forward acceleration is performed. If the conditions for forward acceleration are not met at this time, it is determined that the accelerator pedal is mistakenly stepped on; if the conditions for forward acceleration are met at this time, it is determined that the accelerator pedal is not mistakenly stepped on.

[0047] Step S104, if it is determined that the accelerator pedal is not stepped on by mistake, power output is performed according to the throttle opening corresponding to the accelerator pedal; if it is determined that the accelerator pedal is stepped on by mistake, power output is controlled to keep the speed of the car unchanged, and the throttle opening is set to a preset opening value.

[0048] Specifically, in the embodiment of the present invention, if the above-mentioned various conditions are analyzed to determine that the accelerator pedal is not mistakenly stepped on, the corresponding power output is performed according to the throttle opening corresponding to the accelerator pedal, the car accelerates, and the anti-misstep detection is continued after the power output is performed. However, if it is determined that the accelerator pedal is mistakenly stepped on, in order to avoid the occurrence of traffic accidents, the power output of the engine is controlled to keep the current speed of the car unchanged, and the throttle opening is set to 0%, but it is not limited to this. At the same time, after detecting that the opening of the accelerator pedal changes again, the anti-misstep detection is performed again.

[0049] The method for preventing the automobile accelerator pedal from being accidentally stepped on provided by the embodiment of the present invention determines whether there is an obstacle vehicle in front of the lane in which the automobile is traveling after detecting a change in the opening of the accelerator pedal. If there is, it predicts whether the user will execute lane change and overtaking based on the driving information of the automobile. If not, it determines whether the accelerator pedal is accidentally stepped on based on the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal. If it is not accidentally stepped on, power output is executed, and if it is accidentally stepped on, power output control is performed. The present invention can predict the driver's driving intention based on driving-related information by making a comprehensive judgment of multiple parameters after the accelerator pedal is stepped on, thereby accurately judging whether the accelerator pedal is accidentally stepped on based on the driving intention, avoiding the accelerator pedal being restricted when it is not accidentally stepped on, and ensuring driving safety in time when it is accidentally stepped on. Moreover, the collected parameters and judgment conditions can be obtained through the existing sensors on the whole vehicle, without the need for redundant equipment, less modification of the vehicle, and no unnecessary cost.

[0050] In this embodiment, a method for preventing accidental stepping of an automobile accelerator pedal is provided, which can be used in the above-mentioned automobile. Figure 2 FIG. 1 is a flow chart of a method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0051] Step S201: After detecting that the opening degree of the accelerator pedal has changed, determine whether there is an obstacle vehicle in front of the lane where the vehicle is traveling. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0052] Step S202: If there is an obstacle vehicle, the driving information of the car is obtained, and based on the driving information, it is predicted whether the user will perform a lane change and overtaking.

[0053] Specifically, the above step S202 includes:

[0054] Step S2021, obtaining the driving status information of the car, and judging whether the user has the intention of changing lanes and overtaking according to the driving status information.

[0055] Specifically, in the embodiment of the present invention, it is considered that the driver will turn on the turn signal of the corresponding direction when changing lanes to overtake, and at the same time turn the steering wheel in the corresponding direction, and increase the pressure on the accelerator pedal to accelerate and overtake. For example, when overtaking on the left, turn on the left turn signal and turn the steering wheel to the left. This is only an example and is not limited to this. Therefore, the embodiment of the present invention collects the steering wheel rotation angle through the steering wheel sensor deployed in the car, obtains the current use of the turn signal through the regional controller, and collects the current vehicle speed standard deviation through the speed sensor, so as to judge whether the user has the intention of changing lanes to overtake by the steering wheel rotation angle, the use of the turn signal and the current speed. Specifically, the vehicle speed standard deviation needs to be greater than 6km / h, but is not limited to this.

[0056] Step S2022: If there is an intention to change lanes and overtake, the overtaking direction is determined according to the driving status information.

