A vehicle control method, electronic device, and storage medium

Abstract

The application discloses a vehicle control method, an electronic device and a storage medium. The method comprises the following steps: obtaining a first driving state of a host vehicle and a first relative motion state of a target vehicle relative to the host vehicle, and determining a braking characteristic of the host vehicle corresponding to the first driving state and the first relative motion state according to a first preset braking characteristic similarity judgment condition; obtaining a second driving state of the target vehicle and a second relative motion state of the target vehicle relative to a preset collection device, and determining a braking characteristic of the target vehicle corresponding to the first driving state, the second driving state and the second relative motion state according to a second preset braking characteristic similarity judgment condition; detecting a misacceleration condition of the host vehicle according to a comparison result of the braking characteristic of the host vehicle and the braking characteristic of the target vehicle; and controlling the host vehicle according to a braking control strategy corresponding to the misacceleration condition. The application realizes accurate identification and effective control of the misacceleration condition of the vehicle, and improves driving safety and universality.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and more particularly to a vehicle control method, electronic device, and storage medium. Background Technology

[0002] With the rapid development of the automotive industry, cars have become an essential means of transportation for people's daily travel. Consequently, the incidence of traffic accidents has increased year by year, many of which are caused by driver error. In some emergency situations, drivers should press the brake pedal to slow down or stop the vehicle. However, due to insufficient driving experience, nervousness, or distraction, drivers may mistakenly press the accelerator pedal, causing the vehicle to accelerate forward unintentionally. This can easily lead to vehicle collisions or injuries.

[0003] Under the existing technology, vehicle control methods based on vehicle erroneous acceleration usually have the following shortcomings: (1) Modification of the vehicle's hardware structure such as pedals is required, resulting in low universality; (2) The detection of erroneous acceleration results is based only on the distance between the vehicle and the vehicle in front or the vehicle's state data, resulting in low accuracy of the detection results. Summary of the Invention

[0004] This invention provides a vehicle control method, electronic device, and storage medium. It determines the braking characteristics of the vehicle based on a first driving state and a second relative motion state of a target vehicle, and determines the braking characteristics of the target vehicle based on a second driving state, a second relative motion state, and the first driving state of the vehicle. Then, it determines the vehicle's erroneous acceleration based on a comparison of the vehicle's braking characteristics and the target vehicle's braking characteristics. Finally, it controls the vehicle according to the braking control strategy corresponding to the erroneous acceleration situation. This achieves accurate identification and effective control of erroneous acceleration, reduces the possibility of traffic accidents caused by mistakenly pressing the accelerator pedal, improves driving safety, and has good universality.

[0005] According to one aspect of the present invention, a vehicle control method is provided, the method comprising:

[0006] The vehicle obtains its first driving state and the target vehicle's first relative motion state relative to itself, and determines the vehicle's braking characteristics corresponding to the first driving state and the first relative motion state according to the first preset braking characteristic similarity judgment condition.

[0007] The second driving state of the target vehicle and the second relative motion state of the target vehicle relative to the preset acquisition device are obtained, and the braking characteristics of the target vehicle corresponding to the first driving state, the second driving state and the second relative motion state are determined according to the second preset braking characteristic similarity judgment condition.

[0008] The vehicle's erroneous acceleration is detected based on the comparison between the braking characteristics of this vehicle and the braking characteristics of the target vehicle.

[0009] Control the vehicle according to the braking control strategy corresponding to the erroneous acceleration situation.

[0010] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0011] At least one processor; and

[0012] A memory communicatively connected to the at least one processor; wherein,

[0013] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle control method according to any embodiment of the present invention.

[0015] The technical solution of this invention involves acquiring a first driving state of the vehicle and a first relative motion state of the target vehicle relative to the vehicle, and determining the vehicle's braking characteristics corresponding to the first driving state and the first relative motion state according to a first preset braking characteristic similarity judgment condition; acquiring a second driving state of the target vehicle and a second relative motion state of the target vehicle relative to a preset acquisition device, and determining the target vehicle's braking characteristics corresponding to the first driving state, the second driving state, and the second relative motion state according to a second preset braking characteristic similarity judgment condition; detecting erroneous acceleration of the vehicle based on the comparison result between the vehicle's braking characteristics and the target vehicle's braking characteristics; and controlling the vehicle according to the braking control strategy corresponding to the erroneous acceleration. This invention determines the braking characteristics of the vehicle based on its first driving state and the target vehicle's second driving state, as well as the target vehicle's second relative motion state and the vehicle's first driving state. Then, it determines the vehicle's erroneous acceleration based on a comparison of the vehicle's braking characteristics with those of the target vehicle. Finally, it controls the vehicle according to the braking control strategy corresponding to the erroneous acceleration, achieving accurate identification and effective control of erroneous acceleration, reducing the likelihood of traffic accidents caused by mistakenly pressing the accelerator pedal, improving driving safety, and demonstrating good universality.

[0016] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0019] Figure 2a and Figure 2b This is a flowchart of a vehicle control method provided according to Embodiment 2 of the present invention;

[0020] Figure 3 This is an example diagram of a vehicle control system provided according to Embodiment 3 of the present invention;

[0021] Figure 4 This is a flowchart of a vehicle control method provided according to Embodiment 3 of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 4 of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of an electronic device that implements the vehicle control method of this invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] Example 1

[0027] Figure 1 This is a flowchart of a vehicle control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations involving accidental acceleration of a vehicle and its control. The method can be executed by a vehicle control device, which can be implemented in hardware and / or software. This vehicle control device can be configured in an electronic device, such as, but not limited to, in-vehicle equipment. Figure 1 As shown in the figure, the vehicle control method provided in this embodiment includes the following steps:

[0028] S110. Obtain the first driving state of the vehicle and the first relative motion state of the target vehicle relative to the vehicle, and determine the braking characteristics of the vehicle corresponding to the first driving state and the first relative motion state according to the first preset braking characteristic similarity judgment condition.

[0029] The first driving state refers to the vehicle's driving state data, which may include the vehicle's acceleration, deceleration, and turning. The target vehicle refers to various traffic vehicles located in front of the vehicle. The first relative motion state can be understood as the target vehicle's motion state data relative to the vehicle, which may include the target vehicle's lateral / longitudinal distance, lateral / longitudinal velocity, and lateral / longitudinal acceleration. The first preset braking characteristic similarity judgment condition refers to pre-configured judgment conditions used to determine the vehicle's braking characteristics. Considering that the target vehicle in front is a major factor affecting the vehicle's acceleration and deceleration behavior, the vehicle's braking characteristics under this condition can be determined through the first preset braking characteristic similarity judgment condition. The first preset braking characteristic similarity judgment condition may include: the current first accelerator pedal opening value is greater than a certain threshold; the difference between the current first lateral / longitudinal distance and the first lateral / longitudinal distance in historical data is less than a certain threshold; the difference between the current first longitudinal velocity or acceleration and the first longitudinal velocity or acceleration in historical data is less than a certain threshold, etc. The braking characteristics of this vehicle can be understood as the braking characteristics based on the acceleration and deceleration characteristics of this vehicle. The braking characteristics of this vehicle may include the correlation or similarity between the acceleration and deceleration of this vehicle.

[0030] In this embodiment of the invention, during the vehicle's operation, the first driving state of the vehicle can be obtained through vehicle communication networks such as CAN and LIN or through hardwired connections. The first relative motion state of the target vehicle relative to the vehicle can be obtained through vehicle-mounted sensing devices such as onboard cameras, lidar, and millimeter-wave radar. The first driving state may include, but is not limited to, the vehicle's acceleration, deceleration, and turning. The first relative motion state may include, but is not limited to, the target vehicle's lateral / longitudinal distance, lateral / longitudinal velocity, and lateral / longitudinal acceleration. Based on the obtained first driving state and first relative motion state, it can be determined whether they meet one or more pre-configured first preset braking characteristic similarity judgment conditions on the electronic device. If the first preset braking characteristic similarity judgment conditions are met... The corresponding braking characteristics of the vehicle are determined based on the acceleration and deceleration characteristics of the vehicle that meet the conditions. Specifically, the method for determining the braking characteristics of the vehicle corresponding to the first driving state and the first relative motion state according to the first preset braking characteristic similarity judgment condition can be as follows: First, the acceleration and deceleration characteristics of the vehicle that meet the conditions are selected based on the first preset braking characteristic similarity judgment condition, and then the corresponding braking characteristics of the vehicle are determined according to the preset similarity determination formula. Alternatively, the method can be as follows: First, the acceleration and deceleration characteristics of the vehicle that meet the conditions are selected based on the first preset braking characteristic similarity judgment condition, and then the acceleration and deceleration characteristics are input into a pre-trained deep learning network model, and the output of the model is used as the braking characteristics of the vehicle corresponding to the first driving state and the first relative motion state.

