Throttle misstep control method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for controlling accidental accelerator pedaling, which belongs to the field of vehicle safety technology. The method includes judging the accidental accelerator pedaling based on the accidental accelerator pedaling judgment parameter; when it is judged that the accelerator pedal is accidentally stepped on, the vehicle's power output is cut off and braking measures are performed, wherein the accidental accelerator pedaling judgment parameter includes the accelerator pedal stepping force, the accelerator pedal opening, the accelerator pedal opening rate of change, the vehicle's driving speed and the target distance. Therefore, the present application not only takes the driver's behavior as a judgment condition, but also adds the vehicle's own factors and the vehicle's driving environment factors into the judgment condition, enriching the judgment condition, thereby improving the accuracy of the judgment of the accidental accelerator pedaling.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety technology, and in particular to a method, device, equipment and storage medium for controlling accidental accelerator pedaling. Background Art

[0002] With the increasing prevalence of vehicles, the number of traffic accidents caused by vehicles is also increasing. A significant proportion of these accidents are caused by drivers mistakenly pressing the accelerator instead of the brake due to inexperience or momentary nervousness. Existing accelerator misapplication prevention systems rely on a single set of criteria, making them prone to misactivation for drivers with different driving styles. This means that existing accelerator misapplication prevention technologies suffer from low accuracy in determining misapplications. Summary of the Invention

[0003] The main purpose of this application is to provide a method, device, equipment and storage medium for controlling accidental accelerator pedaling, aiming to solve the technical problem of low accuracy in judging accidental accelerator pedaling in existing accelerator anti-accelerator pedaling technology.

[0004] To achieve the above objectives, the present application provides a method for controlling accidental accelerator pedal pressing, comprising the following steps:

[0005] Based on the accelerator mis-pressing judgment parameter, judge whether the accelerator is mis-pressed;

[0006] When it is determined that the accelerator is accidentally pressed, the vehicle's power output is cut off and braking measures are performed;

[0007] The parameters for judging whether the accelerator is mistakenly stepped on include the accelerator pedal stepping force, the accelerator pedal opening, the accelerator pedal opening change rate, the vehicle speed and the target distance.

[0008] Optionally, the step of judging whether the accelerator is accidentally depressed based on the accelerator accidental depression judgment parameter includes:

[0009] monitoring the accelerator pedal depression force and / or the accelerator pedal opening;

[0010] If the accelerator pedal opening is greater than the opening threshold, determining the accelerator pedal opening change rate;

[0011] If the accelerator pedal opening change rate is greater than a change rate threshold, obtaining the vehicle speed; or

[0012] If the accelerator pedal stepping force is greater than the stepping force threshold, obtaining the vehicle speed;

[0013] If the vehicle's speed is less than a preset speed threshold, it is determined that the accelerator is accidentally pressed;

[0014] If the vehicle's speed is greater than or equal to a preset speed threshold, detecting a target in the vehicle's moving direction;

[0015] If there is a target in the moving direction of the vehicle and the target distance between the vehicle and the target is less than a preset distance threshold, it is determined that the accelerator is accidentally stepped on.

[0016] Optionally, during vehicle travel, the pedaling force threshold, the opening threshold, and the change rate threshold are adjusted in real time, and a method for adjusting the pedaling force threshold, the opening threshold, and the change rate threshold includes:

[0017] Obtaining the peak value of the object to be adjusted each time the vehicle driver steps on the accelerator pedal;

[0018] If the peak value of the object to be adjusted is smaller than the current threshold value of the object to be adjusted, then counting the number of acquisitions of the peak value smaller than the current threshold value;

[0019] When the acquisition times reaches a preset threshold, averaging all peak values smaller than the current threshold, and obtaining a maximum value from all peak values smaller than the current threshold;

[0020] Adjusting the current threshold of the object to be adjusted based on the mean value and the adjustment coefficient corresponding to the object to be adjusted;

[0021] If the current threshold of the object to be adjusted after the first adjustment is less than the maximum value, performing a second adjustment on the current threshold of the object to be adjusted after the first adjustment based on the adjustment step size corresponding to the object to be adjusted and the maximum value;

[0022] If the peak value of the object to be adjusted is greater than or equal to the current threshold value of the object to be adjusted, sending a judgment result to the vehicle driver;

[0023] When receiving the confirmation acceleration instruction fed back by the vehicle driver, adjusting the current threshold of the object to be adjusted based on the adjustment step size corresponding to the object to be adjusted;

[0024] The objects to be adjusted include the accelerator pedal opening, the accelerator pedal opening change rate, and the accelerator pedal stepping force.

[0025] Optionally, the step of cutting off the power output of the vehicle and performing braking measures when it is determined that the accelerator is accidentally stepped on includes:

[0026] When it is determined that the accelerator is accidentally pressed, the vehicle's current power output is maintained and an acceleration operation query instruction is sent to the vehicle driver;

[0027] If the acceleration instruction confirmed by the vehicle driver is not received within the preset feedback time, the vehicle power output is cut off and braking measures are performed;

[0028] If a confirmation acceleration command is received from the vehicle driver within a preset feedback time, the accelerator mis-stepping judgment result is ignored within a preset shielding time, and the vehicle power output is controlled in real time according to the driving operation of the vehicle driver.

[0029] Optionally, the step of cutting off the power output of the vehicle and performing braking measures includes:

[0030] When the vehicle speed exceeds the preset speed threshold, the vehicle's power output is cut off and the target deceleration braking measures are executed;

[0031] When the vehicle speed is less than or equal to the preset speed threshold, the vehicle's power output is cut off and full braking measures are performed.

[0032] Optionally, after the step of maintaining the current power output of the vehicle and sending an acceleration operation inquiry instruction to the vehicle driver after determining that the accelerator has been accidentally stepped on, the method further includes:

[0033] Controlling the warning indicator light to flash to remind the driver of the vehicle that the accelerator has been accidentally stepped on; or

[0034] Controlling the steering wheel to vibrate to remind the driver of the vehicle that the accelerator has been accidentally stepped on; or

[0035] Controlling the vehicle driver's seat to vibrate to remind the vehicle driver that the accelerator has been accidentally stepped on; or

[0036] The vehicle driver's seat belt is controlled to be tightened to remind the vehicle driver that the accelerator is accidentally stepped on.

[0037] Optionally, after the step of cutting off the vehicle power output and executing braking measures when it is determined that the accelerator is accidentally stepped on, the method further includes:

[0038] When the vehicle meets the preset reset condition, returning to the step of determining whether the accelerator is accidentally depressed based on the accelerator accidental depression judgment parameter;

[0039] When the vehicle does not meet the preset reset condition, returning to the step of cutting off the vehicle power output and performing braking measures;

[0040] The preset reset conditions include:

[0041] When the vehicle is in start mode, after determining that the accelerator has been accidentally pressed, the vehicle's gear switches from the current gear to N gear and then switches back to the current gear;

[0042] When the vehicle is in low-speed driving mode, after determining that the accelerator is accidentally pressed, a throttle accidental pressing judgment control exit command triggered by the vehicle driver is received;

[0043] When the vehicle is in high-speed driving mode, after determining that the accelerator is accidentally stepped on, it is detected that the accelerator pedal opening corresponding to the next step after the accelerator pedal opening becomes zero is less than or equal to the opening threshold, or a control exit command for the accelerator accidental step judgment triggered by the vehicle driver is received.

[0044] In addition, to achieve the above-mentioned purpose, the present application also provides a device for controlling the accidental pressing of the accelerator, the device comprising:

[0045] A judgment module, configured to judge whether the accelerator is accidentally pressed based on a judgment parameter of the accelerator being accidentally pressed;

[0046] A control module is used to cut off the vehicle's power output and perform braking measures when it is determined that the accelerator has been accidentally pressed;

[0047] The parameters for judging whether the accelerator is mistakenly stepped on include the accelerator pedal stepping force, the accelerator pedal opening, the accelerator pedal opening change rate, the vehicle speed and the target distance.