[0057] Specifically, in an embodiment of the present invention, to determine that the driver has the intention to change lanes and overtake, it is necessary to further determine the driver's intended overtaking direction based on the driving status information. For example, if the left turn signal is on and the steering wheel is turned to the left, the overtaking direction is determined to be the left. This is only an example and is not limited to this.

[0058] Step S2023, obtaining the driving environment information of the car according to the overtaking direction, and determining whether the lane changing and overtaking conditions are met according to the driving environment information.

[0059] Specifically, in the embodiment of the present invention, the radar collects driving environment information in the overtaking direction of the car to detect whether there are obstacles on the overtaking side, such as cars, walls, etc., for example only and not limited thereto. At the same time, it is determined based on the driving environment information whether the lane change and overtaking conditions are met if the lane change is performed at this time. If there is an obstacle on the overtaking side, the lane change and overtaking conditions are not met, that is, if the lane change is performed, a traffic accident may occur.

[0060] Step S2024: If there is an intention to change lanes and the conditions for overtaking are met, it is determined that the user is performing a lane change and overtaking, and it is determined that the accelerator pedal is not accidentally stepped on; otherwise, it is determined that the user is not performing a lane change and overtaking.

[0061] Specifically, in the embodiment of the present invention, Figure 3 As shown, in order to ensure driving safety, when it is determined that the driver has the intention to change lanes and overtake, and the conditions for changing lanes and overtaking are met at this time, it is determined that the user wants to perform a lane change and overtake, and no accidental stepping detection is performed at this time, that is, it is determined that the accelerator pedal is not accidentally stepped on. However, if there is no intention to change lanes and overtake or at least one of the conditions for changing lanes and overtaking is not met, it is determined that the driver does not perform a lane change and overtake at this time, and the next step of accidental stepping detection is continued.

[0062] Step S203: If lane changing and overtaking is not performed, it is determined whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal.

[0063] Specifically, the above step S203 includes:

[0064] Step S2031, obtaining a first speed of the car and a second speed of the obstacle vehicle.

[0065] Specifically, in the embodiment of the present invention, Figure 3 As shown, the first speed v1 of the vehicle driven by the driver is obtained through the speed sensor, and the second speed v2 of the obstacle vehicle in front is obtained through the radar, so that the relative speed information between the two vehicles can be determined.

[0066] Step S2032: If the first speed is greater than or equal to the second speed, the distance interval and the safety distance between the automobile and the obstacle vehicle are obtained.

[0067] Specifically, in the embodiment of the present invention, Figure 3 As shown, the relative speed information between the driver's car and the obstacle vehicle in front is judged. If the first speed v1 is greater than or equal to the second speed v2, it proves that the distance between the two vehicles is gradually approaching. At this time, the distance interval ΔS between the driver's car and the obstacle vehicle is obtained by radar, and the safe distance of the car is calculated according to the first speed v1 of the car being driven, and the anti-misstep detection is further performed according to the relative distance information.

[0068] In some optional implementations, the embodiments of the present invention calculate the safety distance according to the braking function of the vehicle, and the specific calculation process is as follows:

[0069] (1) The product of the braking signal transmission time t1 and the first speed v1 of the vehicle is calculated to obtain the braking distance S1 of the vehicle. The calculation formula is as follows:

[0070] S1=v1*t1

[0071] The braking signal transmission time t1 is the time it takes for the braking signal to be transmitted to the motor and the braking system and for the motor and the braking system to take effect, which is generally 0.02 to 0.05 s, where s is seconds.

[0072] (2) Obtain the friction coefficient μ between the vehicle and the ground, and calculate the braking distance S2 during the process of reducing the first speed v1 to the second speed v2 according to the first speed v1, the second speed v2, and the friction coefficient μ. The calculation formula is as follows:

[0073] S2=(v1 2 -v2 2 ) / 2a=(v1 2 -v2 2 ) / 2μg

[0074] Among them, the deceleration is a = μg, μ is the friction coefficient between the car and the ground, which is 0.7; g is the gravity coefficient, which is g = 9.8m / s 2 , s is seconds.

