Judgment method and device for mistakenly stepping on accelerator pedal and vehicle

Abstract

The invention provides a method and device for judging mistaken stepping of an accelerator pedal and a vehicle, and is applied to the field of intelligent driving. The method comprises the steps that information of an accelerator pedal of a vehicle is obtained; determining the change of the acceleration of the accelerator pedal within a time threshold according to the information of the accelerator pedal; the change of the acceleration of the accelerator pedal comprises a first change and a second change; the first change is an acceleration zero crossing point of the accelerator pedal; the second change is that the acceleration of the accelerator pedal is suddenly reduced from a positive value to a negative maximum value; and determining whether the accelerator pedal is mistakenly stepped according to the change of the acceleration of the accelerator pedal. The problem that whether the accelerator pedal is mistakenly stepped on or not cannot be effectively judged in the vehicle driving process can be solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving, and in particular to a method, device and vehicle for determining whether an accelerator pedal is accidentally stepped on. Background Art

[0002] With the rapid development of the transportation industry, the number of vehicles and drivers has continued to grow, and with it comes a rising number of traffic accidents. Among all types of traffic accidents, traffic accidents caused by improper operation of the driver are the most common. For example, in emergency braking, the driver mistakenly uses the accelerator pedal as the brake pedal, which in turn causes a traffic accident. For another example, when the driver is driving tired or not paying attention, it is easy to confuse the accelerator pedal and the brake pedal, and mistakenly use the accelerator pedal as the brake pedal, which will also increase the hidden dangers of vehicle safe driving and even cause traffic accidents.

[0003] Therefore, how to determine whether the accelerator pedal is accidentally pressed and effectively prevent it has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present application provides a method, device and vehicle for judging whether an accelerator pedal is accidentally pressed, which can optimize the judgment strategy for judging whether an accelerator pedal is accidentally pressed and effectively improve the accuracy of judging whether an accelerator pedal is accidentally pressed.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a method for determining whether an accelerator pedal is accidentally stepped on. The method includes: obtaining information about an accelerator pedal of a vehicle; determining the change in acceleration of the accelerator pedal within a time threshold based on the information about the accelerator pedal; the change in acceleration of the accelerator pedal includes a first change and a second change, the first change being the acceleration of the accelerator pedal passing through a zero point, and the second change being the acceleration of the accelerator pedal dropping suddenly from a positive value to a negative maximum value; finally, determining whether the accelerator pedal is accidentally stepped on based on the change in acceleration of the accelerator pedal.

[0007] In this way, the change in the acceleration of the accelerator pedal is used to accurately judge whether the driver has mistakenly stepped on the accelerator pedal, the judgment strategy for mistakenly stepping on the accelerator pedal is optimized, and the accuracy of judgment on mistakenly stepping on the accelerator pedal is further improved. Misjudgment will not occur, which can reduce the safety hazards caused by mistakenly stepping on the accelerator pedal and improve the driving experience.

[0008] According to the first aspect, obtaining information of an accelerator pedal of a vehicle includes: obtaining information of the accelerator pedal of the vehicle through various sensors installed on the vehicle.

[0009] According to the first aspect, or any implementation of the first aspect above, obtaining information of an accelerator pedal of the vehicle includes: obtaining statistical information of the acceleration of the accelerator pedal within the time threshold.

[0010] The statistical information includes multiple moments within the time threshold and the acceleration of the accelerator pedal corresponding to each moment.

[0011] The time threshold is a predetermined maximum value of the time required from the accidental stepping on the accelerator pedal to the bottoming out.

[0012] In a possible implementation, the acceleration of the accelerator pedal is acquired through a sensor installed on the vehicle, and the acceleration of the accelerator pedal within a time threshold is integrated to obtain statistical information.

[0013] In some examples, multiple moments within a time threshold and the acceleration of the accelerator pedal corresponding to each moment are integrated, and the statistical information of the acceleration of the accelerator pedal obtained is a statistical table of time and acceleration.

[0014] In other examples, multiple moments within the time threshold and the acceleration of the accelerator pedal corresponding to each moment are integrated, and the statistical information of the acceleration of the accelerator pedal obtained is a waveform diagram of time and acceleration.

[0015] According to the first aspect, or any implementation of the first aspect above, determining the change in acceleration of the accelerator pedal within a time threshold based on information of the accelerator pedal includes: determining the change in acceleration of the accelerator pedal within the time threshold based on statistical information of the acceleration of the accelerator pedal.

[0016] According to the first aspect, or any implementation of the first aspect above, determining the change of the acceleration of the accelerator pedal within the time threshold according to the statistical information of the acceleration of the accelerator pedal includes: if within the time threshold, the acceleration of the accelerator pedal continues to decrease, and the acceleration of the accelerator pedal changes from a positive value to a zero value, and finally becomes a negative value, then determining the change of the acceleration of the accelerator pedal as the first change. Or, if within the time threshold, the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value at a certain moment, then determining the change of the acceleration of the accelerator pedal as the second change.

[0017] According to the first aspect, or any implementation of the first aspect above, determining whether the accelerator pedal is accidentally stepped on according to the change in the acceleration of the accelerator pedal includes: if the change in the acceleration of the accelerator pedal is the first change, determining that the accelerator pedal is not accidentally stepped on. Alternatively, if the change in the acceleration of the accelerator pedal is the second change, determining that the accelerator pedal is accidentally stepped on.

[0018] In this way, judging whether the accelerator pedal is accidentally pressed is based on the overall change of the acceleration of the accelerator pedal within the time threshold, rather than judging based on a single threshold. This can improve the accuracy of judging whether the accelerator pedal is accidentally pressed and avoid misjudgment.

[0019] According to the first aspect, or any implementation of the first aspect above, before obtaining the information of the vehicle's accelerator pedal, the method also includes: determining that the vehicle has turned on an anti-misstepping accelerator pedal mode based on status information, and the status information includes the anti-misstepping accelerator pedal function status of the vehicle at the current moment.

[0020] In this way, before obtaining the information of the vehicle's accelerator pedal, it is first determined whether the vehicle has turned on the anti-accelerator pedal mode. If the anti-accelerator pedal mode is turned on, it is determined whether the driver has currently stepped on the accelerator pedal by mistake, and the vehicle is controlled to perform corresponding operations based on the judgment result. The judgment of anti-accelerator pedal can be selectively performed according to user needs to improve the user experience.

[0021] According to the first aspect, or any implementation of the first aspect above, after determining whether the accelerator pedal is accidentally stepped on according to the change in the acceleration of the accelerator pedal, the method further includes: if it is determined that the accelerator pedal is not accidentally stepped on, driving the vehicle normally. Or, if it is determined that the accelerator pedal is accidentally stepped on, emergency braking the vehicle.

[0022] According to the first aspect, or any one of the implementations of the first aspect above, emergency braking of the vehicle includes: controlling the vehicle to perform emergency braking of the vehicle, and issuing a prompt for mis-stepping on the accelerator pedal.

[0023] According to the first aspect, or any implementation of the first aspect above, the method further includes: obtaining an accelerator pedal input voltage, converting the accelerator pedal input voltage into an accelerator pedal acceleration, and determining whether the accelerator pedal is accidentally stepped on based on a change in the accelerator pedal acceleration.

[0024] In this way, the vehicle determines whether the accelerator pedal is accidentally pressed according to the change in the acceleration of the accelerator pedal within the time threshold, and controls the vehicle to drive normally or perform emergency braking according to the judgment result, which can reduce the safety hazards caused by accidentally pressing the accelerator pedal and improve driving safety. Moreover, there is no need to increase hardware costs, and while ensuring low costs, the accuracy of the judgment of accidentally pressing the accelerator pedal can be improved.

[0025] In a second aspect, the present application provides a device for determining whether an accelerator pedal has been mis-stepped. The device comprises: a processor and a memory, the memory being coupled to the processor, the memory being used to store computer-readable instructions, and when the processor reads the computer-readable instructions from the memory, the device for determining whether an accelerator pedal has been mis-stepped executes the method of the first aspect and any one of the implementations of the first aspect.

[0026] Exemplarily, the device is a vehicle controller, or a vehicle, or a component in a vehicle controller that can execute any possible method in any of the above aspects, or a component in a vehicle that can execute any possible method in any of the above aspects.