[0048] In addition, to achieve the above-mentioned purpose, the present application also provides a throttle mis-stepping control device, which includes: a memory, a processor, and a throttle mis-stepping control program stored on the memory and runnable on the processor, and the throttle mis-stepping control program is configured to implement the steps of the throttle mis-stepping control method as described above.

[0049] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, on which a throttle accidental pressing control program is stored. When the throttle accidental pressing control program is executed by the processor, the steps of the throttle accidental pressing control method as described above are implemented.

[0050] The present application provides a method, device, equipment and storage medium for controlling accidental accelerator pedaling. Compared with the single judgment condition of the existing accelerator anti-accelerator technology, the present application first judges the accidental accelerator pedaling based on the accelerator accidental accelerator pedaling judgment parameter, and then cuts off the vehicle's power output and performs braking measures when it is judged that the accelerator is accidentally stepped on. The accelerator accidental accelerator pedaling judgment parameter includes the accelerator pedal stepping force, the accelerator pedal opening, the accelerator pedal opening change rate, the vehicle speed and the target distance. Therefore, the present application not only uses the driver's behavior (accelerator pedal stepping force, accelerator pedal opening, accelerator pedal opening change rate) as the judgment condition, but also adds the vehicle's own factors (vehicle speed) and the vehicle driving environment factors (target distance) to the judgment condition, enriching the judgment condition and thereby improving the accuracy of the accelerator accidental accelerator pedaling judgment. Therefore, the present application overcomes the defect of the single judgment condition of the existing accelerator anti-accelerator technology, and solves the technical problem of the low accuracy of the accelerator accidental accelerator pedaling judgment of the existing accelerator anti-accelerator technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 This is a flow chart of the first embodiment of the accelerator mis-stepping control method of the present application;

[0054] Figure 2 This is a schematic diagram of the structure of the accelerator pedal for this application;

[0055] Figure 3 A schematic diagram of the target scene in the direction of vehicle movement in this application;

[0056] Figure 4 This is a diagram of the peak accelerator pedal force for this application;

[0057] Figure 5 This is a flowchart of the pedaling force threshold adjustment method of this application;

[0058] Figure 6 This is a flow chart of the method for adjusting the opening threshold value of this application;

[0059] Figure 7 This is a flowchart of the change rate threshold adjustment method of this application;

[0060] Figure 8 A detailed flowchart of the accelerator mis-stepping control method for this application;

[0061] Figure 9 This is a functional module diagram of the first embodiment of the accelerator mis-stepping control device of the present application;

[0062] Figure 10 This is a structural diagram of the throttle mis-stepping control device in the hardware operating environment involved in the embodiment of the present application.

[0063] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0064] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0065] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] The throttle mis-stepping control method provided in the embodiment of the present application is completed based on the throttle mis-stepping control system, and the throttle mis-stepping control system is installed on a vehicle. The specific type of the vehicle is not specifically limited in the embodiment of the present application. The throttle mis-stepping control system of the embodiment of the present application is composed of three parts, including a throttle mis-stepping control device, a sensor and an operation execution mechanism. The throttle mis-stepping control device is arranged in the existing electronic control unit ECU of the vehicle, and the electronic control unit realizes real-time monitoring and control of the throttle mis-stepping during the driving process of the vehicle, without changing the structure and operation mode of the car itself. The sensor has various types and is distributed throughout the vehicle, and is used to collect throttle mis-stepping judgment parameters. The operation execution mechanism is used to cut off the power output of the vehicle and perform braking measures when it is determined that the throttle has been mis-stepped.

[0067] Reference Figure 1 , Figure 1 This is a flow chart of the first embodiment of the accelerator mis-stepping control method of the present application.

[0068] In this embodiment, the accelerator mis-operation control method includes the following steps:

[0069] Step S10: judging the accidental accelerator pedaling based on the accelerator pedal accidental pressing judgment parameters, wherein the accelerator pedal accidental pressing judgment parameters include the accelerator pedal pressing force, the accelerator pedal opening, the accelerator pedal opening change rate, the vehicle speed and the target distance.

[0070] The method shown in this embodiment can be applied to the electronic control unit of a vehicle, which can monitor the accelerator pedal's mis-stepping judgment parameters such as the accelerator pedal's stepping force, the accelerator pedal's opening, the accelerator pedal's opening rate of change, the vehicle's driving speed and the target distance when the vehicle driver steps on the accelerator, and judge whether the accelerator has been mistakenly stepped on based on the aforementioned accelerator mistakenly stepped on judgment parameters, and when it is judged that the accelerator has been mistakenly stepped on, cut off the vehicle's power output and control the execution of braking measures at the same time.

[0071] Among them, when the electronic control unit realizes the function of throttle mis-stepping control, it can be set so that when the whole vehicle is powered on, the throttle anti-mis-stepping function switch is automatically turned on. After receiving the on signal of the throttle anti-mis-stepping function switch, the electronic control unit turns on the throttle anti-mis-stepping control mode, without the need for manual setting by the vehicle driver. Similarly, when the electronic control unit realizes the function of throttle anti-mis-stepping control, it can also be set so that the vehicle driver manually triggers the throttle anti-mis-stepping function switch on the vehicle. After receiving the on signal of the throttle anti-mis-stepping function switch, the electronic control unit turns on the throttle anti-mis-stepping control mode. In the throttle anti-mis-stepping control mode, the electronic control unit can monitor the vehicle's throttle mis-stepping judgment parameters in real time, so as to perform safe processing when the vehicle driver accidentally steps on the throttle and avoid traffic accidents. In addition, during vehicle driving, the vehicle driver can manually turn off the throttle anti-misstepping function switch, thereby causing the electronic control unit to exit the throttle anti-misstepping control mode.

[0072] Reference Figure 8 , Figure 8 The following is a detailed flowchart of the accelerator mis-operation control method of this application. Specifically, based on the accelerator mis-operation judgment parameter, the steps of judging the accelerator mis-operation include:

[0073] Step S11: monitor the accelerator pedal depression force and / or the accelerator pedal opening.

[0074] It should be noted that, in this embodiment, based on the accelerator mis-pressing judgment parameter, there are three ways to judge the accelerator mis-pressing:

[0075] Method 1: Of the accelerator pedal stepping force and the accelerator pedal opening, only the accelerator pedal stepping force is monitored, that is, step S11 is to monitor the accelerator pedal stepping force. Following step S11, steps S14 to S17 are executed.

[0076] Method 2: Of the accelerator pedal depression force and the accelerator pedal opening, only the accelerator pedal opening is monitored, that is, step S11 monitors the accelerator pedal opening, and after step S11, steps S12 to S13 and steps S15 to S17 are executed.

[0077] Method 3: Monitor both the accelerator pedal force and the accelerator pedal opening. That is, in step S11, the accelerator pedal force and the accelerator pedal opening are monitored. Following step S11, steps S12 to S17 are executed. It should be noted that in method 3, the vehicle speed can only be obtained if both the accelerator pedal opening change rate is greater than the change rate threshold and the accelerator pedal force is greater than the force threshold are met. In other words, steps S12 to S14 may be: if the accelerator pedal opening is greater than the opening threshold, the accelerator pedal opening change rate is determined; if the accelerator pedal opening change rate is greater than the change rate threshold and the accelerator pedal force is greater than the force threshold, the vehicle speed is obtained.

[0078] This embodiment can improve the accuracy of judging the accidental accelerator pedaling by enriching the judgment conditions, thereby effectively preventing the vehicle's accelerator pedal anti-accidental pedaling function from being mistakenly triggered. Therefore, this embodiment preferably adopts the third method to judge the accidental accelerator pedaling.

[0079] In this embodiment, the accelerator pedal's pressing force is transmitted to the electronic control unit via the CAN (Controller Area Network) bus by a torque sensor. The torque sensor is installed at the hinged position between the pedal arm and the pedal base of the accelerator pedal. This installation position is applicable to suspended accelerator pedals, floor-mounted accelerator pedals, and other types of pedals. The structure of the accelerator pedal can be referred to Figure 2 , Figure 2 This is a schematic diagram of the structure of the accelerator pedal of this application. Figure 2 On the left side is the suspended accelerator pedal. Figure 2 On the right side is the floor-type accelerator pedal. Figure 2 The number 1 is the pedal base, the number 2 is the hinge position between the pedal arm and the pedal base, and the number 3 is the pedal arm.

