A method and system for preventing misoperation of taking the accelerator pedal as the brake pedal

Abstract

The present invention provides a method and a system for preventing mis-taking the accelerator pedal for the brake pedal. The method includes: collecting the force information of the driver stepping on the accelerator pedal of the vehicle; judging whether the driver is currently in a state of mis-stepping on the accelerator pedal according to the force information of the driver stepping on the accelerator pedal of the vehicle; when it is determined through judgment that the current driver is in a state of mis-stepping on the accelerator pedal, performing adaptive automatic braking on the vehicle to make the vehicle automatically brake. The system includes modules corresponding to the method steps.

Description

Technical Field

[0001] The present invention provides a method and a system for preventing mis-taking the accelerator pedal for the brake pedal, belonging to the technical field of automotive motion control. Background Art

[0002] Currently, in general, a vehicle is controlled by a driver stepping on the brake pedal to make an emergency stop. Many inexperienced drivers will mis-take the accelerator pedal for the brake pedal and step on it when encountering an emergency, thus causing serious accidents. High-end vehicles in the prior art provide an automatic braking function, which has the following disadvantages:

[0003] First, the cost is high and it can only be used in high-end vehicles, so it has not been popularized.

[0004] Second, due to the technical level limitation of intelligent sensors, it is impossible to accurately judge whether to brake when the speed is too fast.

[0005] Third, there are two protection blind spots:

[0006] (1) When there is a cliff in front and there are no obstacles on the edge of the cliff, if the driver steps on the accelerator pedal, it is impossible to avoid falling off the cliff.

[0007] (2) When the turn signal is turned on, the protection function exits. Summary of the Invention

[0008] The present invention provides a method and a system for preventing mis-taking the accelerator pedal for the brake pedal, aiming to solve the problems that in the existing method for preventing mis-taking the accelerator pedal for the brake pedal, the accuracy of judging whether the driver mis-takes the accelerator pedal for the brake pedal is relatively low and it is impossible to prevent misoperation. The technical solutions adopted are as follows:

[0009] A method for preventing mis-taking the accelerator pedal for the brake pedal, the method comprising:

[0010] Collecting the force information of the driver stepping on the accelerator pedal of the vehicle;

[0011] Judging whether the driver is currently in a state of mis-stepping on the accelerator pedal according to the force information of the driver stepping on the accelerator pedal of the vehicle;

[0012] When it is determined through judgment that the driver is currently in a state of mis-stepping on the accelerator pedal, performing an adaptive automatic braking process on the vehicle to make the vehicle automatically brake.

[0013] Further, judging whether the driver is currently in a state of mis-stepping on the accelerator pedal according to the force information of the driver stepping on the accelerator pedal of the vehicle includes:

[0014] At the end of the accelerator pedal stroke, by monitoring and obtaining the position of the accelerator pedal in real time, it is determined whether the driver is currently in a state of accidentally stepping on the accelerator pedal;

[0015] Or

[0016] At the end of the accelerator pedal stroke, the switch signal fed back by the travel switch is used to determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal;

[0017] Or

[0018] At the end of the accelerator pedal stroke, the pressure value of the accelerator pedal is obtained by using a pressure sensor to determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal.

[0019] Furthermore, the method of determining whether the driver is currently in a state of accidentally stepping on the accelerator pedal by monitoring and obtaining the position of the accelerator pedal in real time at the end of the accelerator pedal stroke includes:

[0020] At the end of the accelerator pedal stroke, an impedance device is installed under the accelerator pedal;

[0021] The position information of the accelerator pedal is obtained and transmitted to the ECU module;

[0022] When the accelerator pedal is stepped on to any position, the ECU module determines in real time whether the signal value reaches or exceeds a preset signal threshold. When the signal value reaches or exceeds the preset signal threshold, the ECU module determines that the current state is that the driver accidentally steps on the accelerator pedal. The threshold can be adjusted by the driver according to specific needs.

[0023] Among them, the position information of the accelerator pedal is obtained and transmitted to the ECU module in the following two ways. It includes:

[0024] When the accelerator pedal is stepped on, the accelerator pedal sensor of the vehicle outputs a signal value corresponding to the position where the accelerator pedal is stepped on to any position, and transmits the signal value to the ECU module.

[0025] Or

[0026] An angular displacement sensor is installed on the accelerator pedal. When the accelerator pedal is stepped on, the angular displacement sensor outputs a signal value corresponding to the position where the accelerator pedal is stepped on to any position, and transmits the signal value to the ECU module.

[0027] Furthermore, the method of determining whether the driver is currently in a state of accidentally stepping on the accelerator pedal by using the switch signal fed back by the travel switch at the end of the accelerator pedal stroke includes:

[0028] At the end of the accelerator pedal stroke, an impedance device and a travel switch are installed below the accelerator pedal;

[0029] When the accelerator pedal is depressed to a preset position at the end of the accelerator pedal stroke, the travel switch operates. When the travel switch operates, it is determined that the current state is that the driver has accidentally depressed the accelerator pedal. The preset position at which the travel switch operates can be adjusted by the driver according to the driver's specific needs.

[0030] Furthermore, a pressure sensor is installed at the end of the accelerator pedal stroke. By using the pressure sensor to obtain the pressure value of the accelerator pedal, determining whether the driver is currently in a state of accidentally depressing the accelerator pedal includes:

[0031] A pressure sensor is installed below the accelerator pedal linkage mechanism of the vehicle. When the accelerator pedal is depressed and enters the end of the accelerator pedal stroke, the accelerator pedal linkage mechanism contacts the pressure sensor;

[0032] The pressure sensor continuously collects the pressure value applied by the accelerator pedal linkage mechanism. When the pressure value is greater than or equal to a preset pressure threshold, it is determined that the current state is that the driver has accidentally depressed the accelerator pedal; the threshold can be adjusted by the driver according to the driver's specific needs.

