Accelerator pedal anti-misstepping method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for preventing accidental pressing of an accelerator pedal, wherein the method for preventing accidental pressing of an accelerator pedal comprises: obtaining first obstacle information, second obstacle information and vehicle operating condition information; fusing the first obstacle information and the second obstacle information to determine the collision time between the vehicle and the obstacle; determining the state of the accelerator pedal based on the vehicle operating condition information and the collision time, and making corresponding restrictions based on the accelerator pedal state. The present application belongs to the field of automobile braking, and by obtaining and fusing the first obstacle information and the second obstacle information, the accuracy of the obstacle information is improved, thereby improving the accuracy of calculating the distance and collision time between the vehicle and the obstacle, and based on the vehicle operating condition information and the collision time, the determined accelerator pedal state is more accurate, so that the device can accurately restrict the accelerator pedal, thereby improving the user experience.

Description

Technical Field

[0001] The present application relates to the field of automobile braking, and in particular to a method, device, equipment and storage medium for preventing accidental stepping of an accelerator pedal. Background Art

[0002] As the brain of a pure electric bus, the vehicle controller can collect signals from the motor control system, battery management system, accelerator pedal and other components, comprehensively analyze the driver's driving intentions and make response judgments, and monitor the control signals of the lower-level controllers. It plays a key role in the normal driving of the car, fault diagnosis and processing, vehicle status monitoring and other functions.

[0003] At present, the number of public transportation accidents caused by drivers mistakenly pressing the accelerator pedal as the brake pedal in an emergency is high. The accelerator pedal anti-misstepping system of existing pure electric buses often uses ultrasonic radar to detect the distance of obstacles. The distance of obstacles detected by ultrasonic waves is sent to the vehicle controller through the CAN bus. When the distance of obstacles detected by ultrasonic radar is less than a certain value, the vehicle controller cuts off the power output to prevent the accelerator from being misstepped. Ultrasonic radar has a great advantage in short-distance measurement. The accuracy is high when the detection range is between 0.1-3 meters. At present, some ultrasonic radars that measure side obstacles have a range of 7 meters. However, ultrasonic radars are easily affected by weather conditions. The propagation speed is different in different weather conditions. The ranging error is large when the vehicle speed is fast. In addition, the large scattering angle of ultrasonic waves is not conducive to the transmission of recovery signals at a long distance, resulting in a decrease in the anti-misstepping effect of the accelerator pedal and a reduced user experience. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, equipment and storage medium for preventing accidental pressing of an accelerator pedal, aiming to solve the technical problem in the prior art that the distance measurement error is large, resulting in a decrease in the anti-accelerator pedal's accidental pressing effect.

[0005] To achieve the above objectives, the present application provides a method for preventing accidental stepping of an accelerator pedal, the method comprising:

[0006] Acquiring first obstacle information, second obstacle information, and vehicle operating condition information;

[0007] fusing the first obstacle information and the second obstacle information to determine a collision time between the vehicle and the obstacle;

[0008] Based on the vehicle operating condition information and the collision time, an accelerator pedal state is determined, and corresponding restrictions are performed based on the accelerator pedal state.

[0009] Optionally, the step of fusing the first obstacle information and the second obstacle information to determine the collision time between the vehicle and the obstacle includes:

[0010] The first obstacle information and the second obstacle information are integrated to determine the distance and relative speed between the obstacle and the vehicle;

[0011] Based on the distance and the relative speed, a collision time between the vehicle and the obstacle is calculated.

[0012] Optionally, the first obstacle information includes a first distance value, the second obstacle information includes a second distance value, and the step of fusing the first obstacle information and the second obstacle information to determine the distance and relative speed between the obstacle and the vehicle includes:

[0013] Calculating a difference between the first distance value and the second distance value;

[0014] Determine whether the difference is greater than a preset threshold and obtain a determination result;

[0015] Based on the judgment result, the distance and relative speed between the obstacle and the vehicle are determined.

[0016] Optionally, the first distance value includes a first longitudinal distance value, the second distance value includes a second longitudinal distance value, and the step of determining the distance between the obstacle and the vehicle based on the judgment result includes:

[0017] If the judgment result is that the difference is greater than the preset threshold, the first longitudinal distance value is determined as the distance between the obstacle and the vehicle;

[0018] If the judgment result is that the difference is not greater than the preset threshold, the second longitudinal distance value is determined as the distance between the obstacle and the vehicle.