[0027] In a third aspect, the present application provides a vehicle, comprising a device for determining whether an accelerator pedal is mis-stepped on and a detection device as described in the second aspect, wherein the detection device is used to detect information of an accelerator pedal of the vehicle.

[0028] Exemplary vehicles include cars, trucks, motorcycles, buses, lawn mowers, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, trains, etc., which are not particularly limited in this application. The power of the above vehicles can be provided by gasoline, diesel, electricity, solar energy, or hydrogen energy.

[0029] In a fourth aspect, the present application provides a chip system comprising at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor, and the at least one processor executes the instructions, and the at least one processor executes the method of the first aspect and any one of the embodiments of the first aspect.

[0030] In a fifth aspect, the present application provides a computer-readable storage medium, which includes a computer program (also referred to as instructions or codes). When the computer program runs on a computer, the computer executes the method as in the first aspect and any one of the embodiments of the first aspect.

[0031] The technical effects corresponding to the second to fifth aspects and any implementation method in each aspect can be referred to the technical effects corresponding to the above-mentioned first aspect and any implementation method in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the speed of stepping on the accelerator pedal in different scenarios provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the acceleration of stepping on the accelerator pedal in different scenarios provided by an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the structure of a system for determining if the accelerator pedal is accidentally stepped on provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the hardware structure of a device for determining if the accelerator pedal is accidentally stepped on, provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of a vehicle structure provided in an embodiment of the present application;

[0037] Figure 6 A flow chart of a method for determining whether the accelerator pedal is accidentally stepped on provided in an embodiment of the present application Figure 1 ;

[0038] Figure 7 A flow chart of a method for determining whether the accelerator pedal is accidentally stepped on provided in an embodiment of the present application Figure 2 ;

[0039] Figure 8 A system architecture of a system for judging the mis-stepping of the accelerator pedal provided in an embodiment of the present application Figure 1 ;

[0040] Fig. 9 A system architecture of a system for judging the mis-stepping of the accelerator pedal provided in an embodiment of the present application Figure 2 ;

[0041] Fig.10 A schematic diagram of the structure of a device for determining if the accelerator pedal is accidentally stepped on, provided in an embodiment of the present application;

[0042] Fig.11 A schematic diagram of the structure of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0044] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0045] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more. In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0046] First, the related technologies involved in this application are explained to facilitate understanding by those skilled in the art.

[0047] At present, the relevant technology usually detects the duration, speed or acceleration of stepping on the accelerator pedal, compares the detected data with the corresponding preset threshold value, and determines whether the accelerator pedal is accidentally stepped on based on the comparison result.

[0048] For example, if the duration of the accelerator pedal being stepped on is detected to be duration A, and duration A is less than a preset duration threshold, it is determined that the accelerator pedal is accidentally stepped on. The preset duration threshold is the maximum critical value of the duration required for the driver to step on the pedal to the bottom in an emergency situation determined based on experimental big data.

[0049] For example, if the speed of the accelerator pedal being stepped on is detected to be speed B, and speed B is greater than a preset speed threshold, it is determined that the accelerator pedal is accidentally stepped on. The preset speed threshold is the minimum critical value of the required speed of the driver stepping on the pedal in an emergency situation determined based on experimental big data.

[0050] For example, if the acceleration of the accelerator pedal is detected to be acceleration C, and acceleration C is greater than a preset acceleration threshold, it is determined that the accelerator pedal is accidentally stepped on. The preset acceleration threshold is the minimum critical value of the required acceleration of the driver stepping on the pedal in an emergency situation determined based on experimental big data.

[0051] It is understandable that in actual applications, the driver will step on the accelerator pedal in different driving situations, and the operation of the accelerator pedal is varied, which leads to different durations, speeds or accelerations of stepping on the accelerator pedal. For example, when the vehicle is driving normally, the driver initially steps on the accelerator hard, and then reduces the force of stepping on the accelerator pedal until the accelerator pedal is still a distance from the bottom and stops. Correspondingly, the acceleration of the accelerator pedal is very large at the beginning, which may exceed the acceleration threshold, and the acceleration of the accelerator pedal gradually decreases. If the above-mentioned related technology is used to judge according to a single preset threshold, if the preset threshold is not set appropriately, it is easy to make a misjudgment, and the acceleration operation occurring during normal driving of the vehicle will be misjudged as the accidental stepping on the accelerator pedal under emergency braking. The vehicle responds to the misjudgment of emergency braking, which affects the normal driving of the vehicle and the driving experience.

[0052] In the related technology, it is also possible to detect whether the vehicle is about to collide and determine whether the accelerator is pressed by mistake by using radar, cameras and other equipment installed on the vehicle.

[0053] For example, radars and / or laser radars are installed at the front and rear of the vehicle. The radars sense objects in the surrounding environment of the vehicle through radio signals, and the laser radars sense objects in the environment of the vehicle through lasers. If the radar and / or laser radar detects that there is an object in front of the vehicle, and the distance is getting closer and closer, and a collision is about to occur, it is determined that the driver has stepped on the accelerator by mistake, and the vehicle is braked urgently to avoid unexpected safety accidents.

[0054] For example, a camera is installed in front of the vehicle to capture multiple images of the vehicle's surroundings. If there is an object in front of the vehicle in the image captured by the camera and the object is getting bigger and bigger, and a collision is about to occur, it is determined that the driver has stepped on the accelerator by mistake, and the vehicle is emergency braked.

[0055] However, the related technology uses radar, cameras and other equipment to determine whether the vehicle is about to collide, and then determine whether the driver has stepped on the accelerator by mistake, which increases the hardware cost. In addition, emergency braking of the vehicle after detecting that a collision is about to occur is time-sensitive, and traffic accidents are more likely to occur if the driver does not operate properly.

[0056] In order to solve the technical problems described above, an embodiment of the present application provides a method for judging whether the accelerator pedal is stepped on by mistake, which obtains the information of the accelerator pedal, determines the change of the acceleration of the accelerator pedal within a time threshold according to the information of the accelerator pedal, and determines whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal. The method provided by the embodiment of the present application optimizes the judgment strategy of the accelerator pedal being stepped on by mistake, improves the accuracy of the judgment of the accelerator pedal being stepped on by mistake, and will not make a misjudgment. Moreover, it is low in cost, can also reduce the safety hazards caused by stepping on the accelerator pedal by mistake, and improve the driving experience.

[0057] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0058] For example, Figure 1 As shown in FIG. 1 , a schematic diagram of the speed of stepping on the accelerator pedal in different scenarios provided by an embodiment of the present application is shown. Figure 2 As shown, it is a schematic diagram of the acceleration of stepping on the accelerator pedal in different scenarios provided by an embodiment of the present application.

[0059] like Figure 1 As shown, the horizontal axis is time, the vertical axis is the speed of the accelerator pedal when the driver steps on the accelerator pedal, the solid oblique line is a schematic diagram of the speed change process of the accelerator pedal when the accelerator pedal is accidentally stepped on, and the dotted arc line is a schematic diagram of the speed change process of the accelerator pedal when the accelerator pedal is normally stepped on.

[0060] like Figure 2 As shown, the horizontal axis is time, and the vertical axis is the acceleration of the accelerator pedal when the driver steps on the accelerator pedal. The solid horizontal line is a schematic diagram of the acceleration change process of the accelerator pedal when the accelerator pedal is accidentally stepped on, and the dotted curve is a schematic diagram of the acceleration change process of the accelerator pedal when the accelerator pedal is stepped on during normal driving.

[0061] In the scenario of accidentally stepping on the accelerator pedal, the driver will mistake the accelerator pedal for the brake pedal and will press the accelerator pedal to the bottom in a very short time.

[0062] Specifically, the driver applies a large force F to the accelerator pedal to move the accelerator pedal quickly until the accelerator pedal is stepped to the bottom at time t1.

[0063] It can be understood that in a short period of time, the driver has been applying a large force F to make the pedal move quickly, and the force F applied by the driver to the accelerator pedal has hardly changed, and the reaction force f of the accelerator pedal and the mass m of the accelerator pedal are also fixed. Among them, the force F applied to the accelerator pedal in a short period of time can be understood as the maximum force applied by the driver to the pedal to move the accelerator pedal, and F is greater than f. According to the formula of Newton's second law (Ff) = ma, it can be determined that in this case, the acceleration of the accelerator pedal a = (Ff) / m is also a constant value, such as a0, and a0 is a positive value. Therefore, when the accelerator pedal is stepped on by mistake, the accelerator pedal continues to accelerate with the maximum acceleration a0 until the accelerator pedal is stepped on to the bottom at time t1. When the accelerator pedal is stepped on to the bottom at time t1, the accelerator pedal is stationary and no longer moves, and the acceleration of the accelerator pedal will instantly change from a0 to a negative maximum value (theoretically it should be negative infinity).