[0075] (3) Calculate the sum of the waiting braking distance S1 and the braking distance S2 to obtain the safety distance S. The calculation formula is as follows:

[0076] S=S1+S2

[0077] Step S2033: if the distance interval is greater than the safety distance, the opening degree and the opening degree change rate of the accelerator pedal are obtained.

[0078] Specifically, in the embodiment of the present invention, Figure 3 As shown, if the distance interval ΔS between the two cars is greater than the safety distance S at this time, the opening degree and the opening degree change rate of the accelerator pedal are obtained through the accelerator pedal sensor, and the anti-misstep detection is continued.

[0079] Step S2034: If the opening degree or the opening degree change rate is greater than or equal to the corresponding preset threshold, it is determined that the accelerator pedal is mistakenly stepped on.

[0080] Specifically, in the embodiment of the present invention, if the current opening degree or the opening degree change rate of the accelerator pedal is greater than the corresponding preset threshold value, it means that the driver's stepping on the accelerator pedal at this time exceeds the stepping depth of the normal acceleration process, or does not conform to the stepping law of the normal acceleration process, and it is determined that the accelerator pedal is stepped on by mistake, otherwise it is determined that the accelerator pedal is not stepped on by mistake and it is a normal operation. Specifically, if the opening degree is not less than 50% and the opening degree change rate is not less than 40% within 50ms, it is determined that the accelerator pedal is stepped on by mistake, and the car is controlled to maintain the original speed; if the opening degree is less than 50% and the opening degree change rate is less than 40% within 50ms, it is determined that the accelerator pedal is not stepped on by mistake, which is only for example and is not limited to this.

[0081] In some optional implementations, the embodiments of the present invention test the speeds of multiple drivers during normal driving and overtaking driving, and use the maximum opening and opening change rate of the accelerator pedal during overtaking driving as preset conditions, and then set the accelerator pedal opening threshold and opening change rate threshold. Through actual testing of normal driving and rapid overtaking by multiple drivers, the test results are divided into different stages based on 50ms, and the maximum opening change value of the accelerator pedal in different stages is calculated. According to the data analysis results, the maximum opening value of the accelerator pedal within 50ms during normal driving is distributed between 10% and 20%, and the maximum opening value of the accelerator pedal during rapid overtaking is distributed between 20% and 50%. Therefore, the accelerator pedal opening threshold is set to 50%, and the opening change rate threshold is set to 40% within 50ms.

[0082] Step S204: If it is determined that the accelerator pedal is not stepped on by mistake, the power output is performed according to the throttle opening corresponding to the accelerator pedal; if it is determined that the accelerator pedal is stepped on by mistake, the power output is controlled to keep the speed of the vehicle unchanged, and the throttle opening is set to a preset opening value. Figure 1 Step S104 of the illustrated embodiment will not be described in detail here.

[0083] The method for preventing the automobile accelerator pedal from being accidentally stepped on provides an embodiment of the present invention. After detecting a change in the opening of the accelerator pedal, it is determined whether there is an obstacle vehicle in front of the lane in which the automobile is traveling. If there is, it is predicted whether the user will perform a lane change and overtaking according to the driving information of the automobile. If not, it is determined whether the accelerator pedal is accidentally stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal. If it is not accidentally stepped on, power output is executed, and if it is accidentally stepped on, power output control is performed. The present invention can predict the driver's driving intention according to driving-related information by performing a comprehensive judgment of multiple parameters after the accelerator pedal is stepped on, thereby accurately determining whether the accelerator pedal is accidentally stepped on based on the driving intention, avoiding the accelerator pedal being restricted when it is not accidentally stepped on, and ensuring driving safety in a timely manner when it is accidentally stepped on.