[0031] S120: Obtain the second driving state of the target vehicle and the second relative motion state of the target vehicle relative to the preset acquisition device, and determine the target vehicle braking characteristics corresponding to the first driving state, the second driving state and the second relative motion state according to the second preset braking characteristic similarity judgment condition.

[0032] The second driving state refers to the vehicle driving state data corresponding to the target vehicle, which may include the target vehicle's acceleration, deceleration, and turning. The preset data acquisition device can be understood as a pre-configured vehicle driving state data acquisition device. This device may include roadside equipment such as roadside cameras and monitoring probes. It can be installed at locations requiring deceleration and / or stopping, such as traffic light intersections, speed bumps, and bus stops. There can be one or more preset data acquisition devices. Besides acquiring the target vehicle's second relative motion state, the device also has the function of data communication with different vehicles. The second relative motion state can be understood as the target vehicle's motion state data relative to the preset data acquisition device, which may include the target vehicle's lateral / longitudinal distance, lateral / longitudinal velocity, and lateral / longitudinal acceleration. The second preset braking characteristic similarity judgment condition can refer to the pre-configured judgment conditions used to determine the braking characteristics of the target vehicle. Considering scenarios such as traffic light intersections, speed bumps, and bus stops where deceleration and / or stopping are required, even if there is no target vehicle in front of the current vehicle, deceleration and / or stopping operations are still necessary. Therefore, the second preset braking characteristic similarity judgment condition can be used to determine the braking characteristics of the target vehicle in this situation, thereby providing a certain reference for the deceleration and / or stopping operation of the current vehicle. The second preset braking characteristic similarity judgment condition may include: the first accelerator pedal opening value at the current moment is greater than a certain threshold; the difference between the second lateral / longitudinal distance at the current moment and the second lateral / longitudinal distance in historical data is less than a certain threshold; the difference between the second longitudinal velocity or acceleration at the current moment and the second longitudinal velocity or acceleration in historical data is less than a certain threshold, etc. The target vehicle braking characteristics can be understood as the braking characteristics based on the acceleration and deceleration characteristics of the target vehicle. The target vehicle braking characteristics may include the correlation or similarity relationship between the acceleration of the current vehicle and the deceleration of the target vehicle, etc.

[0033] In this embodiment of the invention, during the driving process of the vehicle, the second driving state of the target vehicle can be obtained through communication methods not limited to, vehicle-to-everything (V2X) systems and vehicle-road cooperative systems. The methods for obtaining the second driving state of the target vehicle may include, but are not limited to: direct transmission from the target vehicle's onboard communication unit to the vehicle itself; transmission from the target vehicle's onboard communication unit to a preset data acquisition device on the roadside, and then transmission from the preset data acquisition device to the vehicle itself. This embodiment of the invention does not impose any limitations on these methods. Furthermore, the second relative motion state of the target vehicle relative to the preset data acquisition device can be obtained through communication methods not limited to, vehicle-to-everything (V2X) systems and vehicle-road cooperative systems. Then, based on the obtained first driving state, second driving state, and second relative motion state, it can be determined whether they meet one or more preset second braking characteristic similarity judgment conditions pre-configured on the electronic device. If the second preset braking characteristic similarity judgment conditions are met... The similarity judgment condition is used to determine the corresponding braking characteristics of the vehicle based on the acceleration characteristics of the vehicle and the deceleration characteristics of the target vehicle that meet the condition. The methods for determining the target vehicle braking characteristics corresponding to the first driving state, the second driving state, and the second relative motion state according to the second preset braking characteristic similarity judgment condition may include, but are not limited to, the following: the acceleration characteristics of the vehicle and the deceleration characteristics of the target vehicle that meet the condition can be selected according to the second preset braking characteristic similarity judgment condition, and then the corresponding target vehicle braking characteristics can be determined according to the preset similarity determination formula; or the acceleration characteristics of the vehicle and the deceleration characteristics of the target vehicle that meet the condition can be selected according to the second preset braking characteristic similarity judgment condition, and then the acceleration characteristics and deceleration characteristics are input into the pre-trained deep learning network model, and the output of the model is used as the target vehicle braking characteristics corresponding to the first driving state, the second driving state, and the second relative motion state.

[0034] S130. Detect the false acceleration of this vehicle based on the comparison results between the braking characteristics of this vehicle and the braking characteristics of the target vehicle.

[0035] In this embodiment of the invention, after determining the braking characteristics of the current vehicle and the target vehicle, the erroneous acceleration of the current vehicle can be determined based on the comparison results of the above braking characteristics. The methods for detecting the erroneous acceleration of the current vehicle based on the comparison results of the braking characteristics of the current vehicle and the target vehicle can include, but are not limited to, the following: when the braking characteristics of the current vehicle and the target vehicle meet one or more preset vehicle erroneous acceleration judgment conditions, the erroneous acceleration of the current vehicle can be determined as erroneous acceleration; or the braking characteristics of the current vehicle and the target vehicle can be input into a pre-trained deep learning network model, the comparison results of the two can be determined based on the output results of the model, and then the erroneous acceleration of the current vehicle can be determined as erroneous acceleration if the vehicle braking coefficient in the comparison results is low.

[0036] S140. Control the vehicle according to the braking control strategy corresponding to the erroneous acceleration situation.

[0037] The braking control strategy can be understood as a control strategy used to determine the braking operation of the vehicle based on the erroneous acceleration situation. The braking control strategy may include: controlling the vehicle's brake pedal according to the pre-configured brake pedal opening value when the erroneous acceleration situation is erroneous acceleration; controlling the vehicle's brake pedal according to the brake pedal opening value of the target vehicle at the current moment when the erroneous acceleration situation is erroneous acceleration; and not performing braking operation when the erroneous acceleration situation is not erroneous acceleration.

[0038] In this embodiment of the invention, after determining the erroneous acceleration of the vehicle, a corresponding braking control strategy can be determined based on the erroneous acceleration, and then the vehicle can be controlled to perform the corresponding braking operation according to the braking control strategy. For example, if the erroneous acceleration is detected as erroneous acceleration, the brake pedal of the vehicle can be controlled to operate according to a pre-configured brake pedal opening value, or the brake pedal opening value of the target vehicle at the current moment can be used to control the brake pedal of the vehicle. This embodiment of the invention does not impose any limitations on this. It should be understood that the braking control strategies listed above are only examples. In practical applications, control parameters for controlling the operation of the braking equipment, such as the brake pedal opening value, can also be adaptively determined based on the historical braking conditions of the vehicle and the target vehicle. This embodiment of the invention does not impose any specific limitations.

[0039] The technical solution of this invention involves acquiring a first driving state of the vehicle and a first relative motion state of the target vehicle relative to the vehicle, and determining the vehicle's braking characteristics corresponding to the first driving state and the first relative motion state according to a first preset braking characteristic similarity judgment condition; acquiring a second driving state of the target vehicle and a second relative motion state of the target vehicle relative to a preset acquisition device, and determining the target vehicle's braking characteristics corresponding to the first driving state, the second driving state, and the second relative motion state according to a second preset braking characteristic similarity judgment condition; detecting erroneous acceleration of the vehicle based on the comparison result between the vehicle's braking characteristics and the target vehicle's braking characteristics; and controlling the vehicle according to the braking control strategy corresponding to the erroneous acceleration. This invention determines the braking characteristics of the vehicle based on its first driving state and the target vehicle's second driving state, as well as the target vehicle's second relative motion state and the vehicle's first driving state. Then, it determines the vehicle's erroneous acceleration based on a comparison of the vehicle's braking characteristics with those of the target vehicle. Finally, it controls the vehicle according to the braking control strategy corresponding to the erroneous acceleration, achieving accurate identification and effective control of erroneous acceleration, reducing the likelihood of traffic accidents caused by mistakenly pressing the accelerator pedal, improving driving safety, and demonstrating good universality.