[0033] Furthermore, the adaptive automatic braking process for the vehicle to automatically brake includes:

[0034] When the system determines that the current state is that the driver has accidentally depressed the accelerator pedal, first cut off the power source of the vehicle, and then adopt different emergency braking methods according to the type of the vehicle's brake assist system; among them, the types of the brake assist system include the by-wire brake assist system, the vacuum brake assist system, and the compressed air brake assist system;

[0035] When the type of the brake assist system adopted by the vehicle is the by-wire brake assist system, control the brake assist motor of the brake assist system to be fully loaded to achieve the emergency braking of the vehicle;

[0036] When the type of the brake assist system adopted by the vehicle is the vacuum brake assist system or the compressed air brake assist system, the emergency braking of the vehicle is achieved through any one of the braking methods of braking method one, braking method two, or braking method three;

[0037] Among them, the braking method one, braking method two, and braking method three are as follows:

[0038] Braking method one: Install a brake assist motor below the brake pedal linkage mechanism of the vehicle. Through the full load loading of the brake assist motor, the brake pedal is pulled to achieve the emergency braking of the vehicle;

[0039] Braking method 2: Install an electromagnet below the braking pedal linkage mechanism of the vehicle. When the electromagnet is energized, it adsorbs the armature and pulls the braking pedal to achieve emergency braking of the vehicle.

[0040] Braking method 3: Add a solenoid valve device to the air supply and exhaust return circuit of the vehicle's braking chamber. When the driver actively steps on the brake, the vehicle's braking is achieved by using the original mechanical control method of the vehicle. When the driver mistakes the accelerator pedal for the brake pedal, emergency braking of the vehicle is achieved by controlling the on-off of the solenoid valve.

[0041] If it is a manual transmission vehicle, while performing the above actions, the clutch also needs to be disengaged in a similar manner, which will not be elaborated here.

[0042] For the sake of convenience of expression, the original vehicle's brake signal lights, brake assist systems such as ABS / EBD, etc. all operate normally along with the emergency braking action, which will not be elaborated here.

[0043] Furthermore, the method further includes:

[0044] Preventing the vehicle from misdriving during the process of the accelerator pedal transitioning from the second state to the first state, where the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU determines that the driver mistakes the accelerator pedal for the brake pedal.

[0045] Among them, preventing the vehicle from misdriving during the process of the accelerator pedal transitioning from the second state to the first state includes:

[0046] Monitoring and obtaining the position information of the accelerator pedal. When the accelerator pedal transitions from the second state to the first state, the vehicle remains in the emergency braking state before the accelerator pedal fully returns to its initial position; after the accelerator pedal fully returns to its initial position, the vehicle resumes the normal state.

[0047] Among them, the method of obtaining the position information of the accelerator pedal and determining whether the accelerator pedal has returned to the initial position includes the following three methods:

[0048] Method 1: Judging based on the signal fed back by the accelerator pedal sensor.

[0049] Method 2: Install an angular displacement sensor on the accelerator pedal and judge based on the signal fed back by the angular displacement sensor.

[0050] Method 3: Install a travel switch at the initial position of the accelerator pedal travel and judge based on the switch signal fed back by the travel switch.

[0051] A system for preventing mis-taking the accelerator pedal for the brake pedal, the system includes:

[0052] A threshold setting module for the driver to set the threshold according to their specific needs.

[0053] An information collection module for collecting the force information of the driver stepping on the vehicle accelerator pedal.

[0054] A judgment module for judging whether the driver is currently in a state of accidentally stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal.

[0055] An automatic braking module for performing adaptive automatic braking on the vehicle to make the vehicle automatically brake when it is determined through judgment that the driver is currently in a state of accidentally stepping on the accelerator pedal.

[0056] An audible and visual alarm module for emitting an audible and visual alarm during automatic braking.

[0057] A module for preventing accidental driving, which is used to prevent the vehicle from accidentally driving during the process of the accelerator pedal entering the first state from the second state, where the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU determines that the driver mistakes the accelerator for the brake.

[0058] Further, the judgment module includes:

[0059] A first judgment module for judging whether the driver is currently in a state of accidentally stepping on the accelerator pedal by real-time monitoring and obtaining the position of the accelerator pedal at the end of the accelerator pedal stroke.

[0060] A second judgment module for installing a travel switch at the end of the accelerator pedal stroke and using the switch signal feedback by the travel switch to judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal.

[0061] A third judgment module for obtaining the pressure value of the accelerator pedal by using a pressure sensor at the end of the accelerator pedal stroke and judging whether the driver is currently in a state of accidentally stepping on the accelerator pedal.

[0062] The automatic braking module includes:

[0063] A power source cut-off module for cutting off the power source of the vehicle.

[0064] Then, different emergency braking methods are adopted according to the type of the vehicle's brake assist system; where the type of the brake assist system includes a by-wire brake assist system, a vacuum brake assist system, and a compressed air brake assist system.

[0065] Emergency braking module one is used to control the braking assist motor of the braking assist system to be fully loaded when the type of braking assist system adopted by the vehicle is a by-wire braking assist system, so as to achieve emergency braking of the vehicle;

[0066] Emergency braking module two is used to achieve emergency braking of the vehicle by any one of braking method one, braking method two or braking method three when the type of braking assist system adopted by the vehicle is a vacuum braking assist system or a compressed air braking assist system.

[0067] The operation process of the anti-misoperation module includes monitoring and obtaining the position information of the accelerator pedal. When the accelerator pedal enters the first state from the second state, the vehicle remains in the emergency braking state before the accelerator pedal fully returns to the initial position of the accelerator pedal; after the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle returns to the normal state;

[0068] Among them, the methods of obtaining the position information of the accelerator pedal and judging whether the accelerator pedal returns to the initial position include the following three:

[0069] Method one: Judge by the signal fed back by the accelerator pedal sensor;

[0070] Method two: Install an angular displacement sensor on the accelerator pedal and judge by the signal fed back by the angular displacement sensor;

[0071] Method three: Install a travel switch at the initial position of the accelerator pedal stroke and judge by the switch signal fed back by the travel switch.