[0080] In this embodiment, the size of the accelerator pedal opening is fed back by the accelerator pedal opening voltage value, that is, there is a one-to-one mapping relationship between the accelerator pedal opening voltage value and the accelerator pedal opening. If the accelerator pedal opening voltage value is known, the accelerator pedal opening corresponding to the accelerator pedal opening voltage value can be determined from the mapping relationship between the accelerator pedal opening voltage value and the accelerator pedal opening.

[0081] Step S12: If the accelerator pedal opening is greater than the opening threshold, determine the accelerator pedal opening change rate.

[0082] In this embodiment, the accelerator pedal opening degree change rate is calculated by differentiating the accelerator pedal opening degree with respect to time.

[0083] In this embodiment, the resistance that the vehicle needs to overcome during driving is as follows:

[0084]

[0085] Where m is the total mass of the vehicle (including vehicle load), g is the acceleration of gravity at the vehicle's location, f is the rolling resistance coefficient, θ is the road slope angle, ρ is the air density, v is the vehicle's speed, A is the frontal area of the vehicle during driving, and C d is the air resistance coefficient.

[0086] During vehicle travel, the electronic control unit determines the driver's driving intent based on the accelerator pedal opening and acceleration, then sends corresponding control signals to the vehicle powertrain controller to control the power output of the vehicle powertrain. Part of the power output of the powertrain is used to overcome resistance during vehicle travel, while part is used to accelerate the vehicle. Therefore, in this embodiment, the opening threshold is determined by the vehicle's speed, load, and the current road environment (road gradient).

[0087] In this embodiment, the step of determining the opening threshold based on the vehicle speed, vehicle load, and road slope includes:

[0088] Step A1: Based on the vehicle speed, vehicle load and road slope, the acceleration threshold a under the vehicle's factory preset working condition (the working condition corresponding to the aforementioned calculation of the resistance that the vehicle needs to overcome during driving) is obtained from the three-dimensional MAP table. thr , where the rows, columns and layers in the three-dimensional MAP table correspond to vehicle load, road slope and vehicle speed respectively;

[0089] Step A2: Calculate the current driving force threshold F of the vehicle based on the following formula: DrvThr :

[0090] F DrvThr =F f +m*a thr ,

[0091] Among them F f is the driving resistance calculated above, m is the total mass of the vehicle (including vehicle load), a thr is the acceleration threshold value obtained by looking up the table;

[0092] Step A3: The calculated driving force threshold F DrvThrThe corresponding accelerator pedal opening threshold under the working condition can be obtained by looking up the vehicle's "accelerator pedal opening-vehicle driving force" MAP table.

[0093] Among them, the vehicle speed can be obtained from the vehicle CAN (Controller Area Network) bus network (vehicle controller), the vehicle load can be obtained from the vehicle load sensor, and the vehicle's current driving road environment (road slope) can be obtained from the vehicle posture sensor.

[0094] It should be noted that if the accelerator pedal opening is less than or equal to the opening threshold, the process returns to the step of monitoring the accelerator pedal depression force and / or the accelerator pedal opening.

[0095] Step S13: If the accelerator pedal opening change rate is greater than the change rate threshold, obtain the vehicle speed.

[0096] In this embodiment, the vehicle speed can be obtained from the vehicle CAN (Controller Area Network) bus network (vehicle controller). It should be noted that the vehicle speed is the vehicle's current speed.

[0097] The change rate threshold in this embodiment is set based on historical data. Different types of vehicles correspond to different change rate thresholds, which are not specifically limited in this embodiment.

[0098] It should be noted that if the change rate of the accelerator pedal opening is less than or equal to the change rate threshold, the process returns to the step of monitoring the accelerator pedal depression force and / or the accelerator pedal opening.

[0099] Step S14: If the accelerator pedal stepping force is greater than the stepping force threshold, obtain the vehicle speed.

[0100] The pedaling force threshold in this embodiment is set based on historical data. Experimental statistics show that the force with which a vehicle driver normally steps on the accelerator pedal does not exceed 150N. Therefore, the pedaling force threshold is set to 180N in this embodiment.

[0101] It should be noted that if the accelerator pedal stepping force is less than or equal to the stepping force threshold, the process returns to the step of monitoring the accelerator pedal stepping force and / or the accelerator pedal opening.

[0102] Step S15: If the vehicle speed is less than the preset speed threshold, it is determined that the accelerator is accidentally stepped on.

[0103] The preset speed threshold in this embodiment is used to determine the vehicle's state. When the vehicle's speed is less than the preset speed threshold, the vehicle is considered to be in a starting state. When the vehicle's speed is greater than or equal to the preset speed threshold, the vehicle is considered to be in a normal driving state. Therefore, the preset speed threshold in this embodiment can be selected from 3 km / h to 10 km / h, and the specific value is not limited in this embodiment.

[0104] It should be noted that when it is detected that the vehicle's speed is less than a preset speed threshold, it is considered that the vehicle in the starting state has accidentally stepped on the accelerator.

[0105] Step S16: If the vehicle's speed is greater than or equal to a preset speed threshold, detect targets in the vehicle's moving direction.

[0106] In this embodiment, the target can be either a moving target or a fixed target. A moving target refers to a moving obstacle in the direction of the vehicle's movement, such as other moving vehicles, non-motorized vehicles, and pedestrians; a fixed target refers to a fixed obstacle in the direction of the vehicle's movement, such as streetlights and trees.

[0107] In this embodiment, the vehicle's moving direction is determined by the vehicle's current gear and the vehicle's steering angle. If the current gear is forward, the target is the target in front of the vehicle corresponding to the vehicle's steering angle; if the current gear is reverse, the target is the target behind the vehicle corresponding to the vehicle's steering angle. Figure 3 , Figure 3 This is a schematic diagram of the target scene in the direction of vehicle movement in this application. For example, if the current gear is forward gear and the vehicle steering angle is zero, the target is the target directly in front of the vehicle ( Figure 3 If the current gear is forward and the vehicle is turning left, the target is the target in front of the left side of the vehicle ( Figure 3 If the current gear is forward and the vehicle is turning right, the target is the target in front of the right side of the vehicle ( Figure 3 If the current gear is reverse and the vehicle steering angle is zero, the target is the target directly behind the vehicle ( Figure 3 If the current gear is reverse and the vehicle is steering to the left, the target is the target behind the left of the vehicle ( Figure 3 If the current gear is reverse and the vehicle is steering to the right, the target is the target behind the right side of the vehicle ( Figure 3 point B2 shown in the figure).

[0108] In this embodiment, detecting a target in the direction of vehicle movement involves detecting whether a target exists in the direction of vehicle movement, and after detecting the presence of a target in the direction of vehicle movement, measuring the target distance between the vehicle and the target. The target distance can be measured by onboard sensors installed in front of or behind the vehicle. The onboard sensors can be visual cameras, various types of radar, and the like.

[0109] Step S17: If there is a target in the moving direction of the vehicle and the target distance between the vehicle and the target is less than a preset distance threshold, it is determined that the accelerator is accidentally stepped on.

[0110] In this embodiment, the preset distance threshold is calculated from the vehicle's travel speed and the preset time threshold. The preset distance threshold is equal to the product of the vehicle's travel speed and the preset time threshold. The preset time threshold is manually set by the vehicle manufacturer and is not specifically limited in this embodiment. It should be noted that different preset time thresholds may be used when calculating the preset distance thresholds for different vehicle movement directions.

[0111] It should be noted that when a target is detected in the direction of vehicle movement and the target distance between the target and the vehicle is less than a preset distance threshold, it is considered that the accelerator is accidentally stepped on in a normally traveling vehicle.