[0040] Example 2

[0041] Figure 2a and Figure 2b This is a flowchart of a vehicle control method provided in Embodiment 2 of the present invention. It is further optimized and extended based on the above embodiments and can be combined with various optional technical solutions in the above embodiments. For example... Figure 2a and Figure 2b As shown in the figure, the vehicle control method provided in this embodiment includes the following steps:

[0042] S210. Control the accelerator pedal opening sensor and brake pedal opening sensor of this vehicle to collect the first accelerator pedal opening value and the first brake pedal opening value of this vehicle at the current moment and use them as the first driving state.

[0043] The accelerator pedal opening sensor and brake pedal opening sensor refer to the sensors configured on the accelerator pedal and brake pedal of the current vehicle and the target vehicle, respectively. These sensors can collect the accelerator pedal opening value and brake pedal opening value of the current vehicle and the target vehicle, respectively, with an opening range of 0% to 100%. The first accelerator pedal opening value and the first brake pedal opening value can be understood as the corresponding accelerator pedal opening value and brake pedal opening value of the current vehicle, respectively.

[0044] In this embodiment of the invention, during the driving process of the vehicle, the first accelerator pedal opening value and the first brake pedal opening value collected by the accelerator pedal opening sensor and the brake pedal opening sensor at the current moment can be obtained through vehicle communication networks such as CAN and LIN or hardwired, and the first accelerator pedal opening value and the first brake pedal opening value are used as the first driving state corresponding to the vehicle.

[0045] S220. Control the vehicle's onboard camera to collect the target vehicle's current longitudinal distance, first lateral distance, first longitudinal velocity, and first longitudinal acceleration relative to the vehicle and use them as the first relative motion state.

[0046] Among them, vehicle-mounted cameras can refer to devices installed on the vehicle to obtain the relative motion state of a target vehicle relative to the vehicle itself.

[0047] In this embodiment of the invention, during the driving process of the vehicle, the vehicle-mounted camera configured in the vehicle can be controlled to collect the first longitudinal distance, first lateral distance, first longitudinal velocity and first longitudinal acceleration of the target vehicle relative to the vehicle at the current moment, and the above data can be used as the first relative motion state of the target vehicle.

[0048] S230. Based on the first accelerator pedal opening value, first longitudinal distance, first lateral distance, first longitudinal speed, first longitudinal acceleration, and first historical data in the preset database at the current moment, select the first historical moment that meets the first preset braking characteristic similarity judgment condition.

[0049] The preset database can be understood as a database used to store historical data on the driving state and relative motion state of the vehicle and the target vehicle. For example, the driving state and relative motion state of the vehicle and the target vehicle can be acquired according to a preset sampling interval, and the collected first driving state and first relative motion state are stored as first historical data in the preset database. There can be one or more preset databases, which can be configured in the vehicle or a cloud server. In addition, the preset database can save historical data for each day, or it can choose to save historical data for a certain preset time interval of each day. This embodiment of the invention does not impose any limitations on this. The first historical moment can refer to a historical moment that meets the first preset braking characteristic similarity judgment condition.

[0050] In this embodiment of the invention, one or more first preset braking characteristic similarity judgment conditions can be pre-configured on the electronic device. Then, based on the first accelerator pedal opening value, first longitudinal distance, first lateral distance, first longitudinal speed, and first longitudinal acceleration at the current moment, as well as the first historical data corresponding to different historical moments in the preset database, the corresponding first historical moments that meet the first preset braking characteristic similarity judgment conditions are filtered from the preset database. The first preset braking characteristic similarity judgment conditions can be configured according to the actual situation. For example, the first preset braking characteristic similarity judgment conditions may include, but are not limited to: the first accelerator pedal opening value at the current moment is greater than a certain threshold, the difference between the first lateral / longitudinal distance at the current moment and the historical first lateral / longitudinal distance in the first historical data is less than a certain threshold, and the difference between the first longitudinal speed or acceleration at the current moment and the historical first longitudinal speed or acceleration in the first historical data is less than a certain threshold.

[0051] S240. Call the preset first braking characteristic similarity determination formula to determine the first braking characteristic similarity at the current moment based on the first brake pedal opening value corresponding to the first historical moment and the first accelerator pedal opening value at the current moment, and use it as the braking characteristic of this vehicle.

[0052] The preset formula for determining the first braking characteristic similarity can be understood as a pre-configured formula for determining the first braking characteristic similarity. The first braking characteristic similarity can refer to the braking characteristic similarity based on the vehicle itself. The first braking characteristic similarity can be used to characterize the correlation or similarity relationship between the first brake pedal opening value and the first accelerator pedal opening value.

[0053] In this embodiment of the invention, the first braking characteristic similarity determination formula pre-configured on the electronic device can be called based on the first brake pedal opening value corresponding to the first historical time and the first accelerator pedal opening value at the current time, thereby determining the first braking characteristic similarity corresponding to the current time and using it as the braking feature of the vehicle.

[0054] Furthermore, based on the above embodiments of the invention, the preset formula for determining the similarity of the first braking characteristics may include at least the following formula:

[0055]

[0056] In the formula, t0 represents the current time, i1 represents the first historical time, T represents the preset sampling interval, and S represents the current time. 1,t0 K represents the similarity of the first braking characteristics at the current moment. A1 K represents the first accelerator pedal opening value. B1 This indicates the opening value of the first brake pedal.

[0057] S250: Obtain the current accelerator pedal opening value and the second brake pedal opening value of the target vehicle through the vehicle's onboard communication unit and use them as the second driving state.

[0058] The vehicle-mounted communication unit refers to a functional unit with data communication capabilities configured in both the vehicle and the target vehicle. Through this unit, data communication can be achieved between the vehicle and the target vehicle, between the vehicle and roadside equipment, and between the target vehicle and roadside equipment. Communication methods may include, but are not limited to, vehicle-to-everything (V2X) systems and vehicle-to-infrastructure (V2I) systems. The second accelerator pedal opening value and the second brake pedal opening value can be understood as the accelerator pedal opening value and brake pedal opening value corresponding to the target vehicle, respectively.

[0059] In this embodiment of the invention, during the driving process of the vehicle, the vehicle-mounted communication unit configured in the vehicle can be used to obtain the current accelerator pedal opening value and the second brake pedal opening value of the target vehicle, and use the second accelerator pedal opening value and the second brake pedal opening value as the second driving state corresponding to the target vehicle. The method of obtaining the current accelerator pedal opening value and the second brake pedal opening value of the target vehicle through the vehicle-mounted communication unit of the vehicle can be as follows: the current accelerator pedal opening value and the second brake pedal opening value can be collected by the accelerator pedal opening sensor and the brake pedal opening sensor configured in the target vehicle, and then the data can be transmitted to the vehicle-mounted communication unit of the vehicle configured in the target vehicle; alternatively, the current accelerator pedal opening value and the second brake pedal opening value can be collected by the accelerator pedal opening sensor and the brake pedal opening sensor configured in the target vehicle, and then the data can be transmitted to roadside equipment such as a roadside camera through the vehicle-mounted communication unit of the target vehicle, and finally the data can be transmitted to the vehicle-mounted communication unit of the vehicle via the roadside camera.

[0060] S260. The vehicle obtains the second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment through the vehicle's onboard communication unit and uses them as the second relative motion state.

[0061] Among them, roadside cameras can refer to data collection devices located on the side of the road for collecting the driving status of different vehicles. Roadside cameras can be set up in urban traffic light intersections, speed bumps, bus stops and other scenarios that require deceleration and / or stopping. There can be one or more roadside cameras. In addition to collecting the second relative motion state of the target vehicle, roadside cameras also have the function of data communication with different vehicles.

[0062] In this embodiment of the invention, during the driving process of the vehicle, the vehicle-mounted communication unit configured in the vehicle can be controlled to obtain the second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment, and the above data is used as the second relative motion state of the target vehicle. The method of obtaining the second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment through the vehicle-mounted communication unit of the vehicle can be as follows: the second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment are collected by the roadside camera, and the above data is transmitted to the vehicle-mounted communication unit of the vehicle through communication methods not limited to, vehicle network system, vehicle-road cooperative system, etc.