[0019] Optionally, the first obstacle information further includes a first obstacle speed, the second obstacle information further includes a second obstacle speed, and the step of determining the relative speed between the obstacle and the vehicle based on the judgment result includes:

[0020] Get vehicle speed;

[0021] If the judgment result is that the difference is greater than the preset threshold, the first obstacle speed is determined as the obstacle target speed, and based on the vehicle speed, the relative speed between the obstacle and the vehicle is calculated;

[0022] If the judgment result is that the difference is not greater than the preset threshold, the second obstacle speed is determined as the obstacle target speed, and the relative speed between the obstacle and the vehicle is calculated based on the vehicle speed.

[0023] Optionally, the step of determining an accelerator pedal state based on the vehicle operating condition information and the collision time, and performing corresponding restrictions based on the accelerator pedal state includes:

[0024] Based on the vehicle operating condition information and the collision time, determining whether the vehicle meets the activation condition of the accelerator pedal mis-stepping prevention function;

[0025] If the vehicle meets the activation condition of the accelerator pedal anti-misstepping function, the accelerator pedal state is determined to be a locked state, and the power output of the accelerator pedal is cut off.

[0026] Optionally, if the vehicle meets the activation condition of the accelerator pedal anti-misstepping function, after the step of determining that the accelerator pedal state is in a locked state, the method includes:

[0027] Receive a signal for exiting the anti-accidental-stepping function;

[0028] Based on the signal for exiting the anti-misstepping function, the power output of the accelerator pedal is restored, and the state of the accelerator pedal is converted to a normal state.

[0029] The present application also provides an accelerator pedal anti-misstepping device, the accelerator pedal anti-misstepping device comprising:

[0030] An acquisition module, used to acquire first obstacle information, second obstacle information and vehicle operating condition information;

[0031] a fusion module, configured to fuse the first obstacle information and the second obstacle information to determine a collision time between the vehicle and the obstacle;

[0032] A determination module is used to determine an accelerator pedal state based on the vehicle operating condition information and the collision time, and to perform corresponding restrictions based on the accelerator pedal state.

[0033] The present application also provides an accelerator pedal anti-misstepping device, the accelerator pedal anti-misstepping device comprising: a memory, a processor, and a program stored in the memory for implementing the accelerator pedal anti-misstepping method,

[0034] The memory is used to store a program for implementing a method for preventing accidental stepping of an accelerator pedal;

[0035] The processor is used to execute a program for implementing the accelerator pedal anti-misoperation method to implement the steps of the accelerator pedal anti-misoperation method.

[0036] The present application also provides a storage medium, on which is stored a program for implementing a method for preventing an accelerator pedal from being accidentally stepped on. The program for implementing a method for preventing an accelerator pedal from being accidentally stepped on is executed by a processor to implement the steps of the method for preventing an accelerator pedal from being accidentally stepped on.

[0037] The present application provides a method, device, equipment and storage medium for preventing accidental stepping of the accelerator pedal. Compared with the prior art in which the distance measurement error is large and the anti-accelerator pedal function is reduced, in the present application, the first obstacle information, the second obstacle information and the vehicle operating condition information are obtained; the first obstacle information and the second obstacle information are fused to determine the collision time between the vehicle and the obstacle; based on the vehicle operating condition information and the collision time, the accelerator pedal state is determined, and corresponding restrictions are made based on the accelerator pedal state. That is, the present application improves the accuracy of the obstacle information by obtaining and fusing the first obstacle information and the second obstacle information, thereby improving the accuracy of calculating the distance and collision time between the vehicle and the obstacle. Based on the vehicle operating condition information and the collision time, the accelerator pedal state determined is more accurate, so that the device can accurately restrict the accelerator pedal, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application;

[0040] Figure 2 This is a flow chart of the first embodiment of the accelerator pedal prevention method of the present application;

[0041] Figure 3 This is a schematic diagram of the accelerator pedal anti-misstepping method system of this application;

[0042] Figure 4 This is an overall schematic diagram of the second embodiment of the accelerator pedal prevention method of the present application.

[0043] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present application.

[0046] The terminal in the embodiment of the present application can be a PC, or it can be a smart phone, a tablet computer, an e-book reader, an MP3 (Moving Picture Experts Group Audio Layer III) player, an MP4 (Moving Picture Experts Group Audio Layer IV) player, a portable computer, or other portable terminal devices with display function.

[0047] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0048] Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, sensors include light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and / or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; of course, the mobile terminal may also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which will not be repeated here.

[0049] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the terminal, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0050] like Figure 1 As shown, the memory 1005 as a computer storage medium may include an operating device, a network communication module, a user interface module, and an accelerator pedal mis-stepping prevention program.

[0051] exist Figure 1 In the terminal shown, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the accelerator pedal anti-misstepping program stored in the memory 1005.