[0064] like Figure 1 As shown by the dotted line, when the vehicle is driving normally and the driver presses the accelerator pedal, the driver usually presses the accelerator pedal slowly.

[0065] Specifically, the driver first applies a large force F to the accelerator pedal to move the accelerator pedal, and then slowly reduces the applied force F until the accelerator pedal stops at time t2. It should be understood that when the accelerator pedal stops at time t2, the accelerator pedal has not bottomed out, that is, there is still a distance between the accelerator pedal and the floor of the vehicle.

[0066] It can be understood that when the accelerator pedal is pressed during normal driving, the force applied by the driver to the accelerator pedal gradually decreases from the maximum value, but the reaction force f of the accelerator pedal and the mass m of the accelerator pedal remain unchanged. Therefore, according to the formula of Newton's second law (Ff) = ma, it can be determined that the accelerator pedal initially accelerates with the maximum acceleration a0 according to the maximum force applied by the driver, and as the driver gradually reduces the force F applied to the accelerator pedal, the acceleration a of the accelerator pedal gradually decreases. Until the force F applied by the user is the same as the reaction force f at time t0, the acceleration of the accelerator pedal becomes 0. That is, the acceleration of the accelerator pedal before time t0 is a positive value, but it continues to decrease in value. After time t0, the force F applied by the user is still decreasing and is less than the reaction force f. Therefore, the acceleration of the accelerator pedal after time t0 is a negative value, but it continues to increase in value until the accelerator pedal stops at time t2.

[0067] like Figure 2 As shown above, Figure 1From the above description of the acceleration when the accelerator pedal is stepped on by mistake, it can be determined that when the accelerator pedal is stepped on by mistake, the accelerator pedal moves at the maximum acceleration a0 until the accelerator pedal is stepped on to the bottom at time t1. When the accelerator pedal is stepped on to the bottom at time t1, the accelerator pedal is stationary and no longer moves, and the speed of the accelerator pedal drops to 0 instantly. It can be determined that from the time when the driver steps on the accelerator pedal to the time when the accelerator pedal is stepped on to the bottom at time t1, the accelerator pedal changes from the initial stationary state to the uniformly accelerated state, and finally changes to the stationary state. Correspondingly, according to the relationship between speed, time and acceleration in uniformly accelerated motion, v=at, it can be determined that the speed of the moving pedal increases uniformly from 0 until it instantly drops to 0 at time t1.

[0068] According to the above Figure 1 The relevant description of the acceleration when the accelerator pedal is pressed during normal driving can be determined as follows: Figure 2 The acceleration of the accelerator pedal shown in Figure 1. When the accelerator pedal is pressed during normal driving, the accelerator pedal initially accelerates at the maximum acceleration a0, and then the acceleration of the accelerator pedal gradually decreases from the maximum acceleration a0 until the acceleration of the accelerator pedal becomes 0 at time t0. After time t0, the acceleration of the accelerator pedal becomes a negative value, but the value continues to increase. Therefore, the speed of the accelerator pedal increases continuously from the time the driver presses the accelerator pedal to time t0, but the increase is slow, and it continues to decrease after time t0 until it becomes 0 at time t2.

[0069] refer to Figure 3 , Figure 3 FIG. 3 shows a system 30 for determining an accelerator pedal mis-stepping provided by an embodiment of the present application. Figure 3 As shown, the accelerator pedal mis-stepping judgment system 30 includes a detection device 31 and an accelerator pedal mis-stepping judgment device 32. The detection device 31 and the accelerator pedal mis-stepping judgment device 32 are connected and communicated with each other.

[0070] The detection device 31 is used to detect and obtain the information of the accelerator pedal of the vehicle, and report the information of the accelerator pedal to the accelerator pedal mis-stepping judgment device 32.

[0071] The detection device 31 includes an acceleration sensor of the accelerator pedal, which is arranged near the accelerator pedal of the vehicle and is used to collect acceleration information of the accelerator pedal. The acceleration sensor of the accelerator pedal can be any one of a photoelectric speed sensor, a magnetoelectric speed sensor, and a Hall-type speed sensor, which is not limited thereto.

[0072] It can be understood that since the acceleration sensor of the accelerator pedal is arranged in the vehicle, when the detection device 31 is the acceleration sensor of the accelerator pedal, the detection device 31 moves with the vehicle, and the detection device 31 and the accelerator pedal mis-stepping judgment device 32 can communicate with each other.

[0073] It should be understood that the above description of the detection device 31 is only an exemplary illustration, and the embodiment of the present application does not specifically limit the specific form and implementation method of the detection device 31.

[0074] Figure 3 The accelerator pedal mis-stepping judging device 32 shown in the figure can be used to judge whether the accelerator pedal is mis-stepped based on the accelerator pedal information received from the detecting device 31.

[0075] Optionally, the accelerator pedal mis-stepping judgment device 32 may be a server. As an example, the accelerator pedal mis-stepping judgment device 32 may be a server of an intelligent transportation system, such as a physical server or a cloud server, which is not limited in the present embodiment.

[0076] refer to Figure 4 , Figure 4 A hardware structure of the accelerator pedal mis-stepping judgment device 32 provided in an embodiment of the present application is shown.

[0077] like Figure 4 As shown, the accelerator pedal mis-stepping judgment device 32 includes a processor 41, a memory 42, a communication interface 43, and a bus 44. The processor 41, the memory 42, and the communication interface 43 may be connected via the bus 44.

[0078] The processor 41 is used to manage and control the accelerator pedal mis-stepping judgment device 32, and / or to execute the accelerator pedal mis-stepping judgment method described below. The memory 42 is used to store program codes and data of the accelerator pedal mis-stepping judgment device 32. The communication interface 43 is used to support the communication between the accelerator pedal mis-stepping judgment device 32 and other network entities.

[0079] The processor 41 (or described as a controller) is the control center of the accelerator pedal misstepping judgment device 32, and can implement or execute various exemplary logic blocks, unit modules and circuits described in combination with the disclosure of this application. The processor or controller can be a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor 41 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc.

[0080] As an example, the processor 41 may include one or more CPUs, such as Figure 4 CPU 0 and CPU1 are shown in .

[0081] The memory 42 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or a flash memory, a hard disk or a solid state drive; it may also be an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 42 may also include a combination of the above-mentioned types of memories. In a possible implementation, the memory 42 may exist independently of the processor 41. The memory 42 may be connected to the processor 41 via a bus 44 for storing data, instructions or program codes. When the processor 41 calls and executes the instructions or program codes stored in the memory 42, the method for determining the accelerator pedal being mistakenly stepped on provided in the embodiment of the present application can be implemented.

[0082] In another possible implementation, the memory 42 may also be integrated with the processor 41 .

[0083] The communication interface 43 is used to connect the accelerator pedal mis-stepping judgment device 32 with other devices (such as the detection device 31, etc.) through a communication network, and the communication network can be a transceiver circuit, Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. The communication interface 43 may include a receiving unit for receiving data and a sending unit for sending data.

[0084] The bus 44 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0085] It should be pointed out that Figure 4 The structure shown in the figure does not constitute a limitation on the control device, except Figure 4 In addition to the components shown, the accelerator pedal mis-depression determining device 32 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0086] Figure 5 A schematic diagram of the structure of a vehicle 500 provided in an embodiment of the present application. Figure 5 , the vehicle 500 may include various subsystems, such as a travel system 510, a sensor system 520, a control system 530, one or more peripheral devices 540, and a power supply 550, a computer system 560, and a user interface 570. Optionally, the vehicle 500 may include more or fewer subsystems, and each subsystem may include multiple elements. In addition, each subsystem and element of the vehicle 500 may be interconnected by wire or wirelessly.

[0087] Travel system 510 may include components that provide powered movement for vehicle 500. In one embodiment, travel system 510 may include engine 511, power source 512, transmission 513, and wheels 514.

[0088] The engine 511 may be an electric motor or a combination of other types of engines. The engine 511 converts the energy source 512 into mechanical energy.