[0063] S270. Based on the first accelerator pedal opening value, second longitudinal distance, second lateral distance, second longitudinal speed, second longitudinal acceleration, and second historical data of the first driving state at the current moment in the preset database, the second historical moment that meets the second preset braking characteristic similarity judgment condition is selected.

[0064] The second historical data can refer to the historical data of the second driving state and the second relative motion state stored in the preset database. The second historical moment can refer to a certain historical moment that meets the second preset braking characteristic similarity judgment condition.

[0065] In this embodiment of the invention, one or more second preset braking characteristic similarity judgment conditions can be pre-configured on the electronic device. Then, based on the first accelerator pedal opening value, the second longitudinal distance, the second lateral distance, the second longitudinal speed, the second longitudinal acceleration, and the second historical data corresponding to different historical times in the preset database at the current moment, the corresponding second historical time that meets the second preset braking characteristic similarity judgment conditions can be selected from the preset database.

[0066] S280. Call the preset second braking characteristic similarity determination formula. Based on the second brake pedal opening value corresponding to the second historical time and the first accelerator pedal opening value of the first driving state at the current time, determine the second braking characteristic similarity at the current time and use it as the braking feature of the target vehicle.

[0067] The preset formula for determining the similarity of the second braking characteristic can be understood as a pre-configured formula for determining the similarity of the second braking characteristic. The similarity of the second braking characteristic can refer to the similarity of the braking characteristics of the target vehicle. The similarity of the second braking characteristic can be used to characterize the correlation or similarity relationship between the first accelerator pedal opening value and the second brake pedal opening value.

[0068] In this embodiment of the invention, the second braking characteristic similarity determination formula pre-configured on the electronic device can be called based on the second brake pedal opening value corresponding to the second historical time and the first accelerator pedal opening value at the current time, thereby determining the second braking characteristic similarity corresponding to the current time and using it as the braking feature of the target vehicle.

[0069] Furthermore, based on the above embodiments of the invention, the preset formula for determining the similarity of the second braking characteristics may include at least the following formula:

[0070]

[0071] In the formula, t0 represents the current time, i2 represents the second historical time, T represents the preset sampling interval, and S 2,t0 K represents the similarity of the second braking characteristics at the current moment. A1K represents the first accelerator pedal opening value. B2 This indicates the opening value of the second brake pedal.

[0072] S290. When the similarity between the first braking characteristic of this vehicle and the second braking characteristic of the target vehicle meets the preset erroneous acceleration condition, the erroneous acceleration of this vehicle is determined to be erroneous acceleration.

[0073] The preset false acceleration condition can refer to the judgment conditions used to determine whether the vehicle has performed a false acceleration operation, i.e., the driver has accidentally pressed the accelerator pedal. The preset false acceleration condition can include: the similarity of the first braking characteristic and the similarity of the second braking characteristic at the current moment are both less than a certain threshold; the sum of the similarity of each first braking characteristic or the sum of the similarity of each second braking characteristic within a preset time period is less than a certain threshold; the difference between the sum of the similarity of each first braking characteristic and the sum of the similarity of each second braking characteristic within a preset time period is less than a certain threshold, etc.

[0074] In this embodiment of the invention, one or more preset false acceleration conditions can be pre-configured on the electronic device, and then it is determined whether the preset false acceleration conditions are met based on the determined first braking characteristic similarity and second braking characteristic similarity. When the preset false acceleration conditions are met, the false acceleration of the vehicle is determined as false acceleration.

[0075] Furthermore, based on the above embodiments of the invention, the preset false acceleration condition may include at least one of the following:

[0076]

[0077]

[0078]

[0079] In the formula, S A1 S A2 and S A3 Let S represent the first similarity threshold, the second similarity threshold, and the third similarity threshold, respectively, where t0 represents the current time, and S represents the third similarity threshold. 1,t0-n×T S represents the first braking characteristic similarity of the vehicle's braking characteristics at time t0-n×T. 2,t0-n×T The second braking characteristic similarity represents the braking characteristics of the target vehicle at time t0-n×T, and e represents the exponential operation with the natural constant as the base.

[0080] S2100: In the preset database, according to the first historical time that meets the first preset braking characteristic similarity judgment condition and the second historical time that meets the second preset braking characteristic similarity judgment condition, find a preset number of first brake pedal opening values ​​for the first driving state and second brake pedal opening values ​​for the second driving state located after the first historical time and the second historical time.

[0081] In this embodiment of the invention, after determining that the vehicle's erroneous acceleration is erroneous acceleration, the first historical time and the second historical time can be filtered according to the above steps, and a preset number of first brake pedal opening values, such as 500, located after the first historical time and a preset number of second brake pedal opening values, such as 500, located after the second historical time can be searched in the preset database.

[0082] S2110. When the first braking characteristic similarity of the braking characteristics of this vehicle and the second braking characteristic similarity of the braking characteristics of the target vehicle meet the preset braking control conditions, determine the braking control parameters corresponding to the first brake pedal opening value and the second brake pedal opening value.

[0083] The preset braking control conditions can be understood as pre-configured judgment conditions used to determine braking control parameters. These preset braking control conditions may include: the similarity of the first braking characteristic and the similarity of the second braking characteristic at the current moment are both not equal to the preset initial similarity value; or the similarity of the first braking characteristic or the similarity of the second braking characteristic at the current moment is not equal to the preset initial similarity value. Braking control parameters can refer to parameters used to control the braking system of the vehicle, such as the operation of the brake pedal. These parameters may include the brake pedal opening value corresponding to different braking moments.

[0084] In this embodiment of the invention, one or more preset braking control conditions can be pre-configured on the electronic device, and then it is determined whether the preset braking control conditions are met based on the determined first braking characteristic similarity and second braking characteristic similarity. When the preset braking control conditions are met, the braking control parameters corresponding to the first brake pedal opening value and the second brake pedal opening value are determined.

[0085] Furthermore, based on the above embodiments of the invention, the method for determining the braking control parameters in S2110 may include at least one of the following:

[0086] A. When the first braking characteristic similarity is not equal to the initial value of the first similarity, and the second braking characteristic similarity is not equal to the initial value of the second similarity, the braking control parameters are set as follows:

[0087]

[0088] In the formula, K pK represents the braking control parameter applied to the brake pedal at time p. B1 K represents the first brake pedal opening value. B2 i1 represents the first historical time, i2 represents the second historical time, T represents the preset sampling interval, m represents the preset quantity, and e represents the exponential operation with the natural constant as the base.

[0089] B. When only the first braking characteristic similarity is not equal to the initial value of the first similarity, the braking control parameters are set as follows:

[0090]

[0091] C. When only the second braking characteristic similarity is not equal to the initial value of the second similarity, the braking control parameters are set as follows:

[0092]

[0093] S2120. Control the operation of the vehicle's brake pedal according to the brake control parameters.

[0094] In this embodiment of the invention, when it is determined that the driver has mistakenly pressed the accelerator pedal, the acceleration input can be converted into a braking input, and the brake pedal of the vehicle can be controlled to operate according to the braking control parameters determined in S2110. For example, if the determined braking control parameters are... The system can then apply signals to the vehicle's brake pedal sequentially at intervals of p = 0, T, 2T, ..., 5 seconds (where T represents the preset sampling interval). As the braking time progresses, amplified sinusoidal fluctuations will gradually occur, producing a braking effect different from normal deceleration, such as vehicle vibration. This serves as a warning to the driver that they have mistakenly pressed the accelerator pedal and need to immediately stop the accidental acceleration. Furthermore, upon detecting that the driver has mistakenly pressed the accelerator pedal, the system can also trigger an audible alarm to alert the driver to the risk of accidental acceleration.