[0052] Reference Figure 2 The embodiment of the present application provides a method for preventing accidental stepping of an accelerator pedal, the method for preventing accidental stepping of an accelerator pedal comprising:

[0053] Step S100, obtaining first obstacle information, second obstacle information and vehicle operating condition information;

[0054] Step S200, fusing the first obstacle information and the second obstacle information to determine a collision time between the vehicle and the obstacle;

[0055] Step S300: determining the state of the accelerator pedal based on the vehicle operating condition information and the collision time, and performing corresponding restrictions based on the accelerator pedal state.

[0056] In this embodiment, the specific application scenario may be:

[0057] The existing pure electric bus accelerator pedal anti-misstepping system often uses ultrasonic radar to detect the distance of obstacles. The distance of obstacles detected by ultrasonic wave is sent to the vehicle controller through the CAN bus. When the distance of obstacles detected by ultrasonic radar is less than a certain value, the vehicle controller cuts off the power output to prevent the accelerator from being accidentally stepped on. However, ultrasonic radar is easily affected by weather conditions. The propagation speed is different in different weather conditions. The error is larger when the vehicle speed is faster. In addition, the ultrasonic scattering angle is large, which is not conducive to the transmission of recovery signals at a longer distance, resulting in large errors and low accuracy in preventing the accelerator from being accidentally stepped on.

[0058] The specific steps are as follows:

[0059] Step S100, obtaining first obstacle information, second obstacle information and vehicle operating condition information;

[0060] In this embodiment, the obstacle information includes obstacle ID, obstacle longitudinal distance, obstacle lateral distance, obstacle longitudinal relative speed, obstacle lateral relative speed, obstacle longitudinal acceleration and obstacle lateral acceleration, etc., wherein the obstacle information is obtained by the information acquisition module preset by the vehicle, and the information acquisition module includes a camera and a radar. Specifically, the first obstacle information is the obstacle information extracted from the video image obtained by the camera preset by the vehicle, and the second obstacle information is the obstacle information extracted from the radar signal obtained by the radar preset by the vehicle. Specifically, the obstacle ID is the ID mark given to the detected obstacle by the information acquisition module, which is equivalent to labeling the obstacle. The obstacle ID can be a number, a letter, or any other character. It should be noted that each information acquisition module has the same ID for the same obstacle; the obstacle longitudinal distance is the longitudinal distance between the detected obstacle and the vehicle given by the information acquisition module, and the obstacle lateral distance is the lateral distance between the detected obstacle and the vehicle given by the information acquisition module.

[0061] In this embodiment, the vehicle operating condition information is the vehicle condition content of the signal output by the vehicle driver when driving the vehicle, wherein the vehicle operating condition information includes the turn signal, the steering wheel angle signal and calculates the steering wheel angle change rate, the brake pedal signal, the handbrake signal, the accelerator pedal opening size and calculates the accelerator pedal change rate, which is equivalent to detecting whether the driver turns on the turn signal, the steering angle, whether the brake pedal is stepped on, whether the handbrake is pulled, and the opening of the accelerator pedal.

[0062] Specifically, the step S100 includes the following steps S110-S120:

[0063] Step S110, receiving a video image and a radar signal;

[0064] Step S120: determining the first obstacle distance information and the second obstacle distance information based on the video image and the radar signal.

[0065] In this embodiment, the device extracts information from the video image and the radar signal to obtain the first obstacle distance information and the second obstacle distance information, respectively. The video image and radar signal processing are prior arts and will not be described in detail here.

[0066] Step S200, fusing the first obstacle information and the second obstacle information to determine a collision time between the vehicle and the obstacle;

[0067] In this embodiment, the device fuses the first obstacle information and the second obstacle information obtained by the information acquisition module to determine the most accurate obstacle information, calculate the collision time between the vehicle and the obstacle, so as to improve the accuracy of calculating the collision time between the vehicle and the obstacle, and ultimately improve the accuracy of the accelerator pedal anti-misstepping judgment.

[0068] Specifically, the step S200 includes the following steps S210-S220:

[0069] Step S210, fusing the first obstacle information and the second obstacle information to determine the distance and relative speed between the obstacle and the vehicle;

[0070] In this embodiment, the device fuses the first obstacle information and the second obstacle information acquired by the information acquisition module to determine the distance and relative speed between the obstacle and the vehicle.