[0112] Step S20: When it is determined that the accelerator is accidentally stepped on, the power output of the vehicle is cut off and braking measures are performed.

[0113] After the electronic control unit determines that the accelerator has been accidentally pressed, it cuts off the vehicle's power output and performs braking measures, and does not respond to the accidental accelerator operation, which can prevent the vehicle's speed from increasing sharply.

[0114] In this embodiment, for an electric vehicle, cutting off the power output of the vehicle is to set the driving torque of the vehicle's power motor to zero; for an engine vehicle, cutting off the power output of the vehicle's engine is to maintain the engine in an idle state and disconnect the vehicle's clutch.

[0115] Compared with the existing throttle mis-stepping prevention technology with a single judgment condition, this embodiment first judges the throttle mis-stepping based on the throttle mis-stepping judgment parameter, and then cuts off the vehicle's power output and performs braking measures when it is determined that the throttle is mis-stepped, wherein the throttle mis-stepping judgment parameter includes the accelerator pedal stepping force, accelerator pedal opening, accelerator pedal opening change rate, vehicle speed and target distance. Therefore, this embodiment not only uses the driver's behavior (accelerator pedal stepping force, accelerator pedal opening, accelerator pedal opening change rate) as a judgment condition, but also adds the vehicle's own factors (vehicle speed) and vehicle driving environment factors (target distance) to the judgment condition, enriching the judgment condition and thereby improving the accuracy of the throttle mis-stepping judgment. Therefore, this embodiment overcomes the defect of the existing throttle mis-stepping prevention technology with a single judgment condition, and thus solves the technical problem of the low accuracy of the throttle mis-stepping judgment of the existing throttle mis-stepping prevention technology.

[0116] Furthermore, based on the first embodiment of the present application, in the second embodiment of the present application, during the driving of the vehicle, the pedaling force threshold, the opening threshold, and the change rate threshold are adjusted in real time, and the adjustment method of the pedaling force threshold, the opening threshold, and the change rate threshold includes:

[0117] Obtaining the peak value of the object to be adjusted each time the vehicle driver steps on the accelerator pedal;

[0118] If the peak value of the object to be adjusted is smaller than the current threshold value of the object to be adjusted, then counting the number of acquisitions of the peak value smaller than the current threshold value;

[0119] When the acquisition times reaches a preset threshold, averaging all peak values smaller than the current threshold, and obtaining a maximum value from all peak values smaller than the current threshold;

[0120] Adjusting the current threshold of the object to be adjusted based on the mean value and the adjustment coefficient corresponding to the object to be adjusted;

[0121] If the current threshold of the object to be adjusted after the first adjustment is less than the maximum value, performing a second adjustment on the current threshold of the object to be adjusted after the first adjustment based on the adjustment step size corresponding to the object to be adjusted and the maximum value;

[0122] If the peak value of the object to be adjusted is greater than or equal to the current threshold value of the object to be adjusted, sending a throttle judgment result to the vehicle driver;

[0123] When receiving the confirmation acceleration instruction fed back by the vehicle driver, adjusting the current threshold of the object to be adjusted based on the adjustment step size corresponding to the object to be adjusted;

[0124] The objects to be adjusted include the accelerator pedal opening, the accelerator pedal opening change rate, and the accelerator pedal stepping force.

[0125] It should be noted that after the throttle judgment result is sent to the vehicle driver, if a confirmation acceleration command is received from the vehicle driver, it means that the vehicle driver is sure that the accelerator has not been accidentally stepped on. In this embodiment, the throttle judgment result is sent to the vehicle driver in order to ask the vehicle driver whether the accelerator has really been accidentally stepped on.

[0126] Among them, reference Figure 5 , Figure 5 : is a flow chart of the pedaling force threshold adjustment method of this application. In this embodiment, the pedaling force threshold adjustment method includes:

[0127] Step B1: Obtain the peak value of the accelerator pedal's pressing force each time the vehicle driver presses the accelerator pedal.

[0128] Reference Figure 4 , Figure 4 This is a schematic diagram of the peak force of the accelerator pedal of this application. In this embodiment, the peak force is the maximum force of the accelerator pedal each time the vehicle driver steps on the accelerator pedal (from the time when the accelerator pedal stepping force is zero to the time when the accelerator pedal stepping force is zero next time).

[0129] Step B2: If the peak value of the accelerator pedal stepping force is less than the stepping force threshold, the number of times the peak value of the force that is less than the stepping force threshold is obtained is counted.

[0130] In this embodiment, the pedaling force threshold is the pedaling force threshold of the vehicle at the current moment. If the vehicle is a newly manufactured vehicle that has not been driven, the pedaling force threshold is the pedaling force threshold of 180N set in the first embodiment.

[0131] In this embodiment, when the peak force of the accelerator pedal is less than the pedaling force threshold, the number of times the original force peak is obtained that is less than the pedaling force threshold is added by one to obtain the current number of times the force peak is obtained that is less than the pedaling force threshold.

[0132] Step B3: When the number of acquisitions reaches a preset number threshold, the average of all force peaks that are less than the pedaling force threshold is calculated, and the maximum value is obtained from all force peaks that are less than the pedaling force threshold.

[0133] In this embodiment, the preset number threshold may be determined by the vehicle manufacturer, and may be different for different types of vehicles, which is not specifically limited in this embodiment. For example, the preset number threshold may be 1000 times.

[0134] Step B4: Adjust the pedaling force threshold based on the mean value and the pedaling force adjustment coefficient corresponding to the accelerator pedal pedaling force.

[0135] In this embodiment, the calculation formula for adjusting the pedaling force threshold once is as follows:

[0136] F thr =α F ·F thr +(1-α F )F ave ,

[0137] Among them, F thr is the pedaling force threshold, α F is the pedaling force adjustment coefficient, F ave It is the average of all force peaks that are less than the pedaling force threshold.

[0138] Step B5: If the pedaling force threshold after the first adjustment is less than the maximum value, the pedaling force threshold after the first adjustment is adjusted for a second time based on the pedaling force adjustment step size and the maximum value corresponding to the accelerator pedal pedaling force.

[0139] In this embodiment, the formula F thr =F max +Δ F The calculated pedaling force threshold is used as the pedaling force threshold obtained by performing a secondary adjustment on the pedaling force threshold after the primary adjustment. max is the maximum value of all force peaks less than the pedaling force threshold, F Adjust your stride length for pedaling effort.

[0140] It should be noted that if the pedaling force threshold after the first adjustment is greater than or equal to the maximum value, there is no need to perform a second adjustment on the pedaling force threshold after the first adjustment.

[0141] Step B6: If the force peak is greater than or equal to the pedaling force threshold, the accelerator mis-stepping judgment result is sent to the vehicle driver.

[0142] In this embodiment, an interactive interface (instrument interface) for interacting with the vehicle driver is installed. The electronic control unit will display the accelerator mis-stepping judgment result in the interactive interface to achieve the purpose of sending the accelerator mis-stepping judgment result to the vehicle driver.

[0143] Step B7: When a confirmation acceleration (not accidental stepping) instruction is received from the vehicle driver, the step length is adjusted based on the stepping force, and the stepping force threshold is adjusted.

[0144] In this embodiment, when the interactive interface displays the result of the accelerator mis-stepping judgment, it will simultaneously display the confirmation button and the denial button. The vehicle driver can select one of the buttons according to the actual situation. When the vehicle driver selects the confirmation button, it is considered that the accelerator has been mis-stepped, and the pedaling force threshold is not adjusted. When the vehicle driver selects the denial button, it is considered that the accelerator has not been mis-stepped, and the acceleration confirmation (non-mis-stepping) instruction is triggered. At this time, the electronic control unit will receive the accelerator mis-stepping false alarm instruction triggered by the vehicle driver and use the formula F thr =F max-i +Δ F The calculated pedaling force threshold is used as the adjusted pedaling force threshold. max-i is the peak value of the current accelerator pedal stepping force, △ F Adjust your stride length for pedaling effort.