[0089] Examples of energy source 512 include solar panels, batteries, and other sources of electricity.

[0090] The transmission 513 can transmit the mechanical power from the engine 511 to the wheels 514. The transmission 513 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 513 may also include other devices, such as a clutch. Among them, the drive shaft may include one or more shafts that can be coupled to one or more wheels 514.

[0091] The sensor system 520 may include several sensors that sense information about the environment around the vehicle 500. For example, the sensor system 520 may include a positioning system 521, such as a global positioning system (GPS), a Beidou system or other positioning systems, an inertial measurement unit (IMU) 522, a radar 523, a laser rangefinder 524, and a camera 525. The sensor system 520 may also include sensors of the internal systems of the monitored vehicle 500 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). The sensor data collected by these sensors can be used to detect objects and their corresponding characteristics (position, shape, direction, speed, etc.), and such detection and recognition are the key to achieving safe driving of the vehicle 500.

[0092] Positioning system 521 may be used to estimate the geographic location of vehicle 500 .

[0093] IMU 522 is used to sense position and orientation changes of vehicle 500 based on inertial acceleration. In one embodiment, IMU 522 may be a combination of an accelerometer and a gyroscope.

[0094] Radar 523 may utilize radio signals to sense objects within the surrounding environment of vehicle 500. In some embodiments, in addition to sensing objects, radar 523 may also be used to sense the speed and / or heading of an object.

[0095] Laser rangefinder 524 may utilize laser light to sense objects in the environment of vehicle 500. In some embodiments, laser rangefinder 524 may include one or more laser sources, a laser scanner, and one or more detectors, among other system components.

[0096] Camera 525 may be used to capture multiple images of the surrounding environment of vehicle 500, as well as multiple images within the vehicle cockpit. Camera 525 may be a still camera or a video camera.

[0097] The control system 530 is for controlling the operation of the vehicle 500 and its components. The control system 530 may include a variety of components, including a steering system 531, an accelerator pedal 532, a brake unit 533, a computer vision system 534, a route control system 535, and an obstacle avoidance system 536, wherein the obstacle avoidance system 536 may also be referred to as an obstacle avoidance system.

[0098] The steering system 531 is operable to adjust the forward direction of the vehicle 500. For example, in one embodiment, it may be a steering wheel system.

[0099] The accelerator pedal 532 is used to control the operating speed of the engine 511 and thus control the speed of the vehicle 500 .

[0100] The brake unit 533 is used to control the deceleration of the vehicle 500. The brake unit 533 can use friction to slow down the wheel 514. In other embodiments, the brake unit 533 can also convert the kinetic energy of the wheel 514 into electric current. The brake unit 533 can also take other forms to slow down the rotation speed of the wheel 514 to control the speed of the vehicle 500.

[0101] The computer vision system 534 can process and analyze the images captured by the camera 525 to identify objects and / or features in the surrounding environment of the vehicle 500 and the physical features and facial features of the driver in the vehicle cockpit. The objects and / or features may include traffic signals, road conditions and obstacles, and the physical features and facial features of the driver include the driver's behavior, sight, expression, etc. The computer vision system 534 can use object recognition algorithms, structure from motion (SFM) algorithms, video tracking and other computer vision technologies. In some embodiments, the computer vision system 534 can also be used to map the environment, track objects, estimate the speed of objects, determine driver behavior, face recognition, etc.

[0102] The route control system 535 is used to determine the driving route of the vehicle 500. In some embodiments, the route control system 535 can combine data from sensors, the positioning system 521, and one or more predetermined maps to determine the driving route for the vehicle 500.

[0103] Obstacle avoidance system 536 is used to identify, evaluate, and avoid or otherwise negotiate potential obstacles in the environment of vehicle 500 .

[0104] Of course, in one example, the control system 530 may include other components in addition to or in place of the components shown and described, or may reduce some of the components shown above.

[0105] The vehicle 500 interacts with external sensors, other vehicles, other computer systems, or users through the peripheral device 540. The peripheral device 540 may include a wireless communication system 541, an onboard computer 542, a microphone 543, and / or a speaker 544.

[0106] In some embodiments, the peripheral device 540 provides a means for the user of the vehicle 500 to interact with the user interface 570. For example, the onboard computer 542 can provide information to the user of the vehicle 500. The user interface 570 can also operate the onboard computer 542 to receive input from the user. The onboard computer 542 can receive input from the user through a touch screen. In other embodiments, the peripheral device 540 can provide a means for the vehicle 500 to communicate with other devices located in the vehicle. For example, the microphone 543 can receive audio (e.g., voice commands or other audio input) from the user of the vehicle 500. Similarly, the speaker 544 can output audio to the user of the vehicle 500.

[0107] The wireless communication system 541 may wirelessly communicate with one or more devices directly or via a communication network.

[0108] For example, the wireless communication system 541 may use the 3rd generation mobile communication technology (3G) cellular communication, such as code division multiple access (CDMA), global system for mobile communications (GSM), general packet radio service (GPRS), or the 4th generation mobile communication technology (4G) cellular communication, such as long term evolution (LTE), or the 5th generation mobile communication technology (5G) cellular communication. The wireless communication system 541 may communicate with a wireless local area network (WLAN) using wireless fidelity (Wi-Fi). In some embodiments, the wireless communication system 541 may communicate directly with a device using an infrared link, Bluetooth or ZigBee. Other wireless protocols, such as various vehicle communication systems, for example, the wireless communication system 541 may include one or more dedicated short range communications (DSRC) devices.

[0109] The power source 550 can provide power to various components of the vehicle 500. In one embodiment, the power source 550 can be a rechargeable lithium-ion battery or a rechargeable lead-acid battery. One or more battery packs of such batteries can be configured as a power source to provide power to various components of the vehicle 500. In other embodiments, the power source 550 and the energy source 512 can be implemented together, such as a fully electric vehicle.

[0110] Some or all functions of the vehicle 500 are controlled by a computer system 560. The computer system 560 may include at least one processor 561 that executes instructions 5621 stored in a non-transitory computer-readable medium such as a memory 562. The computer system 560 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 500 in a distributed manner.

[0111] Processor 561 may be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor may be a dedicated device such as an application-specific integrated circuit (ASIC) or other hardware-based processor.

[0112] In some embodiments, the memory 562 may include instructions 5621 (e.g., program logic) that may be executed by the processor 561 to perform various functions of the vehicle 500. The memory 562 may also include additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the travel system 510, the sensor system 520, the control system 530, and the peripherals 540.

[0113] In addition to instructions 5621, memory 562 may also store data such as road maps, route information, the vehicle's location, direction, speed, and other vehicle data, and other information. This information may be used by vehicle 500 and computer system 560 during operation of vehicle 500 in autonomous, semi-autonomous, and / or manual modes.

[0114] The user interface 570 is used to provide information to or receive information from a user of the vehicle 500. Optionally, the user interface 570 may include an interface for one or more input / output devices in the set of peripheral devices 540 to interact with the user and exchange information. The one or more input / output devices in the set of peripheral devices 540 may be, for example, one or more of a wireless communication system 541, an onboard computer 542, a microphone 543, and a speaker 544.

[0115] Computer system 560 may control functions of vehicle 500 based on input received from various subsystems (e.g., travel system 510, sensor system 520, and control system 530) and from user interface 570. In some embodiments, computer system 560 may provide control over many aspects of vehicle 500 and its subsystems.

[0116] In some embodiments, the vehicle 500 may also include a vehicle controller (not shown). Figure 5 As shown in the figure, the vehicle controller can also be described as a powertrain controller, which is the core control component of the entire vehicle. It collects input information of the accelerator pedal opening, the brake pedal opening and other components, and after making corresponding judgments based on the above input information, controls the actions of various components in the vehicle 500 and drives the vehicle 500 to travel. Specifically, as the command and management center of the vehicle 500, the main functions of the vehicle controller include: driving torque control, optimal control of braking energy, energy management of the whole vehicle, maintenance and management of the controller area network (CAN), fault diagnosis and processing, and vehicle status monitoring, etc. It plays a role in controlling the operation of the vehicle. Therefore, the quality of the vehicle controller directly determines the stability and safety of the vehicle.

[0117] Alternatively, one or more of the above-mentioned components may be installed or associated separately from the vehicle 500. For example, the memory 562 may exist partially or completely separately from the vehicle 500. The above-mentioned components may be communicatively coupled together in a wired and / or wireless manner.