[0071] Specifically, the step S210 includes the following steps S211-S213:

[0072] Step S211, calculating the difference between the first distance value and the second distance value;

[0073] In this embodiment, the first distance value includes a first longitudinal distance value, and the second distance value includes a second longitudinal distance value, wherein the first distance value also includes a first lateral distance, and the second distance value includes a second lateral distance, and the difference between the first distance value and the second distance value is the difference between the first longitudinal distance and the second longitudinal distance and the difference between the first lateral distance and the second lateral distance.

[0074] Step S212, determining whether the difference is greater than a preset threshold, and obtaining a determination result;

[0075] Step S213: determining the distance and relative speed between the obstacle and the vehicle based on the judgment result.

[0076] In this embodiment, the device determines whether the difference is greater than a preset threshold value, and obtains a judgment result. If the difference between the first longitudinal distance and the second longitudinal distance and the difference between the first lateral distance and the second lateral distance is less than or equal to the preset threshold value, the judgment result is to select the second longitudinal distance and the second relative speed, wherein the second longitudinal distance and the second relative speed are the second obstacle information obtained by the radar; if the difference between the first longitudinal distance and the second longitudinal distance or the difference between the first lateral distance and the second lateral distance is greater than the preset threshold value, the judgment result is to select the first longitudinal distance and the first relative speed, wherein the first longitudinal distance and the first relative speed are the first obstacle information obtained by the radar. Among them, the preset threshold value can be set by itself and is not specifically limited here. For example, the preset threshold value is set to 5m, the longitudinal distance obtained by the camera is 20m, the lateral distance is 0.5m, and the relative speed is 28m / s, the longitudinal distance obtained by the radar is 16m, the lateral distance is 0.4m, and the relative speed is 30m / s, and the difference is calculated as 4m and 0.1m. If the difference is greater than the preset threshold value, the judgment result is to select the second longitudinal distance of 16m and the relative speed of 30m / s of the radar.

[0077] In this embodiment, the camera is preferably a forward-looking monocular camera, and the radar is preferably a 77GHZ ultrasonic radar or a millimeter-wave radar. The forward-looking monocular camera can detect distances greater than 100 meters and can distinguish the size and distance of obstacles. The maximum detectable distance of the millimeter-wave radar is 250 meters, and the maximum relative speed at which obstacles can be detected is 240km / h. Compared with ultrasonic radars, it has good real-time performance, high accuracy, reliable operation, is not easily affected by environmental factors such as weather, and has a long detection distance.

[0078] Specifically, the step S213 includes the following steps A100-A200:

[0079] Step A100: if the judgment result is that the difference is greater than the preset threshold, the first longitudinal distance value is determined as the distance between the obstacle and the vehicle;

[0080] In this embodiment, if the judgment result determines that the difference is greater than the preset threshold, the device determines the distance between the obstacle and the vehicle as the first longitudinal distance, that is, the difference between the obstacle information obtained by the camera and the radar is too large, and the first obstacle information of the camera, that is, the first longitudinal distance, is selected.

[0081] Step A200: If the judgment result is that the difference is not greater than the preset threshold, the second longitudinal distance value is determined as the distance between the obstacle and the vehicle.

[0082] In this embodiment, if the judgment result determines that the difference is not greater than the preset threshold, the device determines the distance between the obstacle and the vehicle as the second longitudinal distance, that is, the difference between the obstacle information obtained by the camera and the radar is not large, and the second obstacle information of the radar, that is, the second longitudinal distance, is selected.

[0083] Specifically, the step S213 further includes the following steps B100-B300:

[0084] Step B100, obtaining vehicle speed;

[0085] In this embodiment, the device obtains the current vehicle speed by receiving the motor speed and the main reduction ratio of the vehicle, and calculating the vehicle speed based on the tire rolling radius of the vehicle. Specifically, the vehicle speed calculation method is as follows:

[0086] V SV (t) = 0.377*r*n N / i0*3.6

[0087] Where r is the rolling radius of the tire, n N is the motor speed, i0 is the main reduction ratio.

[0088] Step B200, if the judgment result is that the difference is greater than the preset threshold, determining the first obstacle speed as the obstacle target speed, and calculating the relative speed between the obstacle and the vehicle based on the vehicle speed;

[0089] In this embodiment, if the judgment result determines that the difference is greater than the preset threshold, the device determines the obstacle target speed as the first obstacle target speed, and calculates the relative speed between the obstacle and the vehicle based on the first obstacle target speed and the vehicle speed.

[0090] Step B300: If the judgment result is that the difference is not greater than the preset threshold, the second obstacle speed is determined as the obstacle target speed, and the relative speed between the obstacle and the vehicle is calculated based on the vehicle speed.

[0091] In this embodiment, if the judgment result determines that the difference is not greater than the preset threshold, the device determines the obstacle target speed as the second obstacle target speed, and calculates the relative speed between the obstacle and the vehicle based on the second obstacle target speed and the vehicle speed.