[0095] The technical solution of this invention involves controlling the accelerator pedal opening sensor and brake pedal opening sensor of the vehicle to collect the first accelerator pedal opening value and the first brake pedal opening value of the vehicle at the current moment and using them as the first driving state. It also controls the vehicle's onboard camera to collect the first longitudinal distance, first lateral distance, first longitudinal velocity, and first longitudinal acceleration of the target vehicle relative to the vehicle at the current moment and use them as the first relative motion state. Based on the first accelerator pedal opening value, first longitudinal distance, first lateral distance, first longitudinal velocity, and first longitudinal acceleration at the current moment, and the first historical data in the preset database, it filters out vehicles that meet the first preset braking characteristic similarity criteria. At the first historical moment of the failure condition, a preset first braking characteristic similarity determination formula is invoked. Based on the first brake pedal opening value corresponding to the first historical moment and the first accelerator pedal opening value at the current moment, the first braking characteristic similarity at the current moment is determined and used as the braking characteristic of this vehicle. The second accelerator pedal opening value and the second brake pedal opening value of the target vehicle at the current moment are obtained through the vehicle's onboard communication unit and used as the second driving state. The second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment are obtained through the vehicle's onboard communication unit and used as the second relative motion state. Based on the first... The system uses the first accelerator pedal opening value, second longitudinal distance, second lateral distance, second longitudinal velocity, second longitudinal acceleration, and second historical data from a preset database to filter out second historical moments that meet the second preset braking characteristic similarity judgment conditions. It then calls a preset second braking characteristic similarity determination formula to determine the second braking characteristic similarity at the current moment based on the second brake pedal opening value corresponding to the second historical moment and the first accelerator pedal opening value of the first driving state at the current moment. This second braking characteristic similarity is used as the target vehicle's braking characteristic. When the first braking characteristic similarity of this vehicle's braking characteristic and the second braking characteristic similarity of the target vehicle's braking characteristic meet the preset erroneous acceleration condition, the erroneous acceleration of this vehicle is... If the situation is determined to be accidental acceleration, the system searches a preset database for first historical moments that meet the first preset braking characteristic similarity judgment condition and second historical moments that meet the second preset braking characteristic similarity judgment condition. It then searches for a preset number of first brake pedal opening values ​​for first driving states and second brake pedal opening values ​​for second driving states following the first and second historical moments. When the first braking characteristic similarity of the current vehicle's braking characteristics and the second braking characteristic similarity of the target vehicle's braking characteristics meet preset braking control conditions, the system determines the braking control parameters corresponding to the first and second brake pedal opening values. The system then controls the vehicle's brake pedal operation according to these braking control parameters. This embodiment of the invention achieves accurate identification and effective control of accidental acceleration, reducing the possibility of traffic accidents caused by mistakenly pressing the accelerator pedal, improving driving safety, and also has good universality.

[0096] Example 3

[0097] Figure 3 This is an example diagram of a vehicle control system provided in Embodiment 3 of the present invention. Figure 3 As shown, the vehicle control system includes: the vehicle itself 31, the target vehicle 32, and a roadside camera 33.

[0098] Specifically, the vehicle 31 includes an accelerator pedal opening sensor 311, a brake pedal opening sensor 312, an onboard camera 313, an onboard communication unit 314, and a decision control unit 315; wherein, the accelerator pedal opening sensor 311 is used to collect the first accelerator pedal opening value K of the vehicle 31 in real time. A1 The brake pedal opening sensor 312 is used to collect the first brake pedal opening value K of the vehicle 31 in real time. B1 The vehicle-mounted camera 313 is used to collect the first longitudinal distance X of the target vehicle 32 ahead in real time. A First lateral distance Y A First longitudinal velocity v A and the first longitudinal acceleration a A The vehicle communication unit 314 is used to receive relevant data of the target vehicle 32 transmitted by the roadside camera 33, and the decision control unit 315 is used to determine the first accelerator pedal opening value K based on the data. A1 First brake pedal opening value K B1 The first longitudinal distance X A First lateral distance Y A First longitudinal velocity v A and the first longitudinal acceleration a A Second accelerator pedal opening value K A2 Second brake pedal opening value K B2 Second longitudinal distance X B Second lateral distance Y B Second longitudinal velocity v B Second longitudinal acceleration a B Determine the situation of erroneous acceleration of vehicle 31, and control vehicle 31 according to the braking control strategy corresponding to the erroneous acceleration situation;

[0099] The target vehicle 32 includes an accelerator pedal opening sensor 321, a brake pedal opening sensor 322, and an on-board communication unit 323; wherein, the accelerator pedal opening sensor 321 is used to collect the second accelerator pedal opening value K of the target vehicle 32 in real time. A2 The brake pedal opening sensor 322 is used to collect the second brake pedal opening value K of the target vehicle 32 in real time. B2 The vehicle communication unit 323 is used to transmit the second accelerator pedal opening value K of the target vehicle 32.A2 Second brake pedal opening value K B2 Transmitted to roadside camera 33;

[0100] Roadside camera 33 is used to collect the second longitudinal distance X of all target vehicles 32 in real time. B Second lateral distance Y B Second longitudinal velocity v B Second longitudinal acceleration a B And receive the second accelerator pedal opening value K sent by the vehicle communication unit 323 of the target vehicle 32. A2 Second brake pedal opening value K B2 And the second accelerator pedal opening value K of the target vehicle 32 A2 Second brake pedal opening value K B2 Second longitudinal distance X B Second lateral distance Y B Second longitudinal velocity v B Second longitudinal acceleration a B Transmitted to the vehicle communication unit 314 of this vehicle 31.

[0101] Based on the above vehicle control system Figure 4 This is a flowchart of a vehicle control method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment provides an implementation of a vehicle control method that can accurately identify and effectively control accidental acceleration of the vehicle, thereby reducing the possibility of traffic accidents caused by mistakenly pressing the accelerator pedal and improving driving safety. Figure 4 As shown, the vehicle control method provided in Embodiment 3 of the present invention specifically includes the following steps:

[0102] S410. Based on the relative motion relationship with the preceding vehicle, the braking features of this vehicle are extracted and the similarity of the first braking characteristics is determined.

[0103] In this embodiment of the invention, considering that the preceding vehicle, i.e., the target vehicle, is the main factor affecting the acceleration and deceleration behavior of the current vehicle, the braking features of the current vehicle based on the relative motion relationship with the preceding vehicle are extracted and the similarity of the first braking characteristic is determined. The specific steps are as follows:

[0104] ①The vehicle's onboard camera acquires and records the first longitudinal distance X of the target vehicle ahead at a sampling interval of T = 0.01 seconds. A First lateral distance Y A First longitudinal velocity v A and the first longitudinal acceleration a A And the first accelerator pedal opening value K of this vehicle A1 First brake pedal opening value K B1The above data is then stored in the first database, and the data is named X sequentially. A,t Y A,t v A,t a A,t K A1,t and K B1,t t represents the data acquisition time;

[0105] ② Collect the first longitudinal distance X of the target vehicle ahead at the current time t0. A,t0 First lateral distance Y A,t0 First longitudinal velocity v A,t0 and the first longitudinal acceleration a A,t0 And the first accelerator pedal opening value K of this vehicle A1,t0 The first longitudinal distance X of the target vehicle ahead 0.01 seconds (i.e., t0-T) A,t1 First lateral distance Y A,t1 First longitudinal velocity v A,t1 and the first longitudinal acceleration a A,t1 And the first accelerator pedal opening value K of this vehicle A1,t1 The first longitudinal distance X of the target vehicle ahead 0.02 seconds (i.e., t0-2T) A,t2 First lateral distance Y A,t2 First longitudinal velocity v A,t2 and the first longitudinal acceleration a A,t2 And the first accelerator pedal opening value K of this vehicle A1,t2 ;

[0106] ③ Search the first database in step ①, starting from the first data in the first database, and determine whether the following conditions are met simultaneously: K A1,t0 >10% and and and and If the conditions are met, record the first historical moment i1 and the corresponding first brake pedal opening value. Then execute step ④. If the condition is not met, let i1 = i1 + 1 and re-execute step ③, where K X1 K Y1 K v1 and K a1 Let K represent the first series of allowable threshold coefficients, and satisfy K. X1 K Y1 K v1 K a1 ∈[0,1];

[0107] ④ Determine whether the following conditions are met simultaneously: and and and If the condition is met, record the first brake pedal opening value at this time. Then execute step ⑤. If the condition is not met, let i1 = i1 + 1 and re-execute step ③, where K X2 K Y2 K v2 and K a2 Denotes the second series of allowable threshold coefficients, and satisfies K X2 >K X1 K Y2 >K Y1 K v2 >K v1 K a2 >K a1 ;

[0108] ⑤ Determine whether the following conditions are met simultaneously: and and and If the condition is met, record the first brake pedal opening value at this time. Then execute step ⑥. If the condition is not met, let i1 = i1 + 1 and re-execute step ③, where K X3 K Y3 K v3 and K a3 Denotes the allowable threshold coefficient of the third series, and satisfies K X3 >K X2 K Y3 >K Y2 K v3 >K v2 K a3 >K a2 ;

[0109] ⑥ Determine whether the following conditions are met simultaneously: and and and If satisfied, record the first brake pedal opening value. and Will Updated to Then execute step ⑦. If the condition is not met, let i1 = i1 + 1 and execute step ③ again.