[0145] Among them, reference Figure 6 , Figure 6 Schematic diagram of the flow of the opening threshold adjustment method of the present application. In this embodiment, the opening threshold adjustment method includes:

[0146] Step C1: Obtain the peak value of the accelerator pedal opening each time the vehicle driver steps on the accelerator pedal.

[0147] In this embodiment, the opening peak value is the maximum value of the accelerator pedal opening each time the vehicle driver steps on the accelerator pedal (from the time when the accelerator pedal opening is zero to the next time when the accelerator pedal opening is zero).

[0148] Step C2: If the opening degree peak value of the accelerator pedal depression opening degree is less than the opening degree threshold, the number of acquisitions of the current opening degree peak value less than the opening degree threshold is counted.

[0149] In this embodiment, the opening threshold is the vehicle's current opening threshold. The method for obtaining the vehicle's current opening threshold is the same as the opening threshold determination step in the first embodiment, and will not be repeated in this embodiment.

[0150] In this embodiment, when the opening peak of the accelerator pedal opening is less than the opening threshold, the number of acquisitions of the original opening peak less than the opening threshold is added by one to obtain the current number of acquisitions of the opening peak less than the opening threshold.

[0151] Step C3: When the acquisition times reaches the preset times threshold, the average of all opening peak values smaller than the opening threshold is calculated, and the maximum value is obtained from all opening peak values smaller than the opening threshold.

[0152] In this embodiment, the preset number threshold may be determined by the vehicle manufacturer, and may be different for different types of vehicles, which is not specifically limited in this embodiment. For example, the preset number threshold may be 1000 times.

[0153] Step C4: Adjust the opening threshold based on the mean value and the opening adjustment coefficient corresponding to the accelerator pedal opening.

[0154] In this embodiment, the calculation formula for adjusting the opening threshold once is as follows:

[0155] A thr =α A ·A thr +(1-α A )A ave ,

[0156] Among them, A thr is the opening threshold, α A is the opening adjustment coefficient, A ave is the mean of all opening peaks that are less than the opening threshold.

[0157] Step C5: If the opening threshold value after the primary adjustment is smaller than the maximum value, the opening threshold value after the primary adjustment is adjusted for a second time based on the opening adjustment step size and the maximum value corresponding to the accelerator pedal opening.

[0158] In this embodiment, Formula A thr =A max +Δ A The calculated opening threshold is used as the opening threshold obtained by performing a secondary adjustment on the opening threshold after the primary adjustment. max is the maximum value of all opening peaks that are less than the opening threshold, A Adjust the step size for the opening.

[0159] It should be noted that if the opening threshold after the first adjustment is greater than or equal to the maximum value, there is no need to perform a second adjustment on the opening threshold after the first adjustment.

[0160] Step C6: If the opening peak value is greater than or equal to the opening threshold, the accelerator mis-stepping judgment result is sent to the vehicle driver.

[0161] In this embodiment, an interactive interface (instrument interface) for interacting with the vehicle driver is installed. The electronic control unit will display the accelerator mis-stepping judgment result in the interactive interface to achieve the purpose of sending the accelerator mis-stepping judgment result to the vehicle driver.

[0162] Step C7: When a confirmation acceleration (not accidental stepping) instruction is received from the vehicle driver, the opening threshold is adjusted based on the opening adjustment step size.

[0163] In this embodiment, when the interactive interface displays the result of the accelerator mis-stepping judgment, it will simultaneously display the confirmation button and the denial button. The vehicle driver can select one of the buttons according to the actual situation. When the vehicle driver selects the confirmation button, it is considered that the accelerator has been mis-stepped, and the opening threshold is not adjusted. When the vehicle driver selects the denial button, it is considered that the accelerator has not been mis-stepped, and the acceleration confirmation (non-mis-stepping) instruction is triggered. At this time, the electronic control unit will receive the accelerator mis-stepping false alarm instruction triggered by the vehicle driver and convert the formula A into thr =A max-i +Δ A The calculated opening threshold is used as the adjusted opening threshold. max-i is the peak value of the current accelerator pedal opening, △ A Adjust the step size for the opening.

[0164] Among them, reference Figure 7 , Figure 7 : is a flow chart of the change rate threshold adjustment method of the present application. In this embodiment, the change rate threshold adjustment method includes:

[0165] Step D1: Obtain the peak value of the rate of change of the accelerator pedal opening each time the vehicle driver steps on the accelerator pedal.

[0166] In this embodiment, the peak value of the change rate is the maximum value of the accelerator pedal opening change rate each time the vehicle driver steps on the accelerator pedal (from the accelerator pedal opening being zero to the next time the accelerator pedal opening is zero).

[0167] Step D2: If the peak value of the accelerator pedal opening change rate is less than the change rate threshold, count the number of acquisitions of the current peak value of the change rate that is less than the change rate threshold.

[0168] In this embodiment, the change rate threshold is the change rate threshold of the vehicle at the current moment. If the vehicle is a newly manufactured vehicle that has not been driven, the change rate threshold is the change rate threshold set in the first embodiment.

[0169] In this embodiment, when the peak value of the accelerator pedal opening rate of change is less than the rate threshold, the number of acquisitions of the original peak value of the rate of change less than the rate threshold is added by one to obtain the current number of acquisitions of the peak value of the rate of change less than the rate threshold.

[0170] Step D3: When the acquisition times reaches the preset times threshold, the average of all the change rate peak values less than the change rate threshold is calculated, and the maximum value is obtained from all the change rate peak values less than the change rate threshold.

[0171] In this embodiment, the preset number threshold may be determined by the vehicle manufacturer, and may be different for different types of vehicles, which is not specifically limited in this embodiment. For example, the preset number threshold may be 1000 times.

[0172] Step D4: Adjust the change rate threshold based on the mean value and the change rate adjustment coefficient corresponding to the accelerator pedal opening change rate.

[0173] In this embodiment, the calculation formula for adjusting the change rate threshold once is as follows:

[0174] R thr =α R ·R thr +(1-α R )R ave ,

[0175] Among them, R thr is the rate of change threshold, α R is the rate of change adjustment coefficient, R ave It is the average of all the peak values of the rate of change that are less than the rate of change threshold.

[0176] Step D5: If the change rate threshold after the primary adjustment is less than the maximum value, the change rate threshold after the primary adjustment is adjusted for a second time based on the change rate adjustment step size and the maximum value corresponding to the accelerator pedal opening change rate.

[0177] In this embodiment, the formula R thr =R max +Δ R The calculated change rate threshold is used as the change rate threshold obtained by performing a secondary adjustment on the change rate threshold after the primary adjustment. max is the maximum value of all the peak values of the rate of change that are less than the rate of change threshold, R Adjust the step size for the rate of change.

[0178] It should be noted that if the change rate threshold after the first adjustment is greater than or equal to the maximum value, there is no need to perform a second adjustment on the change rate threshold after the first adjustment.

[0179] Step D6: If the peak value of the rate of change is greater than or equal to the rate of change threshold, the result of the accelerator mis-stepping judgment is sent to the vehicle driver.

[0180] In this embodiment, an interactive interface (instrument interface) for interacting with the vehicle driver is installed. The electronic control unit will display the accelerator mis-stepping judgment result in the interactive interface to achieve the purpose of sending the accelerator mis-stepping judgment result to the vehicle driver.

[0181] Step D7: When a confirmation acceleration (not accidental stepping) instruction is received from the vehicle driver, the change rate threshold is adjusted based on the change rate adjustment step size.

[0182] In this embodiment, when the interactive interface displays the result of the accelerator mis-stepping judgment, it will simultaneously display the confirmation button and the denial button. The vehicle driver can select one of the buttons according to the actual situation. When the vehicle driver selects the confirmation button, it is considered that the accelerator has been mis-stepped, and the change rate threshold is not adjusted. When the vehicle driver selects the denial button, it is considered that the accelerator has not been mis-stepped, and the acceleration (non-mis-stepping) confirmation instruction is triggered. At this time, the electronic control unit will receive the accelerator mis-stepping confirmation instruction triggered by the vehicle driver and convert the formula R thr =R max-i +Δ R The calculated change rate threshold is used as the adjusted change rate threshold. max-i is the peak value of the current accelerator pedal opening rate, R Adjust the step size for the rate of change.