[0092] In this embodiment, the relative speed calculation formula is as follows:

[0093] V r (t) = V SV (t)-V TV (t)

[0094] Among them, V r (t) is the relative speed (m / s), V SV (t) is the vehicle speed (m / s), V TV (t) is the obstacle target speed (m / s).

[0095] Step S220: Calculate the collision time between the vehicle and the obstacle based on the distance and the relative speed.

[0096] In this embodiment, the device calculates the collision time between the vehicle and the obstacle based on the distance and the relative speed. At time t, the time required for the vehicle to collide with the target obstacle is calculated as follows:

[0097] TTC=x c (t) / V r (t)

[0098] Among them, x c (t) is the longitudinal distance of the main target (m), V SV (t) is the relative speed (m / s).

[0099] The device determines the collision level of the obstacle according to the calculated collision time TTC, wherein the collision level includes collision level 0, collision level 1, collision level 2 and collision level 3. When TTC>3.2s, the collision level is 0, and there is no warning; when 2.5s≤TTC≤3.2s, the collision level is 1, and there is a level 1 warning; when 1.6s≤TTC<2.5s, the collision level is 2, and there is a level 2 warning; when TTC<1.6s, the collision level is 3, and there is a level 3 warning; wherein the warning is an alarm that the device warns the driver in the form of text prompts and sounds.

[0100] Step S300: determining the state of the accelerator pedal based on the vehicle operating condition information and the collision time, and performing corresponding restrictions based on the accelerator pedal state.

[0101] In this embodiment, the accelerator pedal status includes a locked status and a normal status. In the locked status, after the accelerator pedal anti-misstepping function is activated, the vehicle controller determines that the accelerator pedal opening size is set to 0, and the requested driving torque sent to the MCU is 0, and the power output is cut off.

[0102] Specifically, the step S300 includes the following steps S310-S320:

[0103] Step S310, judging whether the vehicle meets the activation condition of the accelerator pedal mis-stepping prevention function based on the vehicle operating condition information and the collision time;

[0104] Step S320: If the vehicle meets the activation condition of the accelerator pedal anti-misstepping function, the accelerator pedal state is determined to be a locked state, and the power output of the accelerator pedal is cut off.

[0105] In this embodiment, the activation conditions of the accelerator pedal mis-stepping prevention function include: the current vehicle gear is D; the driver does not turn on the turn signal; the steering wheel angle is less than the first preset angle; the collision level is greater than or equal to 2; the accelerator pedal opening is greater than or equal to the preset threshold; the accelerator pedal opening change rate is greater than or equal to the preset threshold; the handbrake signal is invalid; the brake pedal signal is invalid. When the vehicle meets the above conditions, the device determines the accelerator pedal state as the locked state, that is, the accelerator pedal opening value is set to 0, and the power output is cut off.

[0106] In step S320, if the vehicle meets the activation condition of the accelerator pedal anti-misstepping function, after the step of determining the accelerator pedal state as a locked state and cutting off the power output of the accelerator pedal, the method includes the following steps C100-C200:

[0107] Step C100, receiving a signal for exiting the anti-accidental stepping function;

[0108] In this embodiment, the exit anti-misstep function signal includes: the vehicle's current gear is not D; the driver turns on the turn signal; the steering wheel angle is greater than or equal to the first preset angle, and the steering wheel return angle is greater than or equal to the second preset angle; the collision level is less than or equal to the preset level; the handbrake signal is valid; the brake pedal signal is valid; the accelerator pedal is released and then slowly pressed on the accelerator pedal: the accelerator pedal opening is greater than or equal to the preset threshold, and the rate of change of slowly pressing the accelerator pedal is less than or equal to the preset threshold; the steering wheel angle change rate is greater than or equal to the preset threshold.

[0109] Step C200, based on the exit anti-misstep function signal, restore the power output of the accelerator pedal and convert the accelerator pedal state to a normal state.

[0110] In this embodiment, when the device receives any signal, the anti-misstepping function is exited, the accelerator pedal power output is restored, and the accelerator pedal state is determined to be a normal state.