[0072] Advantages of the present invention:

[0073] A method and system for preventing misoperation of taking the accelerator pedal as the brake proposed by the present invention can effectively reduce the system manufacturing cost, can be widely applied to various types of vehicles, and improve the application universality of the method and system for preventing misoperation of taking the accelerator pedal as the brake. At the same time, a method and system for preventing misoperation of taking the accelerator pedal as the brake proposed by the present invention can effectively improve the judgment accuracy and timeliness for the driver's misoperation of taking the accelerator pedal as the brake under any vehicle speed conditions, and further effectively improve the accuracy and timeliness of forced braking. On the other hand, a method and system for preventing misoperation of taking the accelerator pedal as the brake proposed by the present invention can still achieve effective and highly accurate judgment and braking of misoperation of taking the accelerator pedal as the brake when there is a cliff and no obstacle dangerous road condition and the turn signal is turned on in front of the vehicle, and maximize the accuracy of judging misoperation of taking the accelerator pedal as the brake. Description of the drawings

[0074] Figure 1 is the flowchart of the method of the present invention;

[0075] Figure 2 is the system block diagram of the system of the present invention;

[0076] Figure 3 is the schematic diagram of the ECU module of the present invention;

[0077] Figure 4 is the circuit schematic corresponding to the method of the present invention Figure 1 ;

[0078] Figure 5 is the circuit schematic corresponding to the method of the present invention Figure 2 ;

[0079] Figure 6 is the circuit schematic corresponding to the method of the present invention Figure 3 ;

[0080] Figure 7 is the relationship diagram between the output voltage of the original vehicle throttle pedal sensor and the throttle pedal travel

[0081] Figure 8 is the relationship diagram between the output voltage of the specially designed throttle pedal sensor of the present invention and the throttle pedal travel

[0082] Figure 9 is the relationship diagram between the voltage value of the throttle pedal sensor sent by the ECU to the original vehicle ECU and the output voltage value of the specially designed throttle pedal sensor of the present invention;

[0083] (11 - throttle pedal sensor, 12 - brake pedal sensor, 13 - throttle pedal sensor interface, 14 - brake pedal sensor interface, 15 - main motor distribution panel, 16 - brake booster motor distribution panel, 17 - main motor, 18 - brake booster motor, 21 - proximity switch 1, 22 - proximity switch 2, 23 - throttle pedal sensor, 24 - throttle pedal sensor interface, 25 - fuel pump motor distribution panel, 26 - brake booster motor distribution panel, 27 - fuel pump motor, 28 - brake booster motor, 31 - throttle pedal sensor, 32 - pressure sensor, 33 - intake solenoid valve, 34 - throttle pedal sensor interface, 35 - fuel pump motor distribution panel, 36 - exhaust solenoid valve, 37 - fuel pump motor, 38 - angular displacement sensor, X - output voltage value of the specially designed throttle pedal sensor of the present invention, Y - ECU output voltage value). Detailed implementation manners

[0084] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0085] A method for preventing mis-taking the accelerator pedal for the brake pedal proposed in the embodiment of the present invention, such asFigure 1 As shown, the method includes:

[0086] S1. Collect the force information of the driver stepping on the vehicle accelerator pedal;

[0087] S2. Determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal;

[0088] S3. When it is determined through judgment that the current driver is in a state of accidentally stepping on the accelerator pedal, perform adaptive automatic braking on the vehicle to make the vehicle automatically brake.

[0089] The working principle of the above technical solution is as follows: First, obtain the force information of the driver stepping on the vehicle accelerator pedal; then, determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal; finally, perform adaptive automatic braking on the vehicle according to the result of the determination process.

[0090] The effects of the above technical solution are as follows: A method for preventing mis-taking the accelerator for the brake proposed in this embodiment can effectively reduce the system manufacturing cost, can be widely applied to various types of vehicles, and improve the application universality of the method and system for preventing mis-taking the accelerator for the brake. At the same time, a method for preventing mis-taking the accelerator for the brake proposed in this embodiment can effectively improve the judgment accuracy and timeliness of mis-taking the driver's accelerator for the brake at any vehicle speed, and thus effectively improve the accuracy and timeliness of forced braking. On the other hand, a method for preventing mis-taking the accelerator for the brake proposed in this embodiment can still perform effective and highly accurate judgment of mis-taking the accelerator for the brake and braking when there is a cliff and no obstacle dangerous road condition and the turn signal is turned on in front of the vehicle, and maximize the accuracy of judging mis-taking the accelerator for the brake.

[0091] In one embodiment of the present invention, determining whether the driver is currently in a state of accidentally stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal includes:

[0092] At the end of the accelerator pedal stroke, judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal by real-time monitoring and obtaining the position of the accelerator pedal;

[0093] Or

[0094] At the end of the accelerator pedal stroke, judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal by using the switch signal fed back by the travel switch;

[0095] Or

[0096] At the end of the accelerator pedal travel, a pressure sensor is used to obtain the pressure value of the accelerator pedal to determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal by mistake.

[0097] The working principle of the above technical solution is as follows: In this embodiment, the method for collecting the feedback information of the accelerator pedal and determining whether the accelerator is misused as the brake includes the following four types:

[0098] First, within the dead zone range at the end of the accelerator pedal travel, an impedance device (including but not limited to springs, hydraulic devices, air devices, etc.) is installed. The impedance force generated by the impedance device at the pedal is much greater than the impedance force generated by the accelerator pedal spring and less than the limit stepping force of a normal driver's single-foot forefoot. After the accelerator pedal enters the dead zone and contacts the impedance device, when the signal value output by the accelerator pedal sensor reaches or exceeds a preset signal threshold (this threshold can be adjusted according to the driver's needs), the accelerator pedal enters the second state, and it is determined that the driver has misused the accelerator as the brake.

[0099] Second, within the dead zone range at the end of the accelerator pedal travel, an impedance device (including but not limited to springs, hydraulic devices, air devices, etc.) is installed, and an angular displacement sensor is installed on the accelerator pedal linkage mechanism. After the accelerator pedal enters the dead zone and contacts the impedance device, when the signal value output by the angular displacement sensor reaches or exceeds a preset signal threshold (this threshold can be adjusted according to the driver's needs), the accelerator pedal enters the second state, and it is determined that the driver has misused the accelerator as the brake.