[0183] This embodiment learns the habit of vehicle drivers stepping on the accelerator, continuously adjusts the three judgment criteria of the pedaling force threshold, the opening threshold and the change rate threshold, and adopts different numerical judgment criteria for different vehicle drivers, thereby optimizing and improving the accuracy of judging the situation of accidental accelerator stepping. At the same time, it also improves the scope of application of the accidental accelerator stepping control technology, and can be effectively applied to drivers with different driving habits.

[0184] Reference Figure 8 , Figure 8 The following is a detailed flowchart of the accelerator mis-stepping control method of the present application. Furthermore, based on the first embodiment of the present application, in the third embodiment of the present application, step S20, when it is determined that the accelerator has been mis-stepped, cuts off the vehicle's power output and performs braking measures, includes:

[0185] Step S21: When it is determined that the accelerator is accidentally stepped on, the current power output of the vehicle is maintained, and an acceleration operation inquiry instruction is sent to the vehicle driver.

[0186] In this embodiment, the current power output of the vehicle is maintained, that is, the power output state of the vehicle is maintained at the previous moment when no accidental accelerator pedal pressing occurs.

[0187] In this embodiment, an interactive interface (instrument interface) for interacting with the vehicle driver is installed. The electronic control unit will display the acceleration operation query instruction in the interactive interface to achieve the purpose of sending the acceleration operation query instruction to the vehicle driver.

[0188] For electric vehicles, the vehicle's power output is the wheel torque driven by the vehicle; for engine vehicles, the vehicle's power output is the torque output by the engine.

[0189] Step S22: If the acceleration instruction confirmed by the vehicle driver is not received within the preset feedback time, the power output of the vehicle is cut off and braking measures are performed.

[0190] In this embodiment, if the confirmation acceleration command is not received from the vehicle driver within the preset feedback time, it means that the accelerator has been accidentally stepped on. At this time, the vehicle's power output needs to be cut off and braking measures need to be performed to ensure the vehicle's driving safety.

[0191] It should be noted that the preset feedback time can be set manually by the vehicle manufacturer and is not specifically limited in this embodiment, but it should not be too long.

[0192] The step of cutting off the power output of the vehicle and performing braking measures includes:

[0193] When the vehicle speed exceeds the preset speed threshold, the vehicle's power output is cut off and the target deceleration braking measures are executed;

[0194] When the vehicle speed is less than or equal to the preset speed threshold, the vehicle's power output is cut off and full braking measures are performed.

[0195] In this embodiment, when the vehicle's speed exceeds a preset speed threshold, indicating that the vehicle is in a high-speed driving state, the vehicle's power output is first cut off, and then deceleration and braking measures are implemented while ensuring vehicle stability. When the vehicle's speed is less than or equal to the preset speed threshold, indicating that the vehicle is in a low-speed driving state, full braking measures are immediately implemented after cutting off the power output. This embodiment adopts different braking measures for different vehicle speed ranges. When the vehicle's speed exceeds the preset speed threshold, deceleration and braking measures are implemented to prevent the vehicle from suddenly braking at high speed, which may cause injuries to the occupants of the vehicle, and to prevent rear-end collisions caused by the sudden braking of the preceding vehicle. When the vehicle's speed is less than the preset speed threshold, full braking measures are implemented to prevent the vehicle from colliding with other objects.

[0196] Step S23: If the confirmation acceleration instruction is received from the vehicle driver within the preset feedback time, the accelerator mis-stepping judgment result is ignored within the preset shielding time, and the vehicle power output is controlled in real time according to the driving operation of the vehicle driver.

[0197] In this embodiment, if a confirmation acceleration command is received from the vehicle driver within the preset feedback time, it indicates that a misjudgment of accelerator pedaling has occurred, but no misjudgment of accelerator pedaling has actually occurred. In this case, the misjudgment of accelerator pedaling is ignored within the preset blocking time, and the vehicle's power output is controlled in real time according to the vehicle driver's driving operation.

[0198] It should be noted that the ECU does not respond to the accelerator mis-stepping judgment result during the preset shielding time. The preset feedback time can be set by the vehicle manufacturer and is not specifically limited in this embodiment.

[0199] In this embodiment, if the confirmation acceleration instruction from the vehicle driver is not received within the preset feedback time, the vehicle's power output is cut off and braking measures are performed. If the confirmation acceleration instruction from the vehicle driver is received within the preset feedback time, the judgment result of the accelerator being pressed incorrectly is ignored within the preset shielding time, and the vehicle's power output is controlled in real time according to the vehicle driver's driving operation, thereby reducing the probability of misjudgment and avoiding affecting the driver's normal driving.

[0200] Reference Figure 8 , Figure 8 The present invention provides a detailed flowchart of the accelerator mis-stepping control method. Furthermore, based on the third embodiment of the present invention, in the fourth embodiment of the present invention, after step S21, when it is determined that the accelerator has been mis-stepped, maintaining the vehicle's current power output and sending an acceleration operation query instruction to the vehicle driver, further includes:

[0201] Controlling the warning indicator light to flash to remind the driver of the vehicle that the accelerator has been accidentally stepped on;

[0202] Or controlling the steering wheel to vibrate to remind the vehicle driver that the accelerator has been accidentally stepped on;

[0203] or controlling the vehicle driver's seat to vibrate to remind the vehicle driver that the accelerator has been accidentally stepped on;

[0204] Alternatively, the vehicle driver's seat belt is controlled to be tightened to remind the vehicle driver that the accelerator is accidentally stepped on.

[0205] In this embodiment, only one of the above warning methods may be used, or a combination of multiple methods may be used, which is not specifically limited in this embodiment.

[0206] Existing warnings for accidental accelerator pedaling are often delivered through sound, which can affect the passenger experience, especially on public transportation. Furthermore, these warnings may not be effective when the entertainment system is loud or the driving environment is noisy. Therefore, this embodiment utilizes the aforementioned warning method, which effectively warns the driver of an accidental accelerator pedaling through physical contact.

[0207] Reference Figure 8 , Figure 8The present invention provides a detailed flowchart of the accelerator mis-stepping control method. Furthermore, based on the first embodiment of the present invention, in the fifth embodiment of the present invention, after step S20, when it is determined that the accelerator has been mis-stepped, the vehicle's power output is cut off and braking measures are performed, the method further includes:

[0208] Step S30: When the vehicle meets the preset reset condition, returning to the step of judging the accidental accelerator pedaling based on the accelerator pedal accidental pedaling judgment parameter;

[0209] Step S40: When the vehicle does not meet the preset reset condition, return to the step of cutting off the power output of the vehicle and performing braking measures;

[0210] The preset reset conditions include:

[0211] When the vehicle is in start mode, after determining that the accelerator has been accidentally pressed, the vehicle's gear switches from the current gear to N gear and then switches back to the current gear;

[0212] When the vehicle is in low-speed driving mode, after determining that the accelerator is accidentally pressed, a throttle accidental pressing judgment control exit command triggered by the vehicle driver is received;

[0213] When the vehicle is in high-speed driving mode, after determining that the accelerator is accidentally stepped on, it is detected that the accelerator pedal opening corresponding to the next step after the accelerator pedal opening becomes zero is less than or equal to the opening threshold, or a control exit command for the accelerator accidental step judgment triggered by the vehicle driver is received.

[0214] In this embodiment, when the vehicle speed is between 0 and 5 km / h, it indicates that the vehicle is in starting mode; when the vehicle speed is between 5 and 50 km / h, it indicates that the vehicle is in low-speed driving mode; when the vehicle speed is greater than 50 km / h, it indicates that the vehicle is in high-speed driving mode.