[0111] The present application provides a method, device, equipment and storage medium for preventing accidental stepping of the accelerator pedal. Compared with the prior art in which the distance measurement error is large and the anti-accelerator pedal function is reduced, in the present application, the first obstacle information, the second obstacle information and the vehicle operating condition information are obtained; the first obstacle information and the second obstacle information are fused to determine the collision time between the vehicle and the obstacle; based on the vehicle operating condition information and the collision time, the accelerator pedal state is determined, and corresponding restrictions are made based on the accelerator pedal state. That is, the present application improves the accuracy of the obstacle information by obtaining and fusing the first obstacle information and the second obstacle information, thereby improving the accuracy of calculating the distance and collision time between the vehicle and the obstacle. Based on the vehicle operating condition information and the collision time, the accelerator pedal state determined is more accurate, so that the device can accurately restrict the accelerator pedal, thereby improving the user experience.

[0112] Based on the above first embodiment, the present application also provides another embodiment, referring to Figure 3 The accelerator pedal anti-misstepping system includes: a front-view monocular camera, a 77GHZ millimeter-wave radar, an accelerator pedal, a turn signal, a gear panel, a steering wheel angle sensor, a brake pedal, a handbrake, a meter, a motor controller and a motor, etc. Other parts such as power batteries are not described here. The front-view monocular camera is installed in the middle of the front windshield, and the 77GHZ millimeter-wave radar is installed in the middle of the front bumper.

[0113] Based on the first and second embodiments described above, the present application also provides another embodiment, referring to Figure 4The method for preventing accidental stepping of the accelerator pedal includes: 1. a gear panel, a turn signal, an accelerator pedal, a brake pedal, a handbrake and a steering wheel angle sensor; 2. a front-view monocular camera; 3. a 77 GHZ ultrasonic radar; 4. a vehicle controller; 5. an MCU; 6. a motor; 7. an instrument. The vehicle controller realizes the gear output according to the gear panel signal collected in the driver's intention, collects the turn signal, the steering wheel angle signal and calculates the steering wheel angle change rate, the brake pedal signal, the handbrake signal, the accelerator pedal opening size and calculates the accelerator pedal change rate to obtain the vehicle working condition information; collects the fault status, lane line information and the first obstacle information sent by the front-view monocular camera, and the fault status and the second obstacle information of the 77GHZ millimeter-wave radar, and the vehicle controller performs main target fusion according to the obstacle information of the camera and the millimeter-wave radar, such as the longitudinal distance of the obstacle and the lateral distance of the obstacle, and calculates the difference between the first longitudinal distance and the second longitudinal distance and the difference between the first lateral distance and the second lateral distance; if the judgment result determines that the difference is greater than the preset threshold, the first longitudinal distance and the first relative speed of the monocular camera are selected; if the judgment result determines that the difference is not greater than the preset threshold, the second longitudinal distance and the second relative speed of the millimeter-wave radar are selected; according to the determined longitudinal distance and relative speed, the collision time between the vehicle and the obstacle is calculated, and the collision level is determined according to the collision time;

[0114] When the vehicle is stationary or at a low speed (vehicle speed is less than 3m / s), the activation conditions of the accelerator pedal mis-stepping prevention function include: the current vehicle gear is D; the driver does not turn on the turn signal; the steering wheel angle is less than 100°; the longitudinal distance is less than 1.5 meters; the accelerator pedal opening is greater than or equal to 20; the accelerator pedal opening change rate is greater than or equal to 5% / 20ms; the handbrake signal is invalid; the brake pedal signal is invalid. If the vehicle controller determines that the vehicle meets all of the above 8 conditions, the accelerator pedal mis-stepping prevention function is activated;

[0115] When the vehicle is at high speed (vehicle speed greater than or equal to 3m / s), the activation conditions of the accelerator pedal mis-stepping prevention function include: the current vehicle gear is D; the driver does not turn on the turn signal; the steering wheel angle is less than 100°; the collision level is greater than or equal to 2; the accelerator pedal opening is greater than or equal to 20; the accelerator pedal opening change rate is greater than or equal to 5% / 20ms; the handbrake signal is invalid; the brake pedal signal is invalid. If the vehicle controller determines that the vehicle meets all of the above 8 conditions, the accelerator pedal mis-stepping prevention function is activated;

[0116] When the accelerator pedal anti-misstep function is activated, the flag is latched, and the accelerator pedal anti-misstep function is exited when any of the following conditions is met: the vehicle's current gear is not D; the driver turns on the turn signal; the steering wheel angle is greater than or equal to the first preset angle, and the steering wheel return angle is greater than or equal to the second preset angle; the collision level is less than or equal to the preset level; the handbrake signal is valid; the brake pedal signal is valid; release the accelerator pedal and then slowly press the accelerator pedal: the accelerator pedal opening is greater than or equal to 5%, and the accelerator pedal change rate is less than or equal to 4% / 20ms; the steering wheel angle change rate is greater than or equal to 50° / s.