[0110] ⑦ Calculate the similarity of the first braking characteristic at the current moment:

[0111]

[0112] In the formula, t0 represents the current time, i1 represents the first historical time, and S 1,t0 K represents the similarity of the first braking characteristics at the current moment. A1 K represents the first accelerator pedal opening value. B1 This indicates the opening value of the first brake pedal.

[0113] S420. Target vehicle braking feature extraction and second braking characteristic similarity determination based on roadside camera.

[0114] In this embodiment of the invention, considering scenarios such as urban traffic light intersections, speed bumps, and bus stops where deceleration and / or stopping are required, even if there may be no target vehicle in front of the vehicle, deceleration and / or stopping operations are still necessary, meaning there is still a risk of the driver accidentally pressing the accelerator pedal. Therefore, the following steps are performed to extract the target vehicle's braking features and determine the similarity of the second braking characteristics based on the roadside camera:

[0115] ① The second longitudinal distance X of the target vehicle relative to the roadside camera is acquired and recorded at a sampling interval of T = 0.01 seconds using a roadside camera. B Second lateral distance Y B Second longitudinal velocity v B Second longitudinal acceleration a B and the second accelerator pedal opening value K of the target vehicle A2 Second brake pedal opening value K B2 The above data is then stored in a second database, and the data is named X sequentially. B,t Y B,t v B,t a B,t K A2,t and K B2,t t represents the data acquisition time;

[0116] ② Collect the second longitudinal distance X between the target vehicle and the roadside camera at the current time t0. B,t0 Second lateral distance Y B,t0 Second longitudinal velocity v B,t0 Second longitudinal acceleration a B,t0 And the first accelerator pedal opening value K of this vehicle A1,t0 The second longitudinal distance X of the target vehicle ahead 0.01 seconds (i.e., t0-T) B,t1 First lateral distance Y B,t1 First longitudinal velocity v B,t1 and the first longitudinal acceleration a B,t1 And the first accelerator pedal opening value K of this vehicle A1,t1 The first longitudinal distance X of the target vehicle ahead 0.02 seconds (i.e., t0-2T) B,t2First lateral distance Y B,t2 First longitudinal velocity v B,t2 and the first longitudinal acceleration a B,t2 And the first accelerator pedal opening value K of this vehicle A1,t2 ;

[0117] ③ Search the second database from step ①, starting from the first data in the second database, and determine whether the following conditions are met simultaneously: K A1,t0 >10% and and and and If the conditions are met, record the second historical moment i2 and the corresponding second brake pedal opening value. Then execute step ④. If the condition is not met, let i2 = i2 + 1 and re-execute step ③, where K X4 K Y4 K v4 and K a4 Denotes the fourth series of allowable threshold coefficients, and satisfies K X4 K Y4 K v4 K a4 ∈[0,1];

[0118] ④ Determine whether the following conditions are met simultaneously: and and and If the condition is met, record the opening value of the second brake pedal at this time. Then execute step ⑤. If the condition is not met, let i2 = i2 + 1 and re-execute step ③, where K X5 K Y5 K v5 and K a5 Denotes the allowable threshold coefficient of the fifth series, and satisfies K X5 >K X4 K Y5 >K Y4 K v5 >K v4 K a5 >K a4 ;

[0119] ⑤ Determine whether the following conditions are met simultaneously: and and and If the condition is met, record the opening value of the second brake pedal at this time. Then execute step ⑥. If the condition is not met, let i2 = i2 + 1 and re-execute step ③, where K X6 K Y6 K v6 and K a6 Denotes the sixth series of allowable threshold coefficients, and satisfies K X6 >K X5 K Y6 >K Y5 K v6 >K v5 K a6 >K a5 ;

[0120] ⑥ Determine whether the following conditions are met simultaneously: and and and If satisfied, record the second brake pedal opening value. and Will Updated to Then execute step ⑦. If the condition is not met, let i2 = i2 + 1 and execute step ③ again.

[0121] ⑦ Calculate the similarity of the second braking characteristic at the current moment:

[0122]

[0123] In the formula, t0 represents the current time, i2 represents the second historical time, and S 2,t0 K represents the similarity of the second braking characteristic at the current moment. A1 K represents the first accelerator pedal opening value. B2 This indicates the opening value of the second brake pedal.

[0124] S430. Determine the erroneous acceleration situation of the vehicle based on the first braking characteristic similarity, the second braking characteristic similarity, and the preset erroneous acceleration conditions.

[0125] In this embodiment of the invention, when any one of the following three preset false acceleration conditions is met, it is considered that the driver has mistakenly pressed the accelerator pedal, that is, the false acceleration of the vehicle is determined to be false acceleration, wherein the preset false acceleration conditions include at least one of the following:

[0126]

[0127]

[0128]

[0129] In the formula, S A1 SA2 and S A3 Let S represent the first similarity threshold, the second similarity threshold, and the third similarity threshold, respectively, where t0 represents the current time, and S represents the third similarity threshold. 1,t0-n×0.01 S represents the similarity of the first braking characteristics at time t0-n×0.01. 2,t0-n×0.01 Let represent the similarity of the second braking characteristics at time t0-n×0.01, and e represent the exponential operation with the natural constant as the base.

[0130] S440. Determine the braking control parameters according to the braking control strategy corresponding to the accidental acceleration, and control the operation of the vehicle's brake pedal according to the braking control parameters.

[0131] In this embodiment of the invention, when it is determined that the driver has mistakenly pressed the accelerator pedal, the acceleration input is converted into a braking input, and the brake pedal is controlled to perform the corresponding braking operation. The specific steps are as follows:

[0132] ① Based on the first historical moment i1, read the first brake pedal opening value of this vehicle from the first database. Where m = {0, 1, ..., 500};

[0133] ② Based on the second historical moment i2, read the second brake pedal opening value of the target vehicle from the second database.

[0134] ③ Determine if the condition is met: S 1,t0 ≠S IN And S 2,t0 ≠S IN Among them, the preset initial similarity value S IN It can be set to 100. If this is not met, proceed to step ④. If it is met, set the braking control parameters to:

[0135]

[0136] In the formula, K p K represents the braking control parameters applied to the vehicle's brake pedal at time p. B1 K represents the first brake pedal opening value. B2 i1 represents the first historical moment, and i2 represents the second historical moment.

[0137] ④ Determine whether only the following condition is met: S 1,t0 ≠S IN If the conditions are not met, proceed to step ⑤; if the conditions are met, set the braking control parameters as follows:

[0138]

[0139] ⑤ Determine whether only S satisfies: 2,t0≠S IN If the conditions are not met, the system will report an error and terminate the loop; if the conditions are met, the braking control parameters will be set as follows:

[0140]

[0141] ⑥ Determine the braking control parameter K according to the time sequence p = 0, 0.01, 0.02, ..., 5 seconds. p The system sequentially acts on the vehicle's brake pedal, and as braking time progresses, it gradually generates amplified sinusoidal fluctuations, producing a braking effect different from normal deceleration, such as vehicle vibration. This serves as a reminder to the driver that they have mistakenly pressed the accelerator pedal and need to immediately stop the unintended acceleration. Furthermore, upon detecting that the driver has mistakenly pressed the accelerator pedal, the system can also trigger an audible alarm to alert the driver to the risk of unintended acceleration.