[0100] Third, within the dead zone range at the end of the accelerator pedal travel, an impedance device (including but not limited to springs, hydraulic devices, air devices, etc.) is installed, and a travel action switch (which can be a travel switch, or an optical switch, proximity switch, microswitch, etc.) is installed. When the accelerator pedal is stepped on a certain position in this dead zone (this position can be adjusted according to the driver's needs), the travel switch acts, and the accelerator pedal enters the second state, and it is determined that the driver has misused the accelerator as the brake.

[0101] Fourthly, within the dead travel range at the end of the accelerator pedal stroke, a pressure sensor is installed. When the pressure value transmitted by the pressure sensor to the ECU is greater than a preset pressure threshold (this pressure threshold is much greater than the impedance force generated by the accelerator pedal spring at the pedal and less than the limit stepping force of a normal driver's single-foot forefoot, and this threshold can be adjusted according to the driver's needs), the accelerator pedal enters the second state and is determined that the driver mistakes the accelerator for the brake.

[0102] The effects of the above technical solutions are as follows: Through the above method, it is possible to effectively improve the accuracy and timeliness of the judgment of the driver mistaking the accelerator for the brake at any vehicle speed, and thus effectively improve the accuracy and timeliness of the forced braking. At the same time, through the above method, when there is a cliff and no obstacle dangerous road condition in front of the vehicle and the turn signal is turned on, it is still possible to effectively and highly accurately judge the mistake of mistaking the accelerator for the brake and perform braking, maximizing the accuracy of the judgment of mistaking the accelerator for the brake.

[0103] In an embodiment of the present invention, at the end of the accelerator pedal stroke, by real-time monitoring and obtaining the position of the accelerator pedal, it is judged whether the driver is currently in a state of mistakenly stepping on the accelerator pedal, including:

[0104] Step 1: At the end of the accelerator pedal stroke, an impedance device is installed below the accelerator pedal; the impedance force generated by the impedance device at the accelerator pedal is greater than the impedance force generated by the accelerator pedal spring and less than the limit stepping force of the driver's single-foot forefoot.

[0105] Step 2: When the accelerator pedal is stepped on, the accelerator pedal sensor of the vehicle outputs a signal value corresponding to any position where the accelerator pedal is stepped on and transmits the position information to the ECU module;

[0106] Step 3: When the accelerator pedal is stepped on to any position, the ECU module real-time judges whether the signal value reaches or exceeds a preset signal threshold. When the signal value reaches or exceeds the preset signal threshold, the ECU module judges that the current state is that the driver mistakenly steps on the accelerator pedal. The threshold can be adjusted by the driver according to the specific needs of the driver.

[0107] The working principle of the above technical solution is as Figure 4 shown. In this embodiment, the impedance device uses a spring; the full stroke of the accelerator pedal is 35 mm; the working voltage of the original vehicle accelerator pedal sensor is 12 V, and the full stroke signal is 5 V; when the original vehicle accelerator pedal is depressed by 30 mm, the output signal of the original vehicle accelerator pedal sensor reaches 5 V, and the output signal of the original vehicle accelerator pedal sensor has a broken line relationship with the stroke of the original vehicle accelerator pedal (as Figure 7), there is an idle stroke at the initial end and the end of the stroke; the accelerator pedal sensor used in this embodiment is specially made by the present invention, and the output signal of the accelerator pedal sensor is in a linear function relationship with the stroke of the accelerator pedal (such as Figure 8 ), which can display the position of the accelerator pedal in real time; after the ECU receives the signal sent by the accelerator pedal sensor specially made in the present invention, it converts it into a signal that the original vehicle ECU can recognize (such as Figure 9 ); and take the original car as an example, which is a pure electric, automatic transmission car equipped with a wire-controlled brake assist system: when judging whether the driver has mistaken the accelerator for the brake, when the accelerator pedal is stepped on 30mm, the accelerator pedal sensor signal sent by the ECU module to the original car ECU reaches 5V, and the pedaling resistance is 30N. At this time, it contacts the newly added impedance spring, adding 60N of resistance. A total of 90N, equivalent to three times the resistance before the impedance is added. At this time, if the driver is clear-headed and knows that he is accelerating and has reached the maximum speed, he will not continue to press the pedal with more force; if the driver is not clear-headed and mistakes the accelerator for the brake, he will press the pedal with all his strength as if he were stepping on the emergency brake. When the accelerator pedal sensor outputs a 6.6V (this threshold can be adjusted according to the driver's needs) signal to the ECU module, the ECU module will make a judgment result that "the driver has mistaken the accelerator for the brake" and perform the following actions at the same time: (1) The value sent by the accelerator pedal sensor is changed to "0" and sent to the original vehicle ECU, and the main motor stops; (2) The value sent by the brake pedal sensor is changed to the maximum and sent to the original vehicle ECU, and the vehicle enters the emergency braking state.

[0108] After the vehicle stops, the driver lifts the accelerator pedal. Before the accelerator pedal sensor output voltage is greater than 0.6V, the vehicle is still in an emergency braking state; after the accelerator pedal sensor output voltage is less than or equal to 0.6V for the first time, the vehicle returns to normal.

[0109] The effect of the above technical solution is: the above method can effectively improve the accuracy and timeliness of the judgment that the driver mistakenly uses the accelerator for the brake at any speed, thereby effectively improving the accuracy and timeliness of forced braking. At the same time, the above method can still effectively and accurately judge and brake the accelerator mistakenly when there is a cliff in front of the vehicle and there is no obstacle dangerous road conditions and the turn signal is turned on, thereby maximizing the accuracy of the judgment of mistakenly using the accelerator for the brake.

[0110] In one embodiment of the present invention, at the end of the accelerator pedal stroke, the switch signal fed back by the travel switch is used to determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal, including:

[0111] At the end of the accelerator pedal stroke, an impedance device and a travel switch are installed below the accelerator pedal; wherein the travel switch adopts a proximity switch;

[0112] When the accelerator pedal is stepped on to the preset position at the end of the accelerator pedal, the travel switch is actuated. When the travel switch is actuated, it is determined that the driver is currently in a state of accidentally stepping on the accelerator pedal. The preset position at which the travel switch is actuated can be adjusted by the driver according to the specific needs of the driver.

