Vehicle control method and device, product, electronic equipment and storage medium

Abstract

The invention provides a vehicle control method and device, a product, electronic equipment and a storage medium, and the control method comprises the steps that in the process that a vehicle runs in an intelligent driving mode, in response to the action that a user steps on a brake pedal, pressure data and displacement data of the brake pedal are obtained, and according to the pressure data and the displacement data, the pressure data and the displacement data of the brake pedal are obtained; and determining the behavior intention of the user, adjusting the height and the damping degree of the brake pedal according to the behavior intention, and exiting the intelligent driving mode or keeping the intelligent driving mode. Through the embodiment of the invention, the user can more easily operate the brake pedal when quitting the intelligent driving mode, the intention of the user to quit the intelligent driving mode is accurately identified, the user can be effectively prevented from mistakenly touching when the intelligent driving mode is kept, and the reliability of the quitting mechanism of the intelligent driving mode is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a vehicle control method and device, product, electronic equipment, and storage medium. Background Art

[0002] With the development of science and technology, intelligent driving technology has gradually become a hot topic in the automotive industry, aiming to enable vehicles to drive safely with no or very little human intervention through advanced sensors, algorithms and control systems.

[0003] Intelligent driving can include assisted driving and autonomous driving. In assisted driving, the driver can adjust the vehicle control only when necessary, such as fine-tuning the driving direction, increasing or decreasing the speed, etc., and the main driving control is handed over to the vehicle computer system. In autonomous driving, the driver does not need to operate, and the vehicle's driving is completely controlled by the vehicle computer system.

[0004] In the related art, the driver steps on the brake pedal to exit the smart driving mode. However, this method is prone to misjudging the user's operation. For example, when the user steps on the brake pedal in order to respond to an emergency at any time, if the vehicle system is too sensitive to the pedaling action, it is easy to misidentify and exit the smart driving mode; if the sensitivity of the pedaling action recognition is reduced to prevent accidental touches, it is impossible to accurately recognize the user's pedaling action in an emergency and exit the smart driving mode in time. It can be seen that the accuracy of the related art in recognizing the user's intention to exit the smart driving mode is not high. Summary of the invention

[0005] In view of the above problems, a control method and device, product, electronic device, and storage medium for a vehicle are proposed to overcome the above problems or at least partially solve the above problems, including:

[0006] A vehicle control method, characterized in that the method comprises:

[0007] When the vehicle is driving in the intelligent driving mode, in response to a user stepping on a brake pedal, obtaining pressure data and displacement data of the brake pedal;

[0008] determining the behavior intention of the user according to the pressure data and the displacement data;

[0009] According to the behavioral intention, the height and damping degree of the brake pedal are adjusted, and the intelligent driving mode is exited or maintained.

[0010] Optionally, the pressure data is a pressure value of the brake pedal, the displacement data is a distance value of the brake pedal movement, and determining the user's behavior intention according to the pressure data and the displacement data includes:

[0011] If the pressure value is greater than or equal to the pressure threshold, and the distance value does not meet the preset distance range, determining that the behavior intention is to step on the brake pedal again;

[0012] If the pressure value is less than the pressure threshold and the distance value meets the preset distance range, it is determined that the behavior intention is to lightly step on the brake pedal.

[0013] Optionally, adjusting the height and damping degree of the brake pedal according to the user intention, and exiting the intelligent driving mode or maintaining the intelligent driving mode includes:

[0014] If the user intends to step on the brake pedal again, reducing the height of the brake pedal and the damping degree of the brake pedal, and exiting the smart driving mode;

[0015] If the user intends to lightly step on the brake pedal, the height of the brake pedal and the damping degree of the brake pedal are increased, and the intelligent driving mode is maintained.

[0016] Optionally, the obtaining of the pressure data and displacement data of the brake pedal includes:

[0017] Acquiring an initial pressure signal and an initial displacement signal of the brake pedal through a pressure sensor and a displacement sensor;

[0018] Filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal;

[0019] Performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal;

[0020] The pressure data and the displacement data are obtained according to the second pressure signal and the second displacement signal.