[0142] The technical solution of this invention involves extracting the braking features of the vehicle based on the relative motion relationship with the preceding vehicle and determining a first braking characteristic similarity; extracting the braking features of the target vehicle based on a roadside camera and determining a second braking characteristic similarity; determining the vehicle's erroneous acceleration situation based on the first braking characteristic similarity, the second braking characteristic similarity, and preset erroneous acceleration conditions; determining braking control parameters based on the braking control strategy corresponding to the erroneous acceleration situation; and controlling the vehicle's brake pedal operation according to the braking control parameters. This invention achieves accurate identification and effective control of vehicle erroneous acceleration, reducing the possibility of traffic accidents caused by mistakenly pressing the accelerator pedal, improving driving safety, and also has good universality.

[0143] Example 4

[0144] Figure 5 This is a schematic diagram of a vehicle control device provided in Embodiment 4 of the present invention. Figure 5 As shown, the device includes:

[0145] The vehicle braking feature determination module 51 is used to acquire the first driving state of the vehicle and the first relative motion state of the target vehicle relative to the vehicle, and to determine the vehicle braking features corresponding to the first driving state and the first relative motion state according to the first preset braking characteristic similarity judgment conditions.

[0146] The target vehicle braking feature determination module 52 is used to acquire the second driving state of the target vehicle and the second relative motion state of the target vehicle relative to the preset acquisition device, and to determine the target vehicle braking features corresponding to the first driving state, the second driving state and the second relative motion state according to the second preset braking characteristic similarity judgment condition.

[0147] The false acceleration detection module 53 is used to detect false acceleration of the vehicle based on the comparison results between the braking characteristics of the vehicle and the braking characteristics of the target vehicle.

[0148] The vehicle control module 54 is used to control the vehicle according to the braking control strategy corresponding to the erroneous acceleration situation.

[0149] The technical solution of this invention involves: a vehicle braking feature determination module acquiring a first driving state of the vehicle and a first relative motion state of a target vehicle relative to the vehicle; determining the vehicle braking features corresponding to the first driving state and the first relative motion state according to a first preset braking characteristic similarity judgment condition; a target vehicle braking feature determination module acquiring a second driving state of the target vehicle and a second relative motion state of the target vehicle relative to a preset acquisition device; determining the target vehicle braking features corresponding to the first driving state, the second driving state, and the second relative motion state according to a second preset braking characteristic similarity judgment condition; a false acceleration detection module detecting false acceleration of the vehicle based on the comparison result between the vehicle braking features and the target vehicle braking features; and a vehicle control module controlling the vehicle according to the braking control strategy corresponding to the false acceleration. This invention determines the braking characteristics of the vehicle based on its first driving state and the target vehicle's second driving state, as well as the target vehicle's second relative motion state and the vehicle's first driving state. Then, it determines the vehicle's erroneous acceleration based on a comparison of the vehicle's braking characteristics with those of the target vehicle. Finally, it controls the vehicle according to the braking control strategy corresponding to the erroneous acceleration, achieving accurate identification and effective control of erroneous acceleration, reducing the likelihood of traffic accidents caused by mistakenly pressing the accelerator pedal, improving driving safety, and demonstrating good universality.

[0150] Furthermore, based on the above embodiments of the invention, the vehicle braking feature determination module 51 includes:

[0151] The first driving state determination unit is used to control the accelerator pedal opening sensor and brake pedal opening sensor of the vehicle to collect the first accelerator pedal opening value and the first brake pedal opening value of the vehicle at the current moment and use them as the first driving state.

[0152] The first relative motion state determination unit is used to control the vehicle's on-board camera to collect the target vehicle's current longitudinal distance, first lateral distance, first longitudinal velocity, and first longitudinal acceleration relative to the vehicle and use them as the first relative motion state.

[0153] The first historical moment determination unit is used to filter out the first historical moment that meets the first preset braking characteristic similarity judgment condition from the preset database based on the first accelerator pedal opening value, first longitudinal distance, first lateral distance, first longitudinal speed, first longitudinal acceleration and the first historical data of the preset database at the current moment.

[0154] The vehicle braking feature determination unit is used to call a preset first braking characteristic similarity determination formula to determine the first braking characteristic similarity at the current moment based on the first brake pedal opening value corresponding to the first historical moment and the first accelerator pedal opening value at the current moment, and use it as the vehicle braking feature.

[0155] Furthermore, based on the above embodiments of the invention, the preset formula for determining the similarity of the first braking characteristics includes at least:

[0156]

[0157] In the formula, t0 represents the current time, i1 represents the first historical time, T represents the preset sampling interval, and S represents the current time. 1,t0 K represents the similarity of the first braking characteristics at the current moment. A1 K represents the first accelerator pedal opening value. B1 This indicates the opening value of the first brake pedal.

[0158] Furthermore, based on the above embodiments of the invention, the target vehicle braking feature determination module 52 includes:

[0159] The second driving state determination unit is used to obtain the current accelerator pedal opening value and the second brake pedal opening value of the target vehicle through the vehicle's on-board communication unit and use them as the second driving state.

[0160] The second relative motion state determination unit is used to obtain the second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration of the target vehicle relative to the roadside camera at the current moment through the vehicle's on-board communication unit and use them as the second relative motion state.

[0161] The second historical moment determination unit is used to filter out the second historical moment that meets the second preset braking characteristic similarity judgment condition from the first accelerator pedal opening value, second longitudinal distance, second lateral distance, second longitudinal speed, second longitudinal acceleration, and second historical data of the first driving state at the current moment in the preset database.

[0162] The target vehicle braking feature determination unit is used to call a preset second braking feature similarity determination formula to determine the second braking feature similarity at the current moment based on the second brake pedal opening value corresponding to the second historical moment and the first accelerator pedal opening value of the first driving state at the current moment, and use it as the target vehicle braking feature.

[0163] Furthermore, based on the above embodiments of the invention, the preset formula for determining the similarity of the second braking characteristics includes at least:

[0164]

[0165] In the formula, t0 represents the current time, i2 represents the second historical time, T represents the preset sampling interval, and S 2,t0 K represents the similarity of the second braking characteristics at the current moment. A1 K represents the first accelerator pedal opening value. B2 This indicates the opening value of the second brake pedal.

[0166] Furthermore, based on the above embodiments, the erroneous acceleration detection module 53 includes:

[0167] The erroneous acceleration determination unit is used to determine the erroneous acceleration of the vehicle as erroneous acceleration when the first braking characteristic similarity of the braking characteristics of the vehicle and the second braking characteristic similarity of the braking characteristics of the target vehicle meet the preset erroneous acceleration conditions.

[0168] Furthermore, based on the above embodiments of the invention, the preset false acceleration conditions include at least one of the following:

[0169]

[0170]

[0171]

[0172] In the formula, S A1 S A2 and S A3 Let S represent the first similarity threshold, the second similarity threshold, and the third similarity threshold, respectively, where t0 represents the current time, and S represents the third similarity threshold. 1,t0-n×T S represents the first braking characteristic similarity of the vehicle's braking characteristics at time t0-n×T. 2,t0-n×T The second braking characteristic similarity represents the braking characteristics of the target vehicle at time t0-n×T, and e represents the exponential operation with the natural constant as the base.

[0173] Furthermore, based on the above embodiments of the invention, the vehicle control module 54 includes:

[0174] The data lookup unit is used to search in a preset database for a preset number of first brake pedal opening values ​​for a first driving state and second brake pedal opening values ​​for a second driving state, respectively, based on a first historical time that meets the first preset braking characteristic similarity judgment condition and a second historical time that meets the second preset braking characteristic similarity judgment condition.

[0175] The braking control parameter determination unit is used to determine the braking control parameters corresponding to the first brake pedal opening value and the second brake pedal opening value when the first braking characteristic similarity of the braking characteristics of this vehicle and the second braking characteristic similarity of the braking characteristics of the target vehicle meet the preset braking control conditions.

[0176] The vehicle control unit is used to control the operation of the vehicle's brake pedal according to the braking control parameters.

[0177] Furthermore, based on the above embodiments of the invention, the braking control parameter determination unit is specifically used for at least one of the following:

[0178] When the first braking characteristic similarity is not equal to the first initial similarity value, and the second braking characteristic similarity is not equal to the second initial similarity value, the braking control parameters are set as follows:

[0179]

[0180] In the formula, K p K represents the braking control parameter applied to the brake pedal at time p. B1 K represents the first brake pedal opening value. B2 i1 represents the first historical time, i2 represents the second historical time, T represents the preset sampling interval, m represents the preset quantity, and e represents the exponential operation with the natural constant as the base.