[0113] The working principle of the above technical solution is as follows: Figure 5 As shown, in this embodiment, the impedance device adopts a spring; the full stroke of the accelerator pedal is 35mm; the working voltage of the accelerator pedal sensor is 12V, and the full stroke signal is 5V; when the accelerator pedal is stepped on 30mm, the accelerator pedal sensor output signal reaches 5V; a proximity switch 1 is installed below the accelerator pedal linkage mechanism, and when the accelerator pedal is stepped on 33mm, the proximity switch 1 is closed, and a 5V signal is sent to the ECU module; a proximity switch 2 is installed at the initial position of the accelerator pedal, and when the accelerator pedal is in the initial position, the proximity switch 2 is closed, and a 5V signal is sent to the ECU module; taking the original car as a fuel, automatic transmission car, and equipped with a vacuum brake booster system as an example, a brake booster motor is installed below the brake pedal linkage mechanism, and the brake pedal is pulled by a mechanical mechanism; when judging whether the driver has mistaken the accelerator for the brake, when the accelerator pedal is stepped on 30mm, the accelerator pedal sensor output signal reaches 5V, and the pedaling resistance is 30 Newtons. At this time, the newly added impedance spring is contacted, and the newly added resistance is 60 Newtons. The total is 90 Newtons, which is three times the resistance before the impedance is increased. At this time, if the driver is clear-headed and knows that he is accelerating and has reached the maximum speed, he will not increase his strength to continue to press down; if the driver is not sober and mistakes the accelerator for the brake, he will press down with all his strength as if he were stepping on an emergency brake. When the accelerator pedal is stepped down 33mm, the proximity switch is closed and a 5V signal is sent to the ECU module. The ECU module will make a judgment result that "the driver mistakenly took the accelerator for the brake" and perform the following actions at the same time: (1) The value sent by the accelerator pedal sensor is changed to "0" and sent to the original vehicle ECU, and the engine is running at idle speed; (2) The brake assist motor is fully loaded and emergency braking is performed.

[0114] After the vehicle stops, the driver lifts the accelerator pedal. Before the ECU module receives the 5V signal from the proximity switch 2, the vehicle is still in the emergency braking state; after the ECU module receives the 5V signal from the proximity switch 2 for the first time, the brake assist motor reverses and resets, and the vehicle returns to normal.

[0115] The effects of the above technical solution are as follows: Through the above method, it is possible to effectively improve the accuracy and timeliness of the judgment of the driver mistaking the accelerator pedal for the brake pedal at any speed, and thus effectively improve the accuracy and timeliness of the forced braking. At the same time, through the above method, when there is a cliff in front of the vehicle and there is no obstacle dangerous road condition and the turn signal is turned on, it is still possible to effectively and highly accurately judge the mistake of taking the accelerator pedal as the brake pedal and perform braking, maximizing the accuracy of the judgment of mistaking the accelerator pedal for the brake pedal.

[0116] In an embodiment of the present invention, a pressure sensor is installed at the end of the accelerator pedal stroke, and the pressure sensor is used to obtain the pressure value of the accelerator pedal to judge whether the driver is currently in a state of mistakenly stepping on the accelerator pedal, including:

[0117] A pressure sensor is installed below the linkage mechanism of the accelerator pedal of the vehicle. When the accelerator pedal is depressed and enters the end of the accelerator pedal stroke, the linkage mechanism of the accelerator pedal contacts the pressure sensor;

[0118] The pressure sensor continuously collects the pressure value applied by the linkage mechanism of the accelerator pedal. When the pressure value is greater than or equal to a preset pressure threshold, it is judged that the driver is currently in a state of mistakenly stepping on the accelerator pedal; the threshold can be adjusted by the driver according to the specific needs of the driver;

[0119] An angular displacement sensor is installed on the linkage mechanism of the accelerator pedal. The angular displacement sensor correspondingly outputs a signal value corresponding to any position where the accelerator pedal is stepped on, and transmits the signal value to the ECU module.

[0120] The working principle of the above technical solution is as follows: As Figure 6As shown, the full stroke of the accelerator pedal in this embodiment is 35mm; the working voltage of the accelerator pedal sensor is 12V, and the full stroke signal is 5V; when the accelerator pedal is depressed 30mm, the accelerator pedal sensor output signal reaches 5V; a pressure sensor is installed under the accelerator pedal linkage mechanism, and when the accelerator pedal is depressed 33mm, the accelerator pedal linkage mechanism contacts the pressure sensor; an angular displacement sensor is installed on the accelerator pedal linkage mechanism, and the working voltage of the angular displacement sensor is 12V. At the initial position of the accelerator pedal, the angular displacement sensor The output voltage of the angular displacement sensor is 9V, and when the accelerator pedal reaches the end of the stroke, the output voltage of the angular displacement sensor is 1V; the original car is a fuel, manual transmission car, equipped with a compressed air brake booster system; the clutch of the original car is changed to an electric clutch; an intake solenoid valve is connected in parallel next to the intake relay valve of the original car's brake chamber; an outlet solenoid valve is connected in series to the outlet valve of the original car's brake chamber; when judging whether the driver has mistaken the accelerator for the brake, when the accelerator pedal is stepped on 30mm, the accelerator pedal sensor output signal reaches 5V, and the pedaling resistance is 30N. When the accelerator pedal is stepped on 33mm, the accelerator pedal sensor output signal is still 5V, and the pedaling resistance is 31.5N. At this time, the accelerator pedal linkage mechanism contacts the pressure sensor, and when the pressure on the pressure sensor is 60N (this threshold can be adjusted according to the driver's needs). The total impedance felt by people is 91.5N, which is approximately three times that before the impedance is increased. At this time, if the driver is clear-headed and knows that he is accelerating and has reached the maximum speed, he will not increase his strength and continue to press down; if the driver is not clear-headed and mistakes the accelerator for the brake, he will press down with all his strength as if he were stepping on the emergency brake. When the pressure on the pressure sensor is greater than 60 Newtons, the ECU module will make a judgment result that "the driver mistakenly took the accelerator for the brake" and perform the following actions at the same time: (1) The value sent by the accelerator pedal sensor is changed to "0" and sent to the original vehicle ECU, and the engine idles; (2) The electric clutch is activated; (3) The intake solenoid valve opens, the exhaust solenoid valve closes, and compressed air enters the brake chamber, causing emergency braking; (4) A signal is sent to the original vehicle ECU to activate emergency brake assistance systems such as ABS and EBD.