[0084] In this embodiment, a method for preventing accidental stepping of an automobile accelerator pedal is provided, which can be used in the above-mentioned automobile. Figure 4 FIG. 1 is a flow chart of a method for preventing accidental stepping on an automobile accelerator pedal according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0085] Step S401: After detecting that the opening degree of the accelerator pedal has changed, determine whether there is an obstacle vehicle in front of the lane where the vehicle is traveling. Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0086] Step S402: If there is an obstacle vehicle, the driving information of the vehicle is obtained, and the user is predicted to change lanes and overtake based on the driving information. Figure 2 Step S202 of the illustrated embodiment will not be described in detail here.

[0087] Step S403: If lane changing and overtaking is not performed, it is determined whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal.

[0088] Specifically, the above step S403 includes:

[0089] Step S4031: If the first speed is less than the second speed, it is determined that the accelerator pedal is not stepped on by mistake.

[0090] Specifically, in the embodiment of the present invention, Figure 3 As shown, if the first speed v1 of the driven car is judged to be less than the second speed v2 based on the relative speed information between the driver's car and the obstacle vehicle in front, it proves that the driver has the intention to accelerate forward at this time, and it is determined that the accelerator pedal is not mistakenly stepped on, and no anti-misstepping detection is performed.

[0091] Step S4032: if the first speed is greater than or equal to the second speed, and the distance interval is less than or equal to the safety distance, the power output is reduced until the first speed is less than or equal to the second speed.

[0092] Specifically, in the embodiment of the present invention, if the first speed v1 is greater than or equal to the second speed v2, it proves that the driver does not intend to accelerate forward at this time, but the speed of the car is relatively fast, and it is necessary to determine whether it is possible to cause a traffic accident with the obstacle vehicle in front by driving at the first speed v1 at this time. The embodiment of the present invention determines whether the relative distance interval ΔS between the two cars is less than the safety distance S. If it is less than, it proves that if the power output is not suppressed, the distance traveled after the car slows down to the second speed v2 by itself is greater than the distance interval ΔS, so the two cars may collide. Therefore, the vehicle controller controls the vehicle's braking system to directly generate the maximum braking force for braking, reduce the power output, and actively decelerate, so that the emergency braking process can be completed as soon as possible until the first speed v1 is less than or equal to the second speed v2, ensuring driving safety.

[0093] Step S4033: if the first speed is greater than or equal to the second speed, the distance interval is greater than the safety distance, and the opening degree or the opening degree change rate is less than the corresponding preset threshold, it is determined that the accelerator pedal is not accidentally stepped on.

[0094] Specifically, in the embodiment of the present invention, if the first speed v1 is greater than or equal to the second speed v2, it proves that the driver does not intend to accelerate forward at this time, and the distance interval ΔS is greater than the safety distance S, and there is no collision risk. At the same time, the change of the accelerator pedal is consistent with the driver's driving operation, so it is determined that the accelerator pedal is not accidentally stepped on.

[0095] Step S404: If it is determined that the accelerator pedal is not stepped on by mistake, the power output is performed according to the throttle opening corresponding to the accelerator pedal; if it is determined that the accelerator pedal is stepped on by mistake, the power output is controlled to keep the speed of the vehicle unchanged, and the throttle opening is set to a preset opening value. Figure 2 Step S204 of the illustrated embodiment will not be described in detail here.

[0096] The method for preventing the automobile accelerator pedal from being accidentally stepped on provided by the embodiment of the present invention determines whether there is an obstacle vehicle in front of the lane in which the automobile is traveling after detecting that the opening of the accelerator pedal has changed. If there is, it predicts whether the user will perform lane change and overtaking according to the driving information of the automobile. If not, it determines whether the accelerator pedal is accidentally stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal. If it is not accidentally stepped on, power output is executed, and if it is accidentally stepped on, power output control is performed. The present invention can predict the driver's driving intention based on driving-related information by making a comprehensive judgment of multiple parameters after the accelerator pedal is stepped on, thereby accurately judging whether the accelerator pedal is accidentally stepped on based on the driving intention, avoiding the accelerator pedal being restricted when it is not accidentally stepped on, and ensuring driving safety in time when it is accidentally stepped on. Moreover, the method for preventing the automobile accelerator pedal from being accidentally stepped on provided by the embodiment of the present invention does not need to change the normal driving habits of the driver, is applicable to most pure electric vehicles, has strong versatility, and greatly promotes the development of intelligent transportation.