[0021] Optionally, filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal includes:

[0022] The initial pressure signal and the initial displacement signal are subjected to moving average filtering and median filtering to obtain the first pressure signal and the first displacement signal.

[0023] Optionally, performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal includes:

[0024] Determine abnormal values ​​in the first pressure signal and the first displacement signal to obtain an abnormal pressure signal and an abnormal displacement signal;

[0025] determining a replacement pressure signal and a replacement displacement signal according to the first pressure signal and the first displacement signal;

[0026] The abnormal pressure signal is replaced according to the replacement pressure signal to obtain the second pressure signal, and the abnormal displacement signal is replaced according to the replacement displacement signal to obtain the second displacement signal.

[0027] A vehicle control device, characterized in that the device comprises:

[0028] a data acquisition module, configured to acquire pressure data and displacement data of the brake pedal in response to an action of a user stepping on the brake pedal during the vehicle driving in the intelligent driving mode;

[0029] a behavior intention determination module, used to determine the behavior intention of the user according to the pressure data and the displacement data;

[0030] An exit control module is used to adjust the height and damping degree of the brake pedal according to the behavioral intention, and exit the intelligent driving mode or maintain the intelligent driving mode.

[0031] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle control method as described above.

[0032] An electronic device, characterized in that it includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the vehicle control method as described above is implemented.

[0033] A computer-readable storage medium is characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the vehicle control method as described above is implemented.

[0034] The embodiments of the present invention have the following advantages: the embodiments of the present invention obtain the pressure data and displacement data of the brake pedal in response to the action of the user stepping on the brake pedal during the vehicle traveling in the intelligent driving mode, determine the user's behavioral intention based on the pressure data and displacement data, adjust the height and damping degree of the brake pedal based on the behavioral intention, and exit the intelligent driving mode or maintain the intelligent driving mode, so that it is easier for the user to operate the brake pedal when exiting the intelligent driving mode, accurately identify the user's intention to exit the intelligent driving mode, and effectively prevent the user from accidentally touching the brake pedal when maintaining the intelligent driving mode, thereby effectively improving the reliability of the intelligent driving mode exit mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0036] Figure 1 It is a schematic diagram of the intelligent driving mode exit mechanism of the related technology;

[0037] Figure 2 is a flow chart of steps of a vehicle control method provided by one embodiment of the present invention;

[0038] Figure 3 is a pseudo code for preprocessing a sensor signal provided by an embodiment of the present invention;

[0039] Figure 4 is a pseudo code for identifying behavioral intentions provided by an embodiment of the present invention;

[0040] Figure 5 is an architecture diagram of a vehicle control system provided by an embodiment of the present invention;

[0041] Figure 6 It is a structural block diagram of a vehicle control device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In a related technology, the exit mechanism of intelligent driving mainly depends on the driver's operation of the brake pedal. Figure 1 As shown in the figure, the brake pedal position sensor usually adopts a non-contact Hall effect sensor or a resistive sensor, which can detect the displacement and force changes of the pedal. These sensors convert the physical changes of displacement and force into electrical signals and transmit them to the Electronic Control Unit (ECU) in real time. The ECU processes the signal according to the preset algorithm and outputs it to other units to identify whether the driver intends to exit the intelligent driving mode.

[0044] Specifically, first, the driver starts the intelligent driving, and one of the exit methods of the intelligent driving is to step on the brake pedal.

[0045] Then, the brake pedal position sensor detects the changes in pedal travel and force, and transmits the electronic signal of the changes to the corresponding electronic control unit (ECU) in real time. Figure 1 shown.

[0046] Among them, after intelligent driving is started, the free travel of the brake pedal can be set to 5mm to 15mm (may vary for different vehicles), allowing the driver to make subtle adjustments to avoid accidentally triggering the braking system.

[0047] Secondly, after the electronic control unit (ECU) receives the brake pedal brake request signal, it converts its real-time changes into electrical signals for calculation and analysis to identify the driver's intention.

[0048] Finally, based on the calculation results, it is determined whether the free range is exceeded or other intentions are present, thus exiting the intelligent driving.