[0121] After the vehicle stops, the driver lifts the accelerator pedal. When the output voltage of the angular displacement sensor is less than 8.6V, the vehicle is still in an emergency braking state; when the output voltage of the angular displacement sensor is equal to or greater than 8.6V for the first time, the inlet solenoid valve is closed, the outlet solenoid valve is opened, the compressed air in the brake chamber is emptied, and the vehicle returns to normal.

[0122] The effects of the above technical solution are as follows: Through the above method, it is possible to effectively improve the accuracy and timeliness of the judgment of the driver mistaking the accelerator pedal for the brake pedal at any speed, and further effectively improve the accuracy and timeliness of the forced braking. At the same time, through the above method, when there is a cliff in front of the vehicle and there is no obstacle dangerous road condition and the turn signal is turned on, it is still possible to implement an effective and highly accurate judgment of mistaking the accelerator pedal for the brake pedal and brake braking, and to maximize the accuracy of the judgment of mistaking the accelerator pedal for the brake pedal.

[0123] In one embodiment of the present invention, the adaptive automatic braking process for the vehicle to automatically brake includes:

[0124] When the system determines that the current state is that the driver accidentally steps on the accelerator pedal, first cut off the power source of the vehicle, and then adopt different emergency braking methods according to the type of the vehicle's brake assist system; wherein, the types of the brake assist system include a brake-by-wire assist system, a vacuum brake assist system, and a compressed air brake assist system;

[0125] When the type of the brake assist system adopted by the vehicle is a brake-by-wire assist system, control the brake assist motor of the brake assist system to be fully loaded to achieve the emergency braking of the vehicle;

[0126] When the type of the brake assist system adopted by the vehicle is a vacuum brake assist system or a compressed air brake assist system, the emergency braking of the vehicle is achieved through any one of the braking methods of braking method one, braking method two, or braking method three;

[0127] Among them, the braking method one, braking method two, and braking method three are as follows:

[0128] Braking method one: Install a brake assist motor below the brake pedal linkage mechanism of the vehicle, and through the full load loading of the brake assist motor, pull the brake pedal to achieve the emergency braking of the vehicle;

[0129] Braking method two: Install an electromagnet below the brake pedal linkage mechanism of the vehicle, and through the energization of the electromagnet, adsorb the armature and pull the brake pedal to achieve the emergency braking of the vehicle;

[0130] Braking method three: Add a solenoid valve device to the air supply and exhaust circuit of the vehicle's brake chamber. When the driver actively steps on the brake, the vehicle's original mechanical control method is used to achieve the vehicle's braking. When the driver mistakes the accelerator pedal for the brake, the emergency braking of the vehicle is achieved by controlling the on-off of the solenoid valve.

[0131] The effects of the above technical solution are as follows: Through the above method, it is possible to effectively improve the accuracy and timeliness of the judgment of the driver mis-taking the accelerator pedal for the brake pedal at any speed, and further effectively improve the accuracy and timeliness of the forced braking. At the same time, through the above method, it is possible to still effectively and highly accurately judge the mis-taking of the accelerator pedal for the brake pedal and perform brake braking when there is a cliff in front of the vehicle, no obstacle dangerous road conditions, and the turn signal is turned on, maximizing the accuracy of the judgment of mis-taking the accelerator pedal for the brake pedal.

[0132] In one embodiment of the present invention, the method further includes:

[0133] Preventing the vehicle from mis-traveling during the process of the accelerator pedal entering the first state from the second state, where the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU module determines that the driver mis-takes the accelerator pedal for the brake pedal;

[0134] Wherein, preventing the vehicle from mis-traveling during the process of the accelerator pedal entering the first state from the second state includes:

[0135] Monitoring and obtaining the position information of the accelerator pedal. When the accelerator pedal enters the first state from the second state, before the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle is still in the emergency braking state; when the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle returns to the normal state;

[0136] Or

[0137] Presetting a time value. When the accelerator pedal enters the first state from the second state, within the preset time, the vehicle is still in the emergency braking state, and when the preset time is exceeded, the vehicle returns to the normal state. Wherein, the time value is obtained through the following formula:

[0138]

[0139] Wherein, T represents the preset time value; n represents the number of times of entering the second state; T 0 represents the duration of the second state after entering the second state; Zi represents the duration from entering the second state to the vehicle successfully braking and completely stopping for the i-th time after entering the second state; T zmax represents the duration value corresponding to the longest braking success time among the durations from entering the second state to the vehicle successfully braking and completely stopping for all n times of entering the second state.

[0140] Wherein, the method of obtaining the position information of the accelerator pedal and judging whether the accelerator pedal returns to the initial position includes the following three methods:

[0141] Method 1: Judging through the signal fed back by the accelerator pedal sensor;

[0142] Method 2: Install an angular displacement sensor on the accelerator pedal and judge based on the signal fed back by the angular displacement sensor;

[0143] Method 3: Install a travel switch at the initial position of the accelerator pedal travel and judge based on the switch signal fed back by the travel switch.

[0144] The effects of the above technical solutions are as follows: Through the above methods, it is possible to effectively improve the accuracy and timeliness of judging whether the driver mistakes the accelerator for the brake at any speed, and thus effectively improve the accuracy and timeliness of forced braking. At the same time, through the above methods, when there is a cliff in front of the vehicle and there is no obstacle dangerous road condition and the turn signal is turned on, it is still possible to effectively and highly accurately judge the mistake of taking the accelerator as the brake and perform braking, maximizing the accuracy of judging the mistake of taking the accelerator as the brake.

[0145] At the same time, through the above method of preventing the vehicle from misdriving during the process of the accelerator pedal entering the first state from the second state, it is possible to effectively prevent the situation of the vehicle misdriving during the process of the accelerator pedal entering the first state from the second state, further improving the safety of vehicle driving.