[0097] In this embodiment, a device for preventing accidental stepping of an automobile accelerator pedal is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0098] This embodiment provides a device for preventing accidental stepping of an automobile accelerator pedal. Figure 5 As shown, including:

[0099] The obstacle vehicle detection module 501 is used to determine whether there is an obstacle vehicle in front of the lane where the car is traveling after detecting a change in the accelerator pedal.

[0100] The lane-changing and overtaking prediction module 502 is used to obtain the driving information of the car if there is an obstacle vehicle, and predict whether the user will perform a lane-changing and overtaking according to the driving information.

[0101] The anti-misstep detection module 503 is used to determine whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal if lane change and overtaking are not performed.

[0102] The anti-misstepping processing module 504 is used to output power according to the throttle opening corresponding to the accelerator pedal if it is determined that the accelerator pedal is not misstepped. If it is determined that the accelerator pedal is misstepped, the power output is controlled to keep the speed of the car unchanged and the throttle opening is set to a preset opening value.

[0103] In some optional embodiments, the device further includes: a first determination module, configured to determine that the accelerator pedal is not mistakenly stepped on if there is no obstacle vehicle.

[0104] In some optional implementations, the driving information includes: driving state information and driving environment information, and the lane change overtaking prediction module 502 includes:

[0105] The overtaking intention judgment unit is used to obtain the driving state information of the car and judge whether the user has the intention of changing lanes and overtaking according to the driving state information.

[0106] The overtaking direction determination unit is used to determine the overtaking direction according to the driving state information if there is an intention to change lanes and overtake.

[0107] The overtaking condition judgment unit is used to obtain the driving environment information of the car according to the overtaking direction, and judge whether there are lane change and overtaking conditions according to the driving environment information.

[0108] The lane-changing and overtaking determination unit is used to determine that the user performs a lane-changing and overtaking operation if there is a lane-changing and overtaking intention and a lane-changing and overtaking condition, and to determine that the accelerator pedal is not mistakenly stepped on, otherwise, to determine that the user does not perform a lane-changing and overtaking operation.

[0109] In some optional implementations, the anti-misstepping detection module 503 includes:

[0110] The speed information acquisition unit is used to acquire a first speed of the automobile and a second speed of the obstacle vehicle.

[0111] The first speed judgment unit is used to obtain the distance interval and the safety distance between the automobile and the obstacle vehicle if the first speed is greater than or equal to the second speed.

[0112] The first distance judgment unit is used to obtain the opening degree and the opening degree change rate of the accelerator pedal if the distance interval is greater than the safety distance.

[0113] The first opening judgment unit is used to judge that the accelerator pedal is mistakenly stepped on if the opening or the opening change rate is greater than or equal to the corresponding preset threshold value.

[0114] In some optional implementations, the anti-misstepping detection module 503 further includes:

[0115] The second speed determination unit is used to determine that the accelerator pedal is not mistakenly stepped on if the first speed is less than the second speed.

[0116] The second distance judgment unit is used to reduce the power output until the first speed is less than or equal to the second speed if the first speed is greater than or equal to the second speed and the distance interval is less than or equal to the safety distance.

[0117] The second opening judgment unit is used to determine that the accelerator pedal is not mistakenly stepped on if the first speed is greater than or equal to the second speed, the distance interval is greater than the safety distance, and the opening or the opening change rate is less than the corresponding preset threshold.

[0118] In some optional implementations, the anti-misstepping detection module 503 further includes:

[0119] The safety distance calculation unit is used to calculate the product of the braking signal transmission time of the vehicle and the first speed to obtain the braking distance of the vehicle; obtain the friction coefficient between the vehicle and the ground, and calculate the braking distance traveled in the process of reducing the first speed to the second speed according to the first speed, the second speed and the friction coefficient; calculate the sum of the braking distance and the braking distance to obtain the safety distance.