[0049] For the above-mentioned related technologies, there is insufficient consideration of the driver's operating habits and emergency response, as well as potential problems in the practicality and safety of some intelligent functions. Specifically, if the driver's right foot is placed on the floor, it may not be able to respond to the need to exit the system in time; if it is always placed on the brake pedal, it is easy to exit the intelligent driving mode due to misoperation; and if it is suspended above the brake pedal, it is easy to cause foot fatigue. These problems not only affect the reliability of the intelligent driving system, but also pose a potential threat to driving safety.

[0050] Based on this, the present invention proposes a vehicle control method and device, an electronic device, and a storage medium. The embodiments of the present invention will be described in detail below.

[0051] Reference Figure 2 , shows a flow chart of a vehicle control method provided by an embodiment of the present invention, which may specifically include the following steps:

[0052] Step 201, in a process where the vehicle is traveling in the intelligent driving mode, in response to an action of a user stepping on a brake pedal, obtaining pressure data and displacement data of the brake pedal;

[0053] Intelligent driving mode refers to the driving mode of the vehicle after intelligent driving is turned on. Intelligent driving can be assisted driving, such as assisted driving systems developed based on technologies such as Advanced Driver Assistance Systems (ADAS) and Adaptive Cruise Control (ACC), which only require the driver to complete fewer operations to control driving; it can also be fully automatic driving, which does not require the driver to intervene in any operation to control the vehicle's driving.

[0054] Pressure data, i.e., pressure data related to the pressure exerted on the brake pedal by the user stepping on the brake pedal, such as pressure data obtained by converting the pressure electrical signal collected by the pressure sensor into a digital signal after processing. The pressure data may specifically be a pressure value, such as N (Newton).

[0055] Displacement data refers to the displacement data of the brake pedal caused by the user's stepping on the brake pedal, such as the displacement data obtained by converting the displacement electrical signal collected by the displacement sensor into a digital signal after processing. The displacement data may be a distance value, such as mm (millimeter).

[0056] In some embodiments of the present invention, the step of obtaining the pressure data and displacement data of the brake pedal includes:

[0057] Acquiring an initial pressure signal and an initial displacement signal of the brake pedal through a pressure sensor and a displacement sensor;

[0058] Filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal;

[0059] Performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal;

[0060] The pressure data and the displacement data are obtained according to the second pressure signal and the second displacement signal.

[0061] In this embodiment, the initial pressure signal is a related signal collected by the pressure sensor, such as a pressure electrical signal; the first displacement signal is a related signal collected by the displacement sensor, such as a displacement electrical signal. The initial signal collected by the pressure sensor and the displacement sensor may contain a lot of noise (i.e., random or unexpected signals) due to various factors, so the initial signal needs to be preprocessed. High-frequency noise and random noise can be removed by filtering, so that the signal is smooth and the signal fluctuation is reduced. Abnormal value detection and processing are used to identify and correct abnormalities in the data.

[0062] In a specific implementation, different filters may be defined and constructed, such as a moving average filter, a median filter, etc., and the initial pressure signal and the initial displacement signal may be input into the filter for filtering to obtain a first pressure signal and a first displacement signal;

[0063] Furthermore, the first pressure signal and the first displacement signal are processed for outliers, such as filtering outliers, replacing outliers, etc., to obtain a second pressure signal and a second displacement signal, which are signals after data preprocessing to remove noise.

[0064] Finally, the pressure data and displacement data are determined according to the second pressure signal and the second displacement signal. For example, the second pressure signal and the second displacement signal in the form of electrical signals can be converted into analog digital signals after a series of calculations or processing, and then the pressure data and displacement data represented by specific numerical values ​​can be obtained.

[0065] In some embodiments of the present invention, filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal includes:

[0066] The initial pressure signal and the initial displacement signal are subjected to moving average filtering and median filtering to obtain the first pressure signal and the first displacement signal.

[0067] In this embodiment, the moving average filter is used to smooth the data sequence and remove noise while retaining the overall trend of the signal. The filtering process mainly achieves the smoothing effect by calculating the average value of the data in a certain window (or interval) in the data sequence. The median filter process is used to remove impulse noise by calculating the median value of the data in the window between every two signals, thereby achieving a smoothing effect.