[0146] An embodiment of the present invention provides a system for preventing mis-taking the accelerator as the brake, as Figure 2 shown, the system includes:

[0147] A threshold setting module, which is used for the driver to set a threshold according to his own specific needs;

[0148] An information acquisition module, which is used to acquire the force information of the driver stepping on the vehicle accelerator pedal;

[0149] A judgment module, which is used to judge whether the driver is currently in a state of mis-stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal;

[0150] An automatic braking module, which is used to perform adaptive automatic braking on the vehicle when it is determined through judgment that the current driver is in a state of mis-stepping on the accelerator pedal, so that the vehicle automatically brakes;

[0151] An audible and visual alarm module, which is used to emit an audible and visual alarm during automatic braking;

[0152] A module for preventing misdriving, which is used to prevent the vehicle from misdriving during the process of the accelerator pedal entering the first state from the second state, wherein the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU module determines that the driver mistakes the accelerator for the brake.

[0153] Among them, the judgment module includes:

[0154] A first judgment module, configured to determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal by monitoring and acquiring the position of the accelerator pedal in real time at the end of the accelerator pedal travel;

[0155] A second judgment module, configured to install a travel switch at the end of the accelerator pedal travel, and determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal by using the switch signal fed back by the travel switch;

[0156] A third judgment module, configured to acquire the pressure value of the accelerator pedal by using a pressure sensor at the end of the accelerator pedal travel, and determine whether the driver is currently in a state of accidentally stepping on the accelerator pedal.

[0157] The automatic braking module includes:

[0158] A power source cut-off module, configured to cut off the power source of the vehicle;

[0159] Then, according to the type of the brake assist system of the vehicle, different emergency braking methods are adopted; wherein, the types of the brake assist system include a by-wire brake assist system, a vacuum brake assist system, and a compressed air brake assist system;

[0160] A first emergency braking module, configured to control the brake assist motor of the brake assist system to be fully loaded when the type of the brake assist system adopted by the vehicle is a by-wire brake assist system, so as to implement emergency braking of the vehicle;

[0161] A second emergency braking module, configured to implement emergency braking of the vehicle by any one of a first braking method, a second braking method, or a third braking method when the type of the brake assist system adopted by the vehicle is a vacuum brake assist system or a compressed air brake assist system.

[0162] The operation process of the anti-misoperation driving module includes monitoring and acquiring the position information of the accelerator pedal. After the accelerator pedal enters the first state from the second state, before the accelerator pedal is fully restored to the initial position of the accelerator pedal, the vehicle is still in an emergency braking state; after the accelerator pedal is fully restored to the initial position of the accelerator pedal, the vehicle returns to the normal state;

[0163] Among them, the method of acquiring the position information of the accelerator pedal and determining whether the accelerator pedal is restored to the initial position includes the following three types:

[0164] The first method is to judge by the signal fed back by the accelerator pedal sensor;

[0165] The second method is to install an angular displacement sensor on the accelerator pedal and judge by the signal fed back by the angular displacement sensor;

[0166] Method 3: Install a travel switch at the initial position of the accelerator pedal stroke and judge through the switch signal fed back by the travel switch.

[0167] The end of the accelerator pedal stroke refers to the last section of the accelerator pedal stroke, rather than a single point at the end. In the last section of the accelerator pedal stroke, the signal value output by the accelerator pedal sensor reaches the maximum. As the accelerator pedal stroke changes and the signal output by the accelerator pedal sensor no longer changes, this section of the stroke is called the dead zone. It is best to place the point where the system determines that the driver mistakes the accelerator for the brake within this dead zone. In this way, the maximum speed of the original vehicle will not be reduced. Of course, if the point where the system determines that the driver mistakes the accelerator for the brake is not placed within this dead zone, it is still within the protection scope of the present invention.

[0168] If the word "original vehicle" is not added before "ECU", it refers to the newly added ECU for implementing the functions described in the present invention. Its software program can be placed in the chip of the original vehicle ECU or a new chip can be added.

[0169] The effects of the above technical solutions are as follows: Through the above method, it is possible to effectively improve the accuracy and timeliness of the judgment of the driver mistaking the accelerator for the brake at any speed, and thus effectively improve the accuracy and timeliness of the forced braking. At the same time, through the above method, when there is a cliff in front of the vehicle and there is no obstacle dangerous road condition and the turn signal is turned on, it is still possible to effectively and highly accurately judge the driver mistaking the accelerator for the brake and perform braking, maximizing the accuracy of the judgment of the driver mistaking the accelerator for the brake.

[0170] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for preventing mis-taking the accelerator pedal for the brake pedal, characterized in that, the method includes: collecting the force information of the driver stepping on the accelerator pedal of the vehicle; judging whether the driver is currently in a state of mis-stepping on the accelerator pedal according to the force information of the driver stepping on the accelerator pedal of the vehicle; including: at the end of the accelerator pedal stroke, judging whether the driver is currently in a state of mis-stepping on the accelerator pedal by monitoring and obtaining the position of the accelerator pedal in real time; or at the end of the accelerator pedal stroke, judging whether the driver is currently in a state of mis-stepping on the accelerator pedal by using the switch signal fed back by the travel switch; when it is determined through judgment that the driver is currently in a state of mis-stepping on the accelerator pedal, performing adaptive automatic braking on the vehicle to make the vehicle automatically brake; the judging whether the driver is currently in a state of mis-stepping on the accelerator pedal by monitoring and obtaining the position of the accelerator pedal in real time at the end of the accelerator pedal stroke includes: at the end of the accelerator pedal stroke, installing an impedance device under the accelerator pedal; obtaining the position information of the accelerator pedal and transmitting the position information to the ECU module; when the accelerator pedal is stepped on to any position, the ECU module judges in real time whether the signal value reaches or exceeds a preset signal threshold. When the signal value reaches or exceeds the preset signal threshold, the ECU module judges that the current state is that the driver mis-steps on the accelerator pedal. The threshold can be adjusted by the driver according to the specific needs of the driver; wherein, the position information of the accelerator pedal is obtained and transmitted to the ECU module in the following two ways; including: when the accelerator pedal is stepped on, the accelerator pedal sensor of the vehicle correspondingly outputs a signal value corresponding to the accelerator pedal being stepped on to any position and transmits the signal value to the ECU module; or installing an angular displacement sensor on the accelerator pedal. When the accelerator pedal is stepped on, the angular displacement sensor correspondingly outputs a signal value corresponding to the accelerator pedal being stepped on to any position and transmits the signal value to the ECU module; the judging whether the driver is currently in a state of mis-stepping on the accelerator pedal by using the switch signal fed back by the travel switch at the end of the accelerator pedal stroke includes: at the end of the accelerator pedal stroke, installing an impedance device and a travel switch under the accelerator pedal; when the accelerator pedal is stepped on to a preset position at the end of the accelerator pedal stroke, the travel switch acts. When the travel switch acts, it is judged that the current state is that the driver mis-steps on the accelerator pedal. The preset position at which the travel switch acts can be adjusted by the driver according to the specific needs of the driver.