[0181] When only the first braking characteristic similarity is not equal to the initial value of the first similarity, the braking control parameters are set as follows:

[0182]

[0183] When only the second braking characteristic similarity is not equal to the initial value of the second similarity, the braking control parameters are set as follows:

[0184]

[0185] The vehicle control device provided in the embodiments of the present invention can execute the vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0186] Example 5

[0187] Figure 6 A schematic diagram of an electronic device 60 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0188] like Figure 6 As shown, the electronic device 60 includes at least one processor 61 and a memory, such as a read-only memory (ROM) 62 and a random access memory (RAM) 63, communicatively connected to the at least one processor 61. The memory stores computer programs executable by the at least one processor. The processor 61 can perform various appropriate actions and processes based on the computer program stored in the ROM 62 or loaded into the RAM 63 from storage unit 68. The RAM 63 may also store various programs and data required for the operation of the electronic device 60. The processor 61, ROM 62, and RAM 63 are interconnected via a bus 64. An input / output (I / O) interface 65 is also connected to the bus 64.

[0189] Multiple components in electronic device 60 are connected to I / O interface 65, including: input unit 66, such as keyboard, mouse, etc.; output unit 67, such as various types of monitors, speakers, etc.; storage unit 68, such as disk, optical disk, etc.; and communication unit 69, such as network card, modem, wireless transceiver, etc. Communication unit 69 allows electronic device 60 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0190] Processor 61 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 61 performs the various methods and processes described above, such as vehicle control methods.

[0191] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 60 via ROM 62 and / or communication unit 69. When the computer program is loaded into RAM 63 and executed by processor 61, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 61 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0192] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0193] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0194] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0195] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0196] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0197] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0198] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0199] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, The method includes: The vehicle obtains its first driving state and the target vehicle's first relative motion state relative to the vehicle, and determines the vehicle's braking characteristics corresponding to the first driving state and the first relative motion state according to the first preset braking characteristic similarity judgment condition. The second driving state of the target vehicle and the second relative motion state of the target vehicle relative to the preset acquisition device are obtained, and the braking characteristics of the target vehicle corresponding to the first driving state, the second driving state and the second relative motion state are determined according to the second preset braking characteristic similarity judgment condition. The vehicle's erroneous acceleration is detected based on the comparison between the braking characteristics of the vehicle and the braking characteristics of the target vehicle. The vehicle is controlled according to the braking control strategy corresponding to the aforementioned erroneous acceleration situation; The step of acquiring the first driving state of the vehicle and the first relative motion state of the target vehicle relative to the vehicle, and determining the braking characteristics of the vehicle corresponding to the first driving state and the first relative motion state according to a first preset braking characteristic similarity judgment condition, includes: The accelerator pedal opening sensor and brake pedal opening sensor of the vehicle are controlled to collect the first accelerator pedal opening value and the first brake pedal opening value of the vehicle at the current moment and use them as the first driving state; The vehicle's onboard camera is controlled to collect the target vehicle's current longitudinal distance, first lateral distance, first longitudinal velocity, and first longitudinal acceleration relative to the vehicle, and these are used as the first relative motion state. Based on the first accelerator pedal opening value, the first longitudinal distance, the first lateral distance, the first longitudinal velocity, the first longitudinal acceleration, and the first historical data in the preset database at the current moment, the first historical moment that satisfies the first preset braking characteristic similarity judgment condition is selected. The preset first braking characteristic similarity determination formula is invoked to determine the first braking characteristic similarity at the current moment based on the first brake pedal opening value corresponding to the first historical moment and the first accelerator pedal opening value at the current moment, and this is used as the braking characteristic of the vehicle. The step of acquiring the second driving state of the target vehicle and the second relative motion state of the target vehicle relative to the preset acquisition device, and determining the target vehicle braking features corresponding to the first driving state, the second driving state, and the second relative motion state according to the second preset braking characteristic similarity judgment condition, includes: The vehicle's onboard communication unit obtains the current accelerator pedal opening value and the brake pedal opening value of the target vehicle and uses them as the second driving state. The vehicle's onboard communication unit acquires the target vehicle's second longitudinal distance, second lateral distance, second longitudinal velocity, and second longitudinal acceleration relative to the roadside camera at the current moment, and uses these as the second relative motion state. Based on the first accelerator pedal opening value, second longitudinal distance, second lateral distance, second longitudinal speed, second longitudinal acceleration, and second historical data of the first driving state at the current moment in the preset database, a second historical moment that meets the second preset braking characteristic similarity judgment condition is selected. The preset second braking characteristic similarity determination formula is invoked to determine the second braking characteristic similarity at the current moment based on the second brake pedal opening value corresponding to the second historical moment and the first accelerator pedal opening value of the first driving state at the current moment, and this is used as the braking characteristic of the target vehicle.

2. The method according to claim 1, characterized in that, The preset formula for determining the similarity of the first braking characteristics includes at least the following: In the formula, Indicates the current time. This represents the first historical moment, and T represents the preset sampling interval. This indicates the similarity of the first braking characteristic at the current moment. This indicates the opening value of the first accelerator pedal. This indicates the opening value of the first brake pedal.

3. The method according to claim 1, characterized in that, The preset formula for determining the similarity of the second braking characteristics includes at least the following: In the formula, Indicates the current time. This represents the second historical moment, where T represents the preset sampling interval. This indicates the similarity of the second braking characteristic at the current moment. This indicates the opening value of the first accelerator pedal. This indicates the opening value of the second brake pedal.

4. The method according to claim 1, characterized in that, The step of detecting the erroneous acceleration of the vehicle based on the comparison result between the braking characteristics of the current vehicle and the braking characteristics of the target vehicle includes: When the first braking characteristic similarity of the braking feature of the vehicle and the second braking characteristic similarity of the braking feature of the target vehicle meet the preset false acceleration condition, the false acceleration of the vehicle is determined as false acceleration. The preset false acceleration conditions include at least one of the following: ； ； ； In the formula, , and These represent the first similarity threshold, the second similarity threshold, and the third similarity threshold, respectively. Indicates the current moment. express The first braking characteristic similarity of the vehicle's braking characteristics at the given time. Indicates the The second braking characteristic similarity of the target vehicle's braking characteristics at time t, where e represents the exponential operation with the natural constant as the base.

5. The method according to claim 1, characterized in that, Controlling the vehicle according to the braking control strategy corresponding to the erroneous acceleration situation includes: In the preset database, according to the first historical moment that satisfies the first preset braking characteristic similarity judgment condition and the second historical moment that satisfies the second preset braking characteristic similarity judgment condition, a preset number of first brake pedal opening values ​​of the first driving state and second brake pedal opening values ​​of the second driving state are searched after the first historical moment and the second historical moment. When the first braking characteristic similarity of the braking feature of the vehicle and the second braking characteristic similarity of the braking feature of the target vehicle meet the preset braking control conditions, the braking control parameters corresponding to the first brake pedal opening value and the second brake pedal opening value are determined. The brake pedal of the vehicle is operated according to the brake control parameters.

6. The method according to claim 5, characterized in that, When the first braking characteristic similarity of the braking characteristics of the vehicle and the second braking characteristic similarity of the braking characteristics of the target vehicle satisfy a preset braking control condition, the braking control parameters corresponding to the first brake pedal opening value and the second brake pedal opening value are determined, including at least one of the following: When the first braking characteristic similarity is not equal to the first initial similarity value, and the second braking characteristic similarity is not equal to the second initial similarity value, the braking control parameters are set as follows: ， In the formula, This represents the braking control parameter applied to the brake pedal at time p. This indicates the opening value of the first brake pedal. This indicates the second brake pedal opening value. This represents the first historical moment. The second historical moment is represented by T, the preset sampling interval is represented by m, the preset number is represented by e, and the exponential operation with the natural constant as the base is represented by e. When the first braking characteristic similarity is not equal to the first similarity initial value, the braking control parameters are set as follows: ； When the second braking characteristic similarity is not equal to the initial value of the second similarity, the braking control parameters are set as follows: 。 7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle control method according to any one of claims 1-6.

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