[0118] Optionally, the above components are only examples. In actual applications, the components in the above modules may be added or deleted according to actual needs. Figure 5 It should not be understood as limiting the embodiments of the present application.

[0119] The vehicle 500 may be a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a lawn mower, an amusement vehicle, an amusement park vehicle, construction equipment, a tram, a golf cart, a train, etc., and the embodiment of the present application does not make any special limitation. The power of the vehicle may be provided by gasoline, diesel, electricity, solar energy, hydrogen energy, etc.

[0120] In other embodiments of the present application, the vehicle may further include a hardware structure and / or a software module to implement the above functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above functions is implemented in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.

[0121] The method provided in the embodiments of the present application is described below with reference to the accompanying drawings.

[0122] In order to improve the accuracy of judging whether the accelerator pedal is accidentally pressed, reduce the safety hazards caused by accidentally pressing the accelerator pedal, and improve the driving experience, the present application proposes a method for judging whether the accelerator pedal is accidentally pressed. The executor of the method can be a vehicle or other equipment outside the vehicle, or a processor on the vehicle or other equipment outside the vehicle, such as the processor 41 or processor 561 mentioned in the above content.

[0123] refer to Figure 6 , Figure 6 The flowchart of the method for determining whether the accelerator pedal is accidentally stepped on is shown in an embodiment of the present application. The method for determining whether the accelerator pedal is accidentally stepped on includes the following steps S601-S603:

[0124] S601. The vehicle controller obtains information about the accelerator pedal of the vehicle.

[0125] Among them, the vehicle controller is the core control component of the vehicle. The vehicle controller obtains the vehicle's status information, makes corresponding judgments and decisions based on the vehicle's status information, controls the actions of various components in the vehicle based on the above decisions, and then controls the vehicle's driving or braking.

[0126] The information of the accelerator pedal includes the speed of the accelerator pedal and / or the acceleration of the accelerator pedal.

[0127] In some embodiments of the present application, the vehicle controller obtains information about the vehicle's accelerator pedal through various sensors installed on the vehicle.

[0128] In a possible implementation, the vehicle controller obtains real-time data monitored by various sensors installed on the vehicle accelerator pedal, and calculates the accelerator pedal information based on the real-time data.

[0129] In some embodiments, the vehicle controller sends an acquisition request to various sensors installed on the vehicle accelerator pedal; the various sensors installed on the vehicle accelerator pedal respond to the acquisition request sent by the vehicle controller, and send their respectively collected real-time data to the vehicle controller; the vehicle controller receives the real-time data sent by various sensors installed on the vehicle accelerator pedal, and calculates the accelerator pedal information based on the real-time data.

[0130] In other embodiments, various sensors installed on the vehicle's accelerator pedal detect real-time accelerator pedal data generated when the driver steps on the accelerator pedal, and send the detected real-time data to the vehicle controller respectively, so that the vehicle controller can determine the accelerator pedal information based on the real-time data collected by the various sensors installed on the vehicle's accelerator pedal.

[0131] Optionally, various sensors installed on the accelerator pedal include but are not limited to a speed sensor of the accelerator pedal, an acceleration sensor of the accelerator pedal, a travel sensor of the accelerator pedal, etc.

[0132] Optionally, a force sensor may be installed on the accelerator pedal to detect the force applied to the accelerator pedal by the driver.

[0133] Exemplarily, the vehicle controller obtains real-time data (such as the speed of the accelerator pedal, the acceleration of the accelerator pedal, etc.) monitored by various sensors (such as speed sensors, accelerometers, etc.) installed on the accelerator pedal in the vehicle, and the vehicle controller determines the accelerator pedal information such as the speed of the accelerator pedal and the acceleration of the accelerator pedal based on the monitored real-time data.

[0134] It is understandable that when the driver steps on the accelerator pedal, each sensor on the accelerator pedal detects the information of the accelerator pedal in real time until the accelerator pedal stops. The accelerator pedal information acquired by the vehicle controller includes the accelerator pedal information collected in real time by various sensors during the process of the driver stepping on the accelerator pedal until the accelerator pedal stops.

[0135] In other embodiments of the present application, the vehicle controller obtains statistical information of the acceleration of the accelerator pedal within a time threshold.

[0136] The time threshold is a predetermined maximum value of the time required from the accidental stepping on the accelerator pedal to the bottoming out.

[0137] For example, through experimental testing and the collection of big data information on the time it takes for the driver to mistakenly step on the accelerator pedal until it hits bottom, it is determined that the time it takes for the driver to mistakenly step on the accelerator pedal until it hits bottom is usually less than 0.3 seconds, and 0.3 seconds is determined as the time threshold.

[0138] The statistical information includes multiple moments within a time threshold and the acceleration of the accelerator pedal corresponding to each moment.

[0139] Specifically, the vehicle controller responds to the user's operation of stepping on the accelerator pedal, obtains the acceleration of the accelerator pedal through a sensor installed on the vehicle, and integrates the acceleration of the accelerator pedal within a time threshold to obtain statistical information.

[0140] In some examples, the vehicle controller integrates multiple moments within a time threshold and the acceleration of the accelerator pedal corresponding to each moment, and the obtained statistical information of the acceleration of the accelerator pedal is a statistical table of time and acceleration.

[0141] In other examples, the vehicle controller integrates multiple moments within a time threshold and the acceleration of the accelerator pedal corresponding to each moment, and the obtained statistical information of the acceleration of the accelerator pedal is a waveform diagram of time and acceleration.

[0142] In some embodiments, before the vehicle controller executes step S601, the vehicle controller also determines whether to turn on the anti-accelerator pedal mistake mode based on the status information. If it is turned on, step S601 is executed; otherwise, step S601 is not executed.

[0143] The status information is the current status information of the vehicle, including the status of the vehicle's anti-accelerator pedal function.

[0144] Optionally, the status information may also include the vehicle's speed, the vehicle's acceleration, the vehicle's steering wheel speed, the road slope of the vehicle's road, and radar information, etc.

[0145] The status of the accelerator pedal misstepping prevention function is used to indicate whether the vehicle has turned on the accelerator pedal misstepping prevention judgment function. The accelerator pedal misstepping judgment function is used to determine whether the driver has misstepped the accelerator pedal based on the current accelerator pedal information when the driver steps on the accelerator pedal, so as to avoid potential dangers such as traffic accidents.

[0146] It should be understood that the function of preventing accidental accelerator pedal depressing is a kind of active safety function. Active safety function refers to the function of preventing accidents and improving driving safety through various technical means and systems. Active safety function can help drivers avoid potential dangerous situations, provide warning and auxiliary functions, and enhance the driver's perception of road environment and vehicle status.

[0147] In a possible implementation, the state of the vehicle's accelerator pedal misstepping prevention function is indicated by a flag. Specifically, a flag is set for the accelerator pedal misstepping prevention function state, and the flag value indicates whether the vehicle has enabled the accelerator pedal misstepping judgment function.

[0148] For example, if the flag bit of the accelerator pedal prevention function state is 1, it means that the vehicle has turned on the accelerator pedal mistake judgment function. If the flag bit of the accelerator pedal prevention function state is 0, it means that the accelerator pedal mistake judgment function is not turned on for the vehicle. Alternatively, if the flag bit of the accelerator pedal prevention function state is 0, it means that the accelerator pedal mistake judgment function is turned on for the vehicle. If the flag bit of the accelerator pedal prevention function state is 1, it means that the accelerator pedal mistake judgment function is not turned on for the vehicle. The embodiments of the present application are not specifically limited.

[0149] In some embodiments of the present application, the vehicle controller obtains vehicle status information from various subsystems of the vehicle, and determines whether to turn on the anti-misstepping accelerator pedal mode based on the status information.

[0150] For example, as in the example of vehicle 500 described above, the vehicle controller obtains the real-time status information of the vehicle's anti-accelerator pedal function state and the like from the sensor system 520, the control system 530 and other subsystems of the vehicle 500. It is determined whether to turn on the anti-accelerator pedal mode according to the flag bit of the anti-accelerator pedal function state.