2. According to the method described in claim 1, characterized in that, the performing adaptive automatic braking on the vehicle to make the vehicle automatically brake includes: When the system determines that the current state is that the driver accidentally steps on the accelerator pedal, first cut off the power source of the vehicle, and then, according to the type of the vehicle's brake assist system, adopt different emergency braking methods; wherein, the types of the brake assist system include a by-wire brake assist system, a vacuum brake assist system, and a compressed air brake assist system; When the type of the brake assist system adopted by the vehicle is a by-wire brake assist system, control the brake assist motor of the brake assist system to be fully loaded to achieve emergency braking of the vehicle; When the type of the brake assist system adopted by the vehicle is a vacuum brake assist system or a compressed air brake assist system, achieve emergency braking of the vehicle through any one of braking method one, braking method two, or braking method three; Among them, braking method one, braking method two, and braking method three are as follows: Braking method one: Install a brake assist motor below the brake pedal linkage mechanism of the vehicle, and through the full load of the brake assist motor, pull the brake pedal to achieve emergency braking of the vehicle; Braking method two: Install an electromagnet below the brake pedal linkage mechanism of the vehicle, and through the energization of the electromagnet, adsorb the armature and pull the brake pedal to achieve emergency braking of the vehicle; Braking method three: Add a solenoid valve device to the air supply and exhaust circuit of the vehicle's brake chamber. When the driver actively steps on the brake, use the original mechanical control method of the vehicle to achieve vehicle braking. When the driver mistakes the accelerator for the brake, achieve emergency braking of the vehicle by controlling the on-off of the solenoid valve.

3. According to the method described in claim 1, it is characterized in that, the method further includes: Prevent the vehicle from misdriving during the process of the accelerator pedal entering the first state from the second state, wherein the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU determines that the driver mistakes the accelerator for the brake; Among them, preventing the vehicle from misdriving during the process of the accelerator pedal entering the first state from the second state includes: Monitor and obtain the position information of the accelerator pedal. When the accelerator pedal enters the first state from the second state, before the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle is still in the emergency braking state; after the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle returns to the normal state; Among them, the method of obtaining the position information of the accelerator pedal and judging whether the accelerator pedal returns to the initial position includes the following three types: Method one: Judge through the signal fed back by the accelerator pedal sensor; Method two: Install an angular displacement sensor on the accelerator pedal and judge through the signal fed back by the angular displacement sensor; Method three: Install a travel switch at the initial position of the accelerator pedal stroke and judge through the switch signal fed back by the travel switch.

4. According to the method described in claim 2, it is characterized in that, The system for preventing mistaking the accelerator for the brake includes: A threshold setting module for the driver to set the threshold according to his own specific needs; An information collection module for collecting the force information of the driver stepping on the vehicle's accelerator pedal; A judgment module, configured to judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal according to the force information of the driver stepping on the vehicle accelerator pedal; it includes: a judgment module one, configured to judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal by monitoring and acquiring the position of the accelerator pedal in real time at the end of the accelerator pedal stroke; a judgment module two, configured to install a travel switch at the end of the accelerator pedal stroke, and judge whether the driver is currently in a state of accidentally stepping on the accelerator pedal by using the switch signal fed back by the travel switch; An automatic braking module, configured to perform adaptive automatic braking on the vehicle to make the vehicle automatically brake when it is determined through judgment that the current driver is in a state of accidentally stepping on the accelerator pedal; it includes: a power source cut-off module, configured to cut off the power source of the vehicle; and then adopt different emergency braking methods according to the type of the vehicle's brake assist system; wherein, the type of the brake assist system includes a by-wire brake assist system, a vacuum brake assist system, and a compressed air brake assist system; an emergency braking module one, configured to control the brake assist motor of the brake assist system to be fully loaded when the type of the brake assist system adopted by the vehicle is a by-wire brake assist system, so as to achieve emergency braking of the vehicle; an emergency braking module two, configured to achieve emergency braking of the vehicle through any one of braking method one, braking method two, or braking method three when the type of the brake assist system adopted by the vehicle is a vacuum brake assist system or a compressed air brake assist system; An audible and visual alarm module, configured to emit an audible and visual alarm during automatic braking; A module for preventing misoperation, configured to prevent the vehicle from misoperating during the process of the accelerator pedal entering the first state from the second state, wherein the first state of the accelerator pedal refers to the normal state of the vehicle; the second state of the accelerator pedal refers to the state where the ECU determines that the driver mistakes the accelerator for the brake. The operation process includes monitoring and acquiring the position information of the accelerator pedal. When the accelerator pedal enters the first state from the second state, the vehicle is still in the emergency braking state before the accelerator pedal fully returns to the initial position of the accelerator pedal; when the accelerator pedal fully returns to the initial position of the accelerator pedal, the vehicle returns to the normal state; Among them, there are three ways to acquire the position information of the accelerator pedal and judge whether the accelerator pedal returns to the initial position: Way one, judge through the signal fed back by the accelerator pedal sensor; Way two, install an angular displacement sensor on the accelerator pedal, and judge through the signal fed back by the angular displacement sensor; Way three, install a travel switch at the initial position of the accelerator pedal stroke, and judge through the switch signal fed back by the travel switch.

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