[0120] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0121] The anti-misstepping device for the automobile accelerator pedal in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0122] The embodiment of the present invention also provides a computer device having the above Figure 5 The device for preventing accidental stepping of the accelerator pedal of a vehicle is shown.

[0123] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0124] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0125] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0126] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0127] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0128] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0129] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0130] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0131] The embodiment of the present invention further provides a car, such as Figure 7 As shown, including:

[0132] The vehicle controller 701 is used to execute the above Figure 1 , Figure 2 or Figure 4 The method for preventing accidental stepping of the automobile accelerator pedal shown;

[0133] The terminal sensor 702 is connected to the vehicle controller 701, or is connected to the vehicle controller 701 through the regional controller 703, and is used to collect driving state information and driving environment information, and send the driving state information and driving environment information to the vehicle controller 701;

[0134] The motor controller 704 and the brake module 705 are connected to the vehicle controller 701 to jointly control the power of the vehicle.

[0135] Specifically, in the embodiment of the present invention, the terminal sensor 702 includes a steering wheel sensor 7021, a speed sensor 7022, a radar system 7023, an accelerator pedal sensor 7024, etc., which are only used as examples and are not limited thereto. Among them, the radar system 7023 obtains obstacle information around the vehicle driven by the driver and collects distance information between the obstacle vehicle in front and the vehicle. The steering wheel sensor 7021 obtains steering wheel angle information and transmits it to the regional controller 703 through the CAN network. The regional controller 703 simultaneously obtains the state of the turn signal 706 and transmits the information to the vehicle controller 701 through the CAN network. The speed sensor 7022 obtains vehicle speed information. The accelerator pedal sensor 7024 obtains accelerator pedal opening information and transmits the information to the vehicle controller 701 through the CAN network.

[0136] In some optional embodiments, the vehicle controller 701 determines whether to perform an anti-misstep detection based on the information of the obstacle vehicle ahead; determines whether the driver has the intention to change lanes and overtake and whether the vehicle has the overtaking conditions based on the steering wheel angle information, whether the turn signal is on, the standard deviation of the vehicle speed, and the obstacle information on the overtaking side, thereby determining whether to perform an anti-misstep detection; analyzes the speed of the vehicle ahead based on the information of the obstacle vehicle ahead, and compares it with the speed of the vehicle to determine whether to perform an anti-misstep detection; performs a real-time comparison between the real-time distance between the obstacle vehicle ahead and the vehicle and the set safety distance, and if the distance is less than the safety distance, suppresses the power output and actively decelerates, and if the distance is greater than the safety distance, performs an anti-misstep detection; calculates the accelerator pedal opening and the opening change rate in real time based on the accelerator pedal opening information, and when the accelerator pedal opening and the opening change rate are less than the threshold, performs power output, and when not less than the threshold, maintains the current speed.

[0137] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for preventing accidental stepping of an automobile accelerator pedal, characterized in that: The method comprises: When a change in the opening degree of the accelerator pedal is detected, it is determined whether there is an obstacle vehicle in front of the lane where the car is traveling; If the obstacle vehicle exists, the driving information of the vehicle is obtained, and whether the user performs lane change and overtaking is predicted according to the driving information; If lane-changing overtaking is not performed, determining whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal; If it is determined that the accelerator pedal is not stepped on by mistake, power output is performed according to the throttle opening corresponding to the accelerator pedal; if it is determined that the accelerator pedal is stepped on by mistake, the power output is controlled so that the speed of the vehicle remains unchanged, and the throttle opening is set to a preset opening value.

2. The method for preventing accidental stepping of the automobile accelerator pedal according to claim 1, characterized in that: Also includes: If the obstacle vehicle does not exist, it is determined that the accelerator pedal is not mistakenly depressed.