[0151] It is understandable that in the embodiment of the present application, it is first determined whether the vehicle has turned on the anti-accelerator pedal mode. If the anti-accelerator pedal mode is turned on, it is determined whether the driver has currently stepped on the accelerator pedal by mistake, and the vehicle is controlled to perform corresponding operations according to the judgment result. If the anti-accelerator pedal mode is not turned on, it will not interfere with the driving of the vehicle. The driver can selectively turn on / off the anti-accelerator pedal mode according to usage requirements.

[0152] S602: The vehicle controller determines a change in acceleration of the accelerator pedal within a time threshold according to information about the accelerator pedal.

[0153] The change of the acceleration of the accelerator pedal includes a first change and a second change. The first change is that the acceleration of the accelerator pedal passes through a zero point. The second change is that the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value.

[0154] In the embodiment of the present application, the zero-crossing point is when the acceleration of the accelerator pedal changes from a positive value to a negative value through a zero value. Moreover, during the change process, the acceleration of the accelerator pedal is 0 at a certain moment.

[0155] In the embodiment of the present application, a sudden drop from a positive value to a negative maximum value means that the acceleration of the accelerator pedal suddenly changes from a positive value to a very large negative value (which can also be described as a negative maximum value, such as negative infinity) at a certain moment.

[0156] In some embodiments of the present application, after obtaining the information of the accelerator pedal, the vehicle controller determines the acceleration of the accelerator pedal according to the information of the accelerator pedal; and then determines the change of the acceleration of the accelerator pedal within a time threshold according to the acceleration of the accelerator pedal.

[0157] In some examples, the accelerator pedal information obtained by the vehicle controller only includes the accelerator pedal speed. The vehicle controller first calculates the acceleration of the accelerator pedal based on the accelerator pedal speed, and then determines the change in the acceleration of the accelerator pedal within a time threshold based on the acceleration of the accelerator pedal.

[0158] Exemplarily, according to the definition and relationship between speed and acceleration, the acceleration of the accelerator pedal is obtained by derivation of the accelerator pedal speed.

[0159] In other examples, the accelerator pedal information acquired by the vehicle controller includes the acceleration of the accelerator pedal, and the vehicle controller directly determines the change of the acceleration of the accelerator pedal within the time threshold according to the acceleration of the accelerator pedal in the accelerator pedal information.

[0160] In other embodiments of the present application, the vehicle controller obtains statistical information of the acceleration of the accelerator pedal within a time threshold, and determines a change in the acceleration of the accelerator pedal within the time threshold based on the statistical information of the acceleration of the accelerator pedal.

[0161] In one possible implementation, after the vehicle controller obtains the statistical information of the acceleration of the accelerator pedal within a time threshold, if the acceleration of the accelerator pedal continues to decrease within the time threshold, and the acceleration of the accelerator pedal changes from a positive value to a zero value and finally to a negative value, then the change in the acceleration of the accelerator pedal is determined to be the first change.

[0162] Exemplarily, after the vehicle controller obtains the statistical information of the acceleration of the accelerator pedal within the time threshold, it determines whether the acceleration of the accelerator pedal within the time threshold changes from a positive value to a zero value, and then from a zero value to a negative value. If so, the vehicle controller determines that the change in the acceleration of the accelerator pedal is the first change. Figure 2 It can be seen from the above content that the reason for the first change in the acceleration of the accelerator pedal is that the driver normally steps on the accelerator pedal. Therefore, it can be determined that the driver normally steps on the accelerator pedal at this time, and the vehicle can run normally.

[0163] In another possible implementation, after the vehicle controller obtains the statistical information of the acceleration of the accelerator pedal within the time threshold, if the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value at a certain moment within the time threshold, the change in the acceleration of the accelerator pedal is determined to be the second change.

[0164] For example, after the vehicle controller obtains the statistical information of the acceleration of the accelerator pedal within the time threshold, it determines whether the acceleration of the accelerator pedal within the time threshold suddenly drops from a positive value to a negative maximum value at a certain moment, based on the time threshold. If so, the vehicle controller determines that the change in the acceleration of the accelerator pedal is the second change. Figure 2 It can be seen from the above content that the reason for the second change in the acceleration of the accelerator pedal is that the driver accidentally steps on the accelerator pedal. Therefore, it can be determined that the driver accidentally steps on the accelerator pedal and the vehicle needs emergency braking.

[0165] S603: The vehicle controller determines whether the accelerator pedal is stepped on by mistake according to the change in the acceleration of the accelerator pedal.

[0166] In some embodiments of the present application, if the change in the acceleration of the accelerator pedal is a first change, the vehicle controller determines that the current driver is normally stepping on the accelerator pedal and not stepping on the accelerator pedal by mistake; if the change in the acceleration of the accelerator pedal is a second change, the vehicle controller determines that the current driver is stepping on the accelerator pedal by mistake.

[0167] In other embodiments of the present application, after the vehicle controller determines whether the accelerator pedal is stepped on by mistake according to the change in the acceleration of the accelerator pedal, the vehicle controller also controls the vehicle to perform corresponding operations according to the judgment result.

[0168] In a possible implementation, if the vehicle controller determines that the accelerator pedal is not stepped on by mistake, the vehicle is driven normally; if the vehicle controller determines that the accelerator pedal is stepped on by mistake, the vehicle is controlled to perform emergency braking.

[0169] Specifically, if the vehicle controller determines that the accelerator pedal is not stepped on by mistake, the vehicle controller controls the vehicle to accelerate and run normally in response to the driver's operation of stepping on the accelerator pedal.

[0170] Specifically, if the vehicle controller determines that the accelerator pedal is stepped on by mistake, the vehicle controller controls the vehicle to perform emergency braking of the vehicle and issues a prompt of the accelerator pedal being stepped on by mistake.

[0171] For example, after the vehicle controller determines that the accelerator pedal has been stepped on by mistake, emergency braking is performed and a reminder of the accelerator pedal being stepped on by mistake is issued. The reminder of the accelerator pedal being stepped on by mistake may be displayed on the display screen of the vehicle system, or a voice broadcast of the accelerator pedal being stepped on by mistake is issued. The embodiments of the present application do not limit the specific implementation method of the vehicle controller issuing the reminder of the accelerator pedal being stepped on by mistake.

[0172] Optionally, the vehicle controller may also obtain an input voltage of the accelerator pedal, convert the input voltage of the accelerator pedal into an acceleration of the accelerator pedal, and determine whether the accelerator pedal is stepped on by mistake according to a change in the acceleration of the accelerator pedal.

[0173] Through the above process, the vehicle controller in the embodiment of the present application can determine the change of the acceleration of the accelerator pedal within the time threshold according to the information of the accelerator pedal, and then determine whether the accelerator pedal is accidentally stepped on according to the change of the acceleration of the accelerator pedal. The judgment strategy of accidentally stepping on the accelerator pedal is optimized, and the accuracy of the judgment of accidentally stepping on the accelerator pedal is further improved, so that misjudgment will not occur, and the safety hazards caused by accidentally stepping on the accelerator pedal can be reduced, and the driving experience is improved.

[0174] It is understandable that, according to the content described in step S602 above, the time threshold is 0.3 seconds. Taking the vehicle accelerating to 100km / h within 5 seconds as an example, the vehicle's speed can reach 1.67m / s at 0.3 seconds, and the travel distance is 0.25 meters. Taking the vehicle accelerating to 100km / h within 8 seconds as an example, the vehicle's speed can reach 1.04m / s at 0.3 seconds, and the travel distance is 0.15 meters. By adopting the solution of the present application, it is possible to timely determine whether the accelerator is accidentally stepped on in a very short time, and better ensure safe driving.

[0175] like Figure 7 FIG. 2 is a flow chart of another method for determining whether the accelerator pedal is accidentally stepped on provided by the present application. The method for determining whether the accelerator pedal is accidentally stepped on includes the following steps S701-S706:

[0176] S701. The vehicle controller determines whether to enable the accelerator pedal mis-stepping prevention mode according to the status information. If so, execute S702; otherwise, execute S706.

[0177] In an embodiment of the present application, the vehicle controller determines whether to turn on the anti-accelerator pedal accidental stepping mode according to the status information, as in the above step S601. The manner in which the vehicle controller determines whether to turn on the anti-accelerator pedal accidental stepping mode according to the status information is not repeated here.

[0178] S702: The vehicle controller obtains information about the accelerator pedal of the vehicle.

[0179] In the embodiment of the present application, the vehicle controller obtains the information of the vehicle's accelerator pedal in the same manner as the vehicle controller obtains the information of the vehicle's accelerator pedal in the above step S601, which is not repeated here.