[0117] It should be noted that the specific numbers can be calibrated by oneself and are not specifically limited here.

[0118] When the accelerator pedal anti-misstep function is activated, the vehicle controller determines the accelerator pedal opening size and sets it to 0, sends the requested drive torque to MCU as 0, cuts off the power output, and sends the instrument driving pedal anti-misstep flag as 1. At this time, the instrument warns the driver through text prompts and sounds.

[0119] When the vehicle controller detects a camera or millimeter-wave radar communication failure or a serious failure, it sends the fault bit to the instrument. After receiving the fault bit, the instrument informs the driver through text prompts and sounds that the driving pedal anti-misstep function is in a failed state.

[0120] The present application also provides an accelerator pedal anti-misstepping device, the accelerator pedal anti-misstepping device comprising:

[0121] An acquisition module, used to acquire first obstacle information, second obstacle information and vehicle operating condition information;

[0122] a fusion module, configured to fuse the first obstacle information and the second obstacle information to determine a collision time between the vehicle and the obstacle;

[0123] A determination module is used to determine an accelerator pedal state based on the vehicle operating condition information and the collision time.

[0124] Optionally, the fusion module includes:

[0125] A first information determination module, used to fuse the first obstacle information and the second obstacle information to determine the distance and relative speed between the obstacle and the vehicle;

[0126] A calculation module is used to calculate the collision time between the vehicle and the obstacle based on the distance and the relative speed.

[0127] Optionally, the information determination module includes:

[0128] A difference calculation module, used to calculate the difference between the first obstacle distance information and the second obstacle distance information;

[0129] A judgment module, used to judge whether the difference is greater than a preset threshold and obtain a judgment result;

[0130] The obstacle information determination module is used to determine the distance and relative speed between the obstacle and the vehicle based on the judgment result.

[0131] Optionally, the obstacle information determination module includes:

[0132] a first distance determination module, configured to determine the distance between the obstacle and the vehicle as the first longitudinal distance if the judgment result determines that the difference is greater than the preset threshold;

[0133] The second distance determination module is used to determine the distance between the obstacle and the vehicle as the second longitudinal distance if the judgment result determines that the difference is not greater than the preset threshold.

[0134] Optionally, the obstacle information determination module further includes:

[0135] A vehicle speed acquisition module is used to obtain the vehicle speed;

[0136] a first relative speed determination module, which determines the obstacle target speed as the first obstacle target speed if the judgment result determines that the difference is greater than the preset threshold, and calculates the relative speed between the obstacle and the vehicle based on the vehicle speed;

[0137] The second relative speed determination module determines the obstacle target speed as the second obstacle target speed if the judgment result determines that the difference is not greater than the preset threshold, and calculates the relative speed between the obstacle and the vehicle based on the vehicle speed.

[0138] Optionally, the determining module includes:

[0139] an activation judgment module, configured to judge whether the vehicle satisfies an activation condition of an accelerator pedal mis-stepping prevention function based on the vehicle operating condition information and the collision time;

[0140] The state determination module is used to determine the state of the accelerator pedal as a locked state if the vehicle meets the activation condition of the accelerator pedal anti-misstepping function.

[0141] Optionally, the accelerator pedal mis-stepping prevention device further comprises:

[0142] A receiving module, used for receiving a signal for exiting the anti-accidental stepping function;

[0143] The recovery module is used to recover the power output of the accelerator pedal, wherein the state of the accelerator pedal is determined to be a normal state.

[0144] The present application also provides an accelerator pedal anti-misstepping device, the accelerator pedal anti-misstepping device comprising: a memory, a processor, and a program stored in the memory for implementing the accelerator pedal anti-misstepping method,

[0145] The memory is used to store a program for implementing a method for preventing accidental stepping of an accelerator pedal;

[0146] The processor is used to execute a program for implementing the accelerator pedal anti-misoperation method to implement the steps of the accelerator pedal anti-misoperation method.

[0147] The specific implementation of the accelerator pedal anti-misstepping device of the present application is basically the same as the above-mentioned accelerator pedal anti-misstepping method embodiments, and will not be repeated here.

[0148] The present application also provides a storage medium, on which is stored a program for implementing a method for preventing an accelerator pedal from being accidentally stepped on. The program for implementing a method for preventing an accelerator pedal from being accidentally stepped on is executed by a processor to implement the steps of the method for preventing an accelerator pedal from being accidentally stepped on.

[0149] The specific implementation method of the storage medium of the present application is basically the same as the above-mentioned embodiments of the accelerator pedal prevention method, and will not be repeated here.