3. The method for preventing accidental stepping of the automobile accelerator pedal according to claim 1, characterized in that: The driving information includes: driving state information and driving environment information; The acquiring driving information of the automobile and predicting whether the user performs lane change and overtaking according to the driving information includes: Acquiring the driving state information of the automobile, and determining whether the user has an intention to change lanes and overtake according to the driving state information; If there is the lane-changing and overtaking intention, determining the overtaking direction according to the driving state information; Acquiring the driving environment information of the automobile according to the overtaking direction, and determining whether a lane-changing overtaking condition exists according to the driving environment information; If the lane-changing overtaking intention and the lane-changing overtaking condition are present, it is determined that the user performs the lane-changing overtaking and that the accelerator pedal is not mistakenly stepped on; otherwise, it is determined that the user does not perform the lane-changing overtaking.

4. The method for preventing accidental stepping of an automobile accelerator pedal according to claim 1, characterized in that: The determining whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal comprises: Acquire a first speed of the automobile and a second speed of the obstacle vehicle; If the first speed is greater than or equal to the second speed, obtaining the distance interval and the safety distance between the automobile and the obstacle vehicle; If the distance interval is greater than the safety distance, obtaining the opening degree and the opening degree change rate of the accelerator pedal; If the opening degree or the opening degree change rate is greater than or equal to the corresponding preset threshold value, it is determined that the accelerator pedal is mistakenly stepped on.

5. The method for preventing accidental stepping of the automobile accelerator pedal according to claim 4, characterized in that: The method of judging whether the accelerator pedal is mistakenly stepped on according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal further includes: If the first speed is less than the second speed, it is determined that the accelerator pedal is not stepped on by mistake; If the first speed is greater than or equal to the second speed, and the distance interval is less than or equal to the safety distance, reducing the power output until the first speed is less than or equal to the second speed; If the first speed is greater than or equal to the second speed, the distance interval is greater than the safety distance, and the opening degree or the opening degree change rate is less than the corresponding preset threshold, it is determined that the accelerator pedal is not mistakenly stepped on.

6. The method for preventing accidental stepping of the automobile accelerator pedal according to claim 4, characterized in that: The obtaining of the safe distance between the automobile and the obstacle vehicle comprises: Calculating the product of the braking signal transmission time of the vehicle and the first speed to obtain a braking distance of the vehicle; Obtaining a friction coefficient between the vehicle and the ground, and calculating a braking distance traveled in a process of reducing the first speed to the second speed according to the first speed, the second speed and the friction coefficient; The sum of the waiting braking distance and the braking distance is calculated to obtain the safety distance.

7. A device for preventing accidental stepping of an automobile accelerator pedal, characterized in that: The device comprises: The obstacle vehicle detection module is used to determine whether there is an obstacle vehicle in front of the lane where the car is traveling after detecting a change in the accelerator pedal; A lane-changing overtaking prediction module is used to obtain driving information of the car if the obstacle vehicle exists, and predict whether the user will perform a lane-changing overtaking according to the driving information; an anti-misstep detection module, for determining whether the accelerator pedal is misstepped according to the relative driving state of the automobile and the obstacle vehicle and the opening information of the accelerator pedal if lane change overtaking is not performed; The anti-misstepping processing module is used to output power according to the throttle opening corresponding to the accelerator pedal if it is determined that the accelerator pedal is not mistakenly stepped on; if it is determined that the accelerator pedal is mistakenly stepped on, the power output is controlled to keep the speed of the car unchanged and the throttle opening is set to a preset opening value.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are connected to communicate with each other, the memory stores computer instructions, and the processor executes the method for preventing accidental stepping on the automobile accelerator pedal according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for preventing accidental stepping on an automobile accelerator pedal according to any one of claims 1 to 6.

10. An automobile, characterized in that: include: A vehicle controller, used to execute the method for preventing accidental stepping of an automobile accelerator pedal according to any one of claims 1 to 6; A terminal sensor is connected to the vehicle controller, or is connected to the vehicle controller through a regional controller, and is used to collect driving state information and driving environment information, and send the driving state information and the driving environment information to the vehicle controller; The motor controller and the brake module are connected to the vehicle controller to jointly control the power of the vehicle.

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