[0180] S703. The vehicle controller determines, based on the information of the accelerator pedal, whether the change in the acceleration of the accelerator pedal within the time threshold is a first change; if so, execute S706; if not, execute S704.

[0181] In an embodiment of the present application, the vehicle controller determines the acceleration of the accelerator pedal based on information about the accelerator pedal, and determines whether a change in the acceleration of the accelerator pedal is a first change within a time threshold based on the acceleration of the accelerator pedal.

[0182] In an embodiment of the present application, if within the time threshold, the acceleration of the accelerator pedal continues to decrease, and the acceleration of the accelerator pedal changes from a positive value to a zero value and finally to a negative value, then the change in the acceleration of the accelerator pedal is determined to be the first change, and S706 is executed; otherwise, S704 is executed.

[0183] S704. The vehicle controller determines whether the change in the acceleration of the accelerator pedal within the time threshold is a second change based on the information of the accelerator pedal; if so, execute S705; if not, execute S706.

[0184] In an embodiment of the present application, the vehicle controller determines the acceleration of the accelerator pedal based on information about the accelerator pedal, and determines whether a change in the acceleration of the accelerator pedal is a second change within a time threshold based on the acceleration of the accelerator pedal.

[0185] In the embodiment of the present application, if within the time threshold, the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value at a certain moment, the change in the acceleration of the accelerator pedal is determined to be the second change, and S705 is executed; otherwise, S706 is executed.

[0186] S705: The vehicle controller determines that the accelerator pedal is accidentally stepped on, and controls the vehicle to perform emergency braking.

[0187] In an embodiment of the present application, if the vehicle controller determines that the change in the acceleration of the accelerator pedal is the second change, the vehicle controller determines that the driver has mistakenly stepped on the accelerator pedal, and then the vehicle controller controls the vehicle to make the vehicle emergency brake and issues a prompt for mistakenly stepping on the accelerator pedal.

[0188] S706: The vehicle controller controls the vehicle to drive normally.

[0189] In an embodiment of the present application, if the vehicle controller determines based on the status information that the anti-misstepping on the accelerator pedal mode is not turned on, or if the vehicle controller determines that the change in the acceleration of the accelerator pedal is a first change, the vehicle controller determines that the driver is stepping on the accelerator pedal normally, and then the vehicle controller responds to the driver's operation of stepping on the accelerator pedal to control the vehicle to accelerate normally.

[0190] Through the above process, the vehicle controller in the embodiment of the present application first determines whether the vehicle has turned on the anti-accelerator pedal mode. If it is determined that the anti-accelerator pedal mode is not turned on, the vehicle is driven normally; if it is determined that the anti-accelerator pedal mode is turned on, the accelerator pedal information is obtained, and the change of the acceleration of the accelerator pedal within the time threshold is determined according to the accelerator pedal information. If it is the first change, the vehicle is controlled to drive normally, and if it is the second change, the vehicle is controlled to emergency brake. Through the above scheme, the judgment strategy of accidentally stepping on the accelerator pedal is optimized at a low cost, the accuracy of the judgment of accidentally stepping on the accelerator pedal is effectively improved, the safety accidents and personal injuries caused by accidentally stepping on the accelerator pedal are effectively reduced, and the user experience is optimized.

[0191] like Figure 8 FIG. 8 is a system architecture diagram of another accelerator pedal mis-stepping judgment system provided in an embodiment of the present application. The accelerator pedal mis-stepping judgment system 80 includes an intelligent driving computing platform 81 and an electronic accelerator pedal system 82 .

[0192] Among them, the intelligent driving computing platform 81 is used to detect the input analog voltage of the electronic accelerator pedal system 82, convert the input analog voltage into the acceleration of the accelerator pedal, and determine whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal.

[0193] The electronic accelerator pedal system 82 is used to detect the driver's input to the accelerator pedal to determine the input analog voltage, and control the accelerator pedal according to the input analog voltage.

[0194] Specifically, the electronic accelerator pedal system 82 determines the input analog voltage according to the input when the driver steps on the accelerator pedal. The intelligent driving computing platform 81 detects the input analog voltage of the electronic accelerator pedal system 82 through an analog to digital converter (ADC). The intelligent driving computing platform 81 converts the input analog voltage into the acceleration of the accelerator pedal, and determines whether the accelerator pedal is stepped on by mistake according to the change in the acceleration of the accelerator pedal.

[0195] The intelligent driving computing platform 81 in this embodiment is used to implement Figure 3 The detection device 31 and the accelerator pedal mis-stepping judgment device 32 are included.

[0196] It should be understood that the above description of the accelerator pedal mis-stepping judgment system 80 is only an exemplary description, and the embodiment of the present application does not specifically limit the specific form and implementation method of the accelerator pedal mis-stepping judgment system 80.

[0197] like Fig. 9 The above is a system architecture diagram of another accelerator pedal mis-stepping judgment system provided in an embodiment of the present application. The accelerator pedal mis-stepping judgment system 90 includes an intelligent driving computing platform 91 and an electronic control unit (ECU) 92.

[0198] Among them, the intelligent driving computing platform 91 is used to obtain the acceleration of the accelerator pedal from the electronic control unit 92, and determine whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal.

[0199] The electronic control unit 92 is used to detect the acceleration of the accelerator pedal.

[0200] Exemplarily, the electronic control unit 92 detects the acceleration of the accelerator pedal when the driver steps on the accelerator pedal, and transmits the acceleration of the accelerator pedal to the intelligent driving computing platform 91 through the controller area network (CAN) (also described as a CAN bus). The intelligent driving computing platform 91 determines whether the accelerator pedal is stepped on by mistake based on the change in the acceleration of the accelerator pedal.

[0201] The intelligent driving computing platform 91 in this embodiment is used to implement Figure 3 The accelerator pedal mis-stepping judgment device 32, the electronic control unit 92 is used to implement Figure 3 The detection device 31 in.

[0202] The system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application, and do not constitute the sole limitation on the technical solutions provided by this application. A person of ordinary skill in the art will appreciate that, with the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by this application are equally applicable to similar technical problems.

[0203] Combination of the above Figure 3-Figure 9 The method for judging the mis-stepping of the accelerator pedal provided in the embodiment of the present application is described in detail. The above mainly introduces the scheme provided in the embodiment of the present application from the perspective of the method. In order to realize the above functions, it includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed in this document, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0204] The embodiment of the present application can divide the function modules of the accelerator pedal misstep judgment system according to the above method example. For example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0205] Fig.10 A possible structural diagram of the accelerator pedal mis-stepping judgment device involved in the above embodiment is shown as follows: Fig.10 As shown, the accelerator pedal mis-stepping judgment device 1000 may include an acquisition unit 1001 and a processing unit 1002. The accelerator pedal mis-stepping judgment device 1000 is used to execute the above-mentioned accelerator pedal mis-stepping judgment method, for example, to execute Figure 6 or Figure 7 Of course, the accelerator pedal misoperation judging device 1000 may also include other modules, or the accelerator pedal misoperation judging device 1000 may include fewer modules. The embodiment of the present application is not limited to this.

[0206] The acquisition unit 1001 is used to acquire the information of the accelerator pedal of the vehicle.

[0207] The information of the accelerator pedal includes the speed of the accelerator pedal and / or the acceleration of the accelerator pedal.

[0208] In a possible implementation, information about the accelerator pedal is obtained through various sensors installed on the vehicle.

[0209] The processing unit 1002 is used to determine the change of acceleration of the accelerator pedal within a time threshold according to the information of the accelerator pedal.

[0210] The change in the acceleration of the accelerator pedal includes a first change and a second change; the first change is that the acceleration of the accelerator pedal passes through a zero point; the second change is that the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value.

[0211] The time threshold is the maximum threshold value of the time required for rapid pedal depressing determined in advance through experiments.

[0212] In a possible implementation, the acceleration of the accelerator pedal is determined according to the information of the accelerator pedal; and the change of the acceleration of the accelerator pedal within a time threshold is determined according to the acceleration of the accelerator pedal.

[0213] In some examples, if the acceleration of the accelerator pedal continues to decrease within the time threshold, and the acceleration of the accelerator pedal changes from a positive value to a zero value and finally to a negative value, the change in the acceleration of the accelerator pedal is determined to be a first change.