[0215] In existing accelerator misoperation control technologies, a reset is considered possible when either the accelerator pedal position or the accelerator pedal position change rate fails to meet the judgment criteria. However, under special operating conditions, such as when the accelerator pedal position approaches but does not reach the position threshold and remains unchanged, or when the accelerator pedal position change rate approaches zero, a misoperation may occur, resulting in unsafe vehicle operation. This embodiment utilizes different reset conditions for different vehicle operating conditions, effectively avoiding misoperation. Furthermore, it improves vehicle driving safety under various vehicle operating conditions and enhances vehicle driving safety after an accelerator misoperation occurs.

[0216] Reference Figure 9 , Figure 9 This is a functional module diagram of the first embodiment of the accelerator mis-step control device of the present application.

[0217] In this embodiment, the accelerator mis-operation control device includes:

[0218] A judgment module 10, configured to judge whether the accelerator is accidentally depressed based on the accelerator accidentally depressed judgment parameter;

[0219] The control module 20 is configured to cut off the vehicle's power output and perform braking measures when it is determined that the accelerator has been accidentally depressed;

[0220] The parameters for judging whether the accelerator is mistakenly stepped on include the accelerator pedal stepping force, the accelerator pedal opening, the accelerator pedal opening change rate, the vehicle speed and the target distance.

[0221] Optionally, the judgment module includes:

[0222] a monitoring unit, configured to monitor the accelerator pedal depression force and / or the accelerator pedal opening;

[0223] a first judging unit, configured to judge the accelerator pedal opening;

[0224] a second judgment unit, configured to judge a rate of change of the accelerator pedal opening if the accelerator pedal opening is greater than an opening threshold;

[0225] a third judging unit, configured to judge the accelerator pedal stepping force;

[0226] a first acquiring unit, configured to acquire the vehicle speed if the accelerator pedal opening change rate is greater than a change rate threshold; or to acquire the vehicle speed if the accelerator pedal depression force is greater than a depression force threshold;

[0227] a fourth determining unit, configured to determine that the accelerator is accidentally depressed if the vehicle's running speed is less than a preset speed threshold;

[0228] a first detection unit, configured to detect a target in the direction of movement of the vehicle if the vehicle's travel speed is greater than or equal to a preset speed threshold;

[0229] The fifth judgment unit is configured to judge that the accelerator is accidentally depressed if there is a target in the moving direction of the vehicle and the target distance between the vehicle and the target is less than a preset distance threshold.

[0230] Optionally, the throttle mis-stepping control device further includes an adjustment module, which is used to adjust the pedaling force threshold, the opening threshold, and the change rate threshold in real time during vehicle driving, and the adjustment module includes:

[0231] A peak value acquisition unit, used for acquiring a peak value of the object to be adjusted each time the vehicle driver steps on the accelerator pedal;

[0232] a first comparing unit, configured to compare a peak value of the object to be adjusted with a current threshold value of the object to be adjusted;

[0233] an acquisition times counting unit, configured to count the number of acquisitions of a peak value smaller than the current threshold value if the peak value of the object to be adjusted is smaller than the current threshold value of the object to be adjusted;

[0234] a calculation unit, configured to calculate an average of all peak values smaller than the current threshold value when the acquisition number reaches a preset number threshold value, and obtain a maximum value from all peak values smaller than the current threshold value;

[0235] a primary adjustment unit, configured to perform a primary adjustment on a current threshold of the object to be adjusted based on the mean value and an adjustment coefficient corresponding to the object to be adjusted;

[0236] A second comparing unit, configured to compare the current threshold of the object to be adjusted after one adjustment with the maximum value;

[0237] a secondary adjustment unit, configured to perform a secondary adjustment on the current threshold of the object to be adjusted after the primary adjustment based on the adjustment step size corresponding to the object to be adjusted and the maximum value, if the current threshold of the object to be adjusted after the primary adjustment is less than the maximum value;

[0238] a sending unit for judging the result of mis-pressing the accelerator, configured to send the judging result of mis-pressing the accelerator to the driver of the vehicle if the peak value of the object to be adjusted is greater than or equal to the current threshold value of the object to be adjusted;

[0239] an adjusting unit, configured to adjust a current threshold of the object to be adjusted based on an adjustment step size corresponding to the object to be adjusted when receiving a confirmation acceleration instruction fed back by the vehicle driver;

[0240] The objects to be adjusted include the accelerator pedal opening, the accelerator pedal opening change rate, and the accelerator pedal stepping force.

[0241] Optionally, the control module includes:

[0242] An acceleration operation inquiry instruction sending unit is used to maintain the current power output of the vehicle and send an acceleration operation inquiry instruction to the vehicle driver when it is determined that the accelerator is accidentally stepped on;

[0243] A control unit is configured to cut off the vehicle's power output and execute braking measures if no confirmation acceleration instruction is received from the vehicle driver within a preset feedback time; and to ignore the accelerator mis-stepping judgment result within a preset shielding time if a confirmation acceleration instruction is received from the vehicle driver within a preset feedback time, and to control the vehicle's power output in real time according to the vehicle driver's driving operation.

[0244] Optionally, the control unit includes:

[0245] a comparison subunit, for comparing the vehicle's speed with a preset speed threshold;

[0246] The control subunit is used to cut off the vehicle's power output and perform target deceleration braking measures when the vehicle's speed is greater than a preset speed threshold, and is also used to cut off the vehicle's power output and perform full braking measures when the vehicle's speed is less than or equal to the preset speed threshold.

[0247] Optionally, the adjustment module also includes a warning unit, which is used to control the flashing of the alarm indicator light to remind the vehicle driver that the accelerator has been accidentally stepped on; or to control the vibration of the steering wheel to remind the vehicle driver that the accelerator has been accidentally stepped on; or to control the vibration of the vehicle driver's seat to remind the vehicle driver that the accelerator has been accidentally stepped on; or to control the tightening of the vehicle driver's seat belt to remind the vehicle driver that the accelerator has been accidentally stepped on.

[0248] Optionally, the throttle mis-operation control device further includes:

[0249] a reset module, configured to return to the accelerator mis-operation judgment parameter to determine whether the accelerator was mis-operated when the vehicle meets a preset reset condition, and to return to cutting off the vehicle's power output and executing braking measures when the vehicle does not meet the preset reset condition;

[0250] The preset reset conditions include:

[0251] When the vehicle is in start mode, after determining that the accelerator has been accidentally pressed, the vehicle's gear switches from the current gear to N gear and then switches back to the current gear;

[0252] When the vehicle is in low-speed driving mode, after determining that the accelerator is accidentally pressed, a throttle accidental pressing judgment control exit command triggered by the vehicle driver is received;

[0253] When the vehicle is in high-speed driving mode, after determining that the accelerator is accidentally stepped on, it is detected that the accelerator pedal opening corresponding to the next step after the accelerator pedal opening becomes zero is less than or equal to the opening threshold, or a control exit command for the accelerator accidental step judgment triggered by the vehicle driver is received.

[0254] Reference Figure 10 , Figure 10 This is a schematic diagram of the structure of the throttle mis-step control device in the hardware operating environment involved in the embodiment of the present application.

[0255] like Figure 10 As shown, the throttle misapplication control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The processor 1001 can utilize various interfaces and circuits to connect various components of the vehicle. By running or executing software programs and / or modules stored in the memory 1005 and accessing data stored in the memory 1005, it can perform various vehicle functions and process data, thereby monitoring the entire vehicle. The communication bus 1002 is used to facilitate communication between these components. The user interface 1003 may include a display and input units such as buttons. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as a disk memory. Alternatively, the memory 1005 may be a storage device independent of the processor 1001 .

[0256] Those skilled in the art will understand that Figure 10 The structure shown in the figure does not constitute a limitation on the throttle mis-stepping control device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0257] like Figure 10 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and an accelerator mis-stepping control program.

[0258] exist Figure 10 In the throttle accidental depression control device shown, the throttle accidental depression control device calls the throttle accidental depression control program stored in the memory 1005 through the processor 1001 to execute the throttle accidental depression control method provided in the embodiment of the present application.

[0259] The specific implementation of the throttle accidental pressing control device of the present application is basically the same as the various embodiments of the above-mentioned throttle accidental pressing control method, and will not be repeated here.