[0068] In the specific implementation, Figure 3The pseudo code shown can first define the processing logic of the moving average filter and the median filter, input the initial pressure signal and the initial displacement signal into the moving average filter, filter the initial pressure signal and the initial displacement signal, and then input the output data into the median filter to obtain the output of the first pressure signal and the first displacement signal.

[0069] In some embodiments of the present invention, performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal includes:

[0070] Determine abnormal values ​​in the first pressure signal and the first displacement signal to obtain an abnormal pressure signal and an abnormal displacement signal;

[0071] determining a replacement pressure signal and a replacement displacement signal according to the first pressure signal and the first displacement signal;

[0072] The abnormal pressure signal is replaced according to the replacement pressure signal to obtain the second pressure signal, and the abnormal displacement signal is replaced according to the replacement displacement signal to obtain the second displacement signal.

[0073] In this embodiment, outlier processing is performed on the first pressure signal and the first displacement signal after filtering. The outliers in the first pressure signal and the first displacement signal are first determined to obtain an abnormal pressure signal and an abnormal displacement signal.

[0074] Further, the replacement pressure signal and the replacement displacement signal are determined according to the first pressure signal and the first displacement signal. As an example, the replacement pressure signal may be the average value of all first pressure signals, and the replacement displacement signal may be the average value of all first displacement signals.

[0075] The abnormal pressure signal and the abnormal displacement signal are then replaced according to the replacement pressure signal and the replacement displacement signal to obtain a second pressure signal and a second displacement signal, so as to further improve the accuracy of the signal.

[0076] In the specific implementation, Figure 3 The pseudocode shown traverses all first pressure signals or first displacement signals, determines abnormal pressure signals and abnormal displacement signals, and then uses the mean of all first pressure signals to replace the abnormal pressure signal, or uses the mean of all first displacement signals to replace the abnormal displacement signal, and the output values ​​obtained are the second pressure signal and the second displacement signal.

[0077] Step 202, determining the user's behavioral intention according to the pressure data and the displacement data;

[0078] In this embodiment, the behavioral intention corresponding to the user's action of stepping on the brake pedal can be identified through pressure data and displacement data, and then it can be determined whether the user expects to exit the intelligent driving mode.

[0079] In some embodiments of the present invention, the pressure data is the pressure value of the brake pedal, and the displacement data is the distance the brake pedal moves. Step 202 includes:

[0080] Sub-step 2021, if the pressure value is greater than or equal to the pressure threshold, and the distance value does not meet the preset distance range, determining that the behavior intention is to step on the brake pedal again;

[0081] Sub-step 2022, if the pressure value is less than the pressure threshold and the distance value meets the preset distance range, it is determined that the behavioral intention is to lightly step on the brake pedal.

[0082] In this embodiment, by comparing the pressure value with the pressure threshold, and by comparing the distance value with the preset distance range, it is determined whether the user's behavioral intention of stepping on the brake pedal is hard or light. If the behavioral intention is hard, it means that the user has a strong desire to brake the vehicle or exit the smart driving mode. For example, the user hopes to take over control of the vehicle in an emergency. If the behavioral intention is light, it means that the user does not have a strong desire to brake the vehicle or exit the smart driving mode. For example, the user may just step lightly on the brake pedal to be ready for an emergency at any time.

[0083] As an example, the pressure threshold can be set to 20N, and the preset distance range can be set to 5mm-15mm. When the pressure value is greater than or equal to the pressure threshold and the distance value is not within the preset distance range, the behavior intention is recognized as heavy braking; when the pressure value is less than the pressure threshold and the distance value is within the preset distance range, the behavior intention is recognized as light braking.

[0084] In the specific implementation, Figure 4 The pseudo code shown predefines a pressure threshold and a preset distance range, and then encapsulates the business logic of comparing pressure data with the pressure threshold and comparing displacement data with the preset distance range into a function to obtain the output of the user's behavioral intention.

[0085] In practical applications, the pressure threshold and the preset distance range can be set according to the actual needs, and the present invention does not limit this. For example, the pressure threshold and the preset distance range can be determined based on the physical characteristics of different pedal simulators and based on actual