[0214] In other examples, if within the time threshold, the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value at a certain moment, then the change in the acceleration of the accelerator pedal is determined to be a second change.

[0215] The processing unit 1002 is further used to determine whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal.

[0216] In one possible implementation, if the change in the acceleration of the accelerator pedal is the first change, it is determined that the current driver has stepped on the accelerator pedal normally and not by mistake; if the change in the acceleration of the accelerator pedal is the second change, it is determined that the current driver has stepped on the accelerator pedal by mistake.

[0217] Optionally, after determining that the accelerator pedal has been accidentally pressed, emergency braking is performed on the vehicle and a reminder of the accidental pressing of the accelerator pedal is issued.

[0218] Optional, Fig.10 The accelerator pedal mis-stepping judgment device 1000 shown may also include a storage unit ( Fig.10(not shown), the storage unit stores a program or instruction. When the acquisition unit 1001 and the processing unit 1002 execute the program or instruction, Fig.10 The accelerator pedal mis-stepping judgment device 1000 shown can execute the accelerator pedal mis-stepping judgment method described in the above method embodiment.

[0219] The operations and / or functions of each unit in the accelerator pedal mis-stepping judgment device 1000 are respectively for realizing the corresponding processes of the accelerator pedal mis-stepping judgment method described in the above method embodiment. All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional unit, and for the sake of brevity, they will not be repeated here.

[0220] Fig.10 The technical effects of the device 1000 for determining the accelerator pedal being mistakenly pressed can refer to the technical effects of the method for determining the accelerator pedal being mistakenly pressed described in the above method embodiment, and will not be repeated here.

[0221] As an example, combining Figure 4 The functions implemented by the acquisition unit 1001 and the processing unit 1002 in the accelerator pedal mis-stepping judgment device 1000 can be realized by Figure 4 Processor 41 in the execution Figure 4 The program code in the memory 42 is implemented.

[0222] The present application also provides a chip system, such as Fig.11 As shown, the chip system 1100 includes at least one processor 1101 and at least one interface circuit 1102. As an example, when the chip system 1100 includes one processor and one interface circuit, the one processor may be Fig.11 The processor 1101 shown in the solid line frame (or the processor 1101 shown in the dotted line frame) may be Fig.11 The interface circuit 1102 shown in the solid line frame (or the interface circuit 1102 shown in the dotted line frame). When the chip system 1100 includes two processors and two interface circuits, the two processors include Fig.11 The processor 1101 shown in the solid line frame and the processor 1101 shown in the dotted line frame, the two interface circuits include Fig.11 The interface circuit 1102 shown in the solid line frame and the interface circuit 1102 shown in the dotted line frame are not limited to this.

[0223] The processor 1101 and the interface circuit 1102 can be interconnected via a line. For example, the interface circuit 1102 can be used to receive a signal. For another example, the interface circuit 1102 can be used to send a signal to another device (such as the processor 1101). Exemplarily, the interface circuit 1102 can read an instruction stored in a memory and send the instruction to the processor 1101. When the instruction is executed by the processor 1101, the accelerator pedal misstepping judgment device can execute the various steps in the above-mentioned embodiment. Of course, the chip system can also include other discrete devices, which are not specifically limited in the embodiments of the present application.

[0224] Exemplarily, the chip system can be a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a micro controller unit (MCU), a programmable logic device (PLD) or other integrated chips.

[0225] It should be understood that each step in the above method embodiment can be completed by an integrated logic circuit of hardware in a processor or by instructions in the form of software. The method steps disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware processor, or by a combination of hardware and software modules in a processor.

[0226] An embodiment of the present application also provides a computer-readable storage medium storing one or more computer programs, wherein the one or more computer programs include instructions, which, when executed by a computer, enable the computer to execute the corresponding process of the method for determining whether the accelerator pedal is accidentally stepped on in the above-mentioned embodiment.

[0227] In some embodiments, the disclosed methods may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0228] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, the computer executes the above-mentioned related steps to implement the method for determining whether the accelerator pedal is accidentally stepped on in the above-mentioned embodiment.

[0229] Among them, the device, computer-readable storage medium, computer program product or chip provided in the embodiments of the present application are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0230] The steps of the method or algorithm described in conjunction with the disclosure of the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (RAM), flash memory, read-only memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The above is only a specific implementation of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with the technical field of the present application can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims.

Claims

1. A method for determining whether an accelerator pedal is accidentally stepped on, characterized in that: include: Get the information of the vehicle's accelerator pedal; determining a change in acceleration of the accelerator pedal within a time threshold according to information of the accelerator pedal; The change of the acceleration of the accelerator pedal includes a first change and a second change, wherein the first change is that the acceleration of the accelerator pedal passes through a zero point, and the second change is that the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value; It is determined whether the accelerator pedal is mistakenly depressed according to a change in the acceleration of the accelerator pedal.

2. The method for determining whether the accelerator pedal is accidentally stepped on according to claim 1, characterized in that: The obtaining of the information of the accelerator pedal of the vehicle includes: Obtaining statistical information of the acceleration of the accelerator pedal within the time threshold, the statistical information including multiple moments within the time threshold and the acceleration of the accelerator pedal corresponding to each moment; The step of determining the change of the acceleration of the accelerator pedal within a time threshold according to the information of the accelerator pedal comprises: A change in the acceleration of the accelerator pedal within the time threshold is determined according to statistical information of the acceleration of the accelerator pedal.

3. The method for determining whether the accelerator pedal is accidentally stepped on according to claim 2, characterized in that: The step of determining the change of the acceleration of the accelerator pedal within the time threshold according to the statistical information of the acceleration of the accelerator pedal comprises: If within the time threshold, the acceleration of the accelerator pedal continues to decrease, and the acceleration of the accelerator pedal changes from a positive value to a zero value and finally to a negative value, then it is determined that the change in the acceleration of the accelerator pedal is the first change; or, If within the time threshold, the acceleration of the accelerator pedal drops suddenly from a positive value to a negative maximum value at a certain moment, then the change in the acceleration of the accelerator pedal is determined to be the second change.

4. The method for determining the accelerator pedal being pressed incorrectly according to any one of claims 1 to 3, characterized in that: The step of determining whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal comprises: If the change in the acceleration of the accelerator pedal is the first change, it is determined that the accelerator pedal is not stepped on by mistake; or, If the change in the acceleration of the accelerator pedal is the second change, it is determined that the accelerator pedal is incorrectly depressed.

5. The method for determining the accelerator pedal being pressed incorrectly according to any one of claims 1 to 4, characterized in that: Before obtaining the information of the accelerator pedal of the vehicle, the method further includes: The vehicle is determined to start an accelerator pedal mis-stepping prevention mode according to status information, wherein the status information includes the accelerator pedal mis-stepping prevention function status of the vehicle at the current moment.

6. The method for determining the accelerator pedal being pressed incorrectly according to any one of claims 1 to 5, characterized in that: After determining whether the accelerator pedal is stepped on by mistake according to the change of the acceleration of the accelerator pedal, the method further includes: If it is determined that the accelerator pedal is not stepped on by mistake, driving the vehicle normally; or, If it is determined that the accelerator pedal is stepped on by mistake, the vehicle is emergency braked.

7. The method for determining the accelerator pedal being pressed incorrectly according to claim 6, characterized in that: The emergency braking of the vehicle comprises: The vehicle is controlled to perform emergency braking and a prompt of mistakenly stepping on the accelerator pedal is issued.

8. The method for determining the accidental stepping on the accelerator pedal according to any one of claims 1 to 7, characterized in that: The time threshold is a predetermined maximum value of the time required from the mis-depressing of the accelerator pedal to the bottoming out.

9. A device for judging whether the accelerator pedal is pressed incorrectly, characterized in that: include: A processor and a memory, wherein the memory is coupled to the processor, and the memory is used to store computer-readable instructions. When the processor reads the computer-readable instructions from the memory, the accelerator pedal mis-stepping judgment device executes the method described in any one of claims 1-8.

10. A vehicle, characterized in that: The vehicle comprises the accelerator pedal mis-stepping judgment device as claimed in claim 9 and a detection device, wherein the detection device is used to detect information of the accelerator pedal of the vehicle.

11. A chip system, characterized in that: It includes at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor, and the at least one processor executes the instructions, and the at least one processor executes the method according to any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises a computer program, and when the computer program is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

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