[0150] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0151] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0152] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0153] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for preventing accidental stepping of an accelerator pedal, characterized in that: The method for preventing accidental stepping of the accelerator pedal comprises: Acquiring first obstacle information, second obstacle information, vehicle operating condition information, and vehicle speed, wherein the first obstacle information is determined based on the video image, the first obstacle information includes a first longitudinal distance value and a first obstacle speed, and the second obstacle information is determined based on the radar signal, the second obstacle information includes a second longitudinal distance value and a second obstacle speed; Calculating a difference between the first longitudinal distance value and the second longitudinal distance value; Determine whether the difference is greater than a preset threshold and obtain a determination result; If the judgment result is that the difference is greater than the preset threshold, the first longitudinal distance value is determined as the distance between the obstacle and the vehicle, and the first obstacle speed is determined as the obstacle target speed, and the relative speed between the obstacle and the vehicle is calculated based on the vehicle speed; If the judgment result is that the difference is not greater than the preset threshold, the second longitudinal distance value is determined as the distance between the obstacle and the vehicle, and the second obstacle speed is determined as the obstacle target speed, and the relative speed between the obstacle and the vehicle is calculated based on the vehicle speed; Calculating a collision time between the vehicle and the obstacle based on the distance and the relative speed; Based on the vehicle operating condition information and the collision time, an accelerator pedal state is determined, and corresponding restrictions are performed based on the accelerator pedal state.

2. The method for preventing accidental stepping of the accelerator pedal according to claim 1, characterized in that: The step of determining the state of the accelerator pedal based on the vehicle operating condition information and the collision time, and performing corresponding restrictions based on the accelerator pedal state includes: Based on the vehicle operating condition information and the collision time, determining whether the vehicle meets the activation condition of the accelerator pedal mis-stepping prevention function; If the vehicle meets the activation condition of the accelerator pedal anti-misstepping function, the accelerator pedal state is determined to be a locked state, and the power output of the accelerator pedal is cut off.

3. The method for preventing accidental stepping of the accelerator pedal according to claim 2, characterized in that: After the step of determining that the accelerator pedal is in a locked state if the vehicle meets the activation condition of the accelerator pedal mis-stepping prevention function, the method includes: Receive a signal for exiting the anti-accidental-stepping function; Based on the signal for exiting the anti-misstepping function, the power output of the accelerator pedal is restored, and the state of the accelerator pedal is converted to a normal state.

4. An accelerator pedal anti-misstepping device, characterized in that: The accelerator pedal mis-stepping prevention device comprises: an acquisition module, configured to acquire first obstacle information, second obstacle information, vehicle operating condition information, and vehicle speed, wherein the first obstacle information is determined based on a video image, and includes a first longitudinal distance value and a first obstacle speed, and the second obstacle information is determined based on a radar signal, and includes a second longitudinal distance value and a second obstacle speed; A difference calculation module, used for calculating the difference between the first longitudinal distance value and the second longitudinal distance value; A judgment module, used to judge whether the difference is greater than a preset threshold and obtain a judgment result; a first information determination module, configured to determine the first longitudinal distance value as the distance between the obstacle and the vehicle, determine the first obstacle speed as the obstacle target speed, and calculate the relative speed between the obstacle and the vehicle based on the vehicle speed if the judgment result is that the difference is greater than the preset threshold; a second information determination module, configured to determine the second longitudinal distance value as the distance between the obstacle and the vehicle, determine the second obstacle speed as the obstacle target speed, and calculate the relative speed between the obstacle and the vehicle based on the vehicle speed if the judgment result is that the difference is not greater than the preset threshold; A calculation module, used for calculating the collision time between the vehicle and the obstacle based on the distance and the relative speed; A determination module is used to determine an accelerator pedal state based on the vehicle operating condition information and the collision time, and to perform corresponding restrictions based on the accelerator pedal state.

5. An accelerator pedal anti-misstepping device, characterized in that: The accelerator pedal mis-stepping prevention device comprises: a memory, a processor, and a program stored in the memory for implementing the accelerator pedal mis-stepping prevention method. The memory is used to store a program for implementing a method for preventing accidental stepping of an accelerator pedal; The processor is used to execute a program for implementing the accelerator pedal anti-misoperation method to implement the steps of the accelerator pedal anti-misoperation method as claimed in any one of claims 1 to 3.

6. A storage medium, characterized in that: The storage medium stores a program for implementing the method for preventing the accelerator pedal from being mistakenly depressed, and the program for implementing the method for preventing the accelerator pedal from being mistakenly depressed is executed by the processor to implement the steps of the method for preventing the accelerator pedal from being mistakenly depressed as described in any one of claims 1 to 3.

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