[0260] In addition, the present application also provides a storage medium, on which a throttle accidental pressing control program is stored. When the throttle accidental pressing control program is executed by a processor, the steps of the throttle accidental pressing control method described in each embodiment of the present application are implemented.

[0261] The specific implementation of the storage medium of the present application is basically the same as the embodiments of the above-mentioned accelerator mis-stepping control method, and will not be repeated here.

[0262] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0263] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0264] 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 the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this 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 enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0265] The above are only preferred embodiments of the present application and do not 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 controlling accidental accelerator pedal pressing, characterized in that: The accelerator mis-operation control method comprises the following steps: Based on the accelerator mis-pressing judgment parameter, judge whether the accelerator is mis-pressed; When it is determined that the accelerator is accidentally pressed, the vehicle's power output is cut off and braking measures are performed; The accelerator mis-stepping judgment parameters include accelerator pedal stepping force, accelerator pedal opening, accelerator pedal opening change rate, vehicle speed and target distance; The step of judging whether the accelerator is accidentally depressed based on the accelerator accidental depression judgment parameter includes: monitoring the accelerator pedal depression force and / or the accelerator pedal opening; If the accelerator pedal opening is greater than the opening threshold, determining the accelerator pedal opening change rate; If the accelerator pedal opening change rate is greater than a change rate threshold, obtaining the vehicle speed; or If the accelerator pedal stepping force is greater than the stepping force threshold, obtaining the vehicle speed; If the vehicle's speed is less than a preset speed threshold, it is determined that the accelerator is accidentally pressed; If the vehicle's speed is greater than or equal to a preset speed threshold, detecting a target in the vehicle's moving direction; If there is a target in the moving direction of the vehicle and the target distance between the vehicle and the target is less than a preset distance threshold, it is determined that the accelerator is accidentally stepped on.

2. The accelerator mis-operation control method according to claim 1, wherein: During vehicle travel, the pedaling force threshold, the opening threshold, and the change rate threshold are adjusted in real time. The adjustment method of the pedaling force threshold, the opening threshold, and the change rate threshold includes: Obtaining the peak value of the object to be adjusted each time the vehicle driver steps on the accelerator pedal; If the peak value of the object to be adjusted is smaller than the current threshold value of the object to be adjusted, then counting the number of acquisitions of the peak value smaller than the current threshold value; When the acquisition times reaches a preset threshold, averaging all peak values smaller than the current threshold, and obtaining a maximum value from all peak values smaller than the current threshold; Adjusting the current threshold of the object to be adjusted based on the mean value and the adjustment coefficient corresponding to the object to be adjusted; If the current threshold of the object to be adjusted after the first adjustment is less than the maximum value, performing a second adjustment on the current threshold of the object to be adjusted after the first adjustment based on the adjustment step size corresponding to the object to be adjusted and the maximum value; If the peak value of the object to be adjusted is greater than or equal to the current threshold value of the object to be adjusted, sending the accelerator mis-stepping judgment result to the vehicle driver; When receiving the confirmation acceleration instruction fed back by the vehicle driver, adjusting the current threshold of the object to be adjusted based on the adjustment step size corresponding to the object to be adjusted; The objects to be adjusted include the accelerator pedal opening, the accelerator pedal opening change rate, and the accelerator pedal stepping force.

3. The accelerator mis-operation control method according to claim 1, wherein: The step of cutting off the power output of the vehicle and performing braking measures when it is determined that the accelerator is accidentally stepped on includes: When it is determined that the accelerator is accidentally pressed, the vehicle's current power output is maintained and an acceleration operation query instruction is sent to the vehicle driver; If the acceleration instruction confirmed by the vehicle driver is not received within the preset feedback time, the vehicle power output is cut off and braking measures are performed; If a confirmation acceleration command is received from the vehicle driver within a preset feedback time, the accelerator mis-stepping judgment result is ignored within a preset shielding time, and the vehicle power output is controlled in real time according to the driving operation of the vehicle driver.

4. The accelerator mis-stepping control method according to claim 1 or 3, characterized in that: The step of cutting off the vehicle power output and performing braking measures includes: When the vehicle speed exceeds the preset speed threshold, the vehicle's power output is cut off and the target deceleration braking measures are executed; When the vehicle speed is less than or equal to the preset speed threshold, the vehicle's power output is cut off and full braking measures are performed.

5. The accelerator mis-operation control method according to claim 3, wherein: After the step of maintaining the current power output of the vehicle and sending an acceleration operation inquiry instruction to the vehicle driver after determining that the accelerator has been accidentally stepped on, the method further includes: Controlling the warning indicator light to flash to remind the driver of the vehicle that the accelerator has been accidentally stepped on; or Controlling the steering wheel to vibrate to remind the driver of the vehicle that the accelerator has been accidentally stepped on; or Controlling the vehicle driver's seat to vibrate to remind the vehicle driver that the accelerator has been accidentally stepped on; or The vehicle driver's seat belt is controlled to be tightened to remind the vehicle driver that the accelerator is accidentally stepped on.

6. The accelerator mis-operation control method according to claim 1, wherein: After the step of cutting off the power output of the vehicle and performing braking measures when it is determined that the accelerator is accidentally stepped on, the method further includes: When the vehicle meets the preset reset condition, returning to the step of determining whether the accelerator is accidentally depressed based on the accelerator accidental depression judgment parameter; When the vehicle does not meet the preset reset condition, returning to the step of cutting off the power output of the vehicle and performing braking measures; The preset reset conditions include: When the vehicle is in start mode, after determining that the accelerator has been accidentally pressed, the vehicle's gear switches from the current gear to N gear and then switches back to the current gear; When the vehicle is in low-speed driving mode, after determining that the accelerator is accidentally pressed, a throttle accidental pressing judgment control exit command triggered by the vehicle driver is received; When the vehicle is in high-speed driving mode, after determining that the accelerator is accidentally stepped on, it is detected that the accelerator pedal opening corresponding to the next step after the accelerator pedal opening becomes zero is less than or equal to the opening threshold, or a control exit command for the accelerator accidental step judgment triggered by the vehicle driver is received.

7. A device for controlling the accidental pressing of the accelerator, characterized in that: The device comprises: A judgment module, configured to judge whether the accelerator is accidentally pressed based on a judgment parameter of the accelerator being accidentally pressed; A control module is used to cut off the vehicle's power output and perform braking measures when it is determined that the accelerator has been accidentally pressed; The accelerator mis-stepping judgment parameters include accelerator pedal stepping force, accelerator pedal opening, accelerator pedal opening change rate, vehicle speed and target distance; Optionally, the judgment module includes: a monitoring unit, configured to monitor the accelerator pedal depression force and / or the accelerator pedal opening; a first judging unit, configured to judge the accelerator pedal opening; a second judgment unit, configured to judge a rate of change of the accelerator pedal opening if the accelerator pedal opening is greater than an opening threshold; a third judging unit, configured to judge the accelerator pedal stepping force; a first acquiring unit, configured to acquire the vehicle speed if the accelerator pedal opening change rate is greater than a change rate threshold; or to acquire the vehicle speed if the accelerator pedal depression force is greater than a depression force threshold; a fourth determining unit, configured to determine that the accelerator is accidentally depressed if the vehicle's running speed is less than a preset speed threshold; a first detection unit, configured to detect a target in the direction of movement of the vehicle if the vehicle's travel speed is greater than or equal to a preset speed threshold; The fifth judgment unit is configured to judge that the accelerator is accidentally depressed if there is a target in the moving direction of the vehicle and the target distance between the vehicle and the target is less than a preset distance threshold.

8. A device for controlling accidental accelerator pedal pressing, characterized in that: The device includes: a memory, a processor, and an accelerator mis-operation control program stored in the memory and executable on the processor, wherein the accelerator mis-operation control program is configured to implement the steps of the accelerator mis-operation control method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium stores an accelerator mis-operation control program, which, when executed by the processor, implements the steps of the accelerator mis-operation control method according to any one of claims 1 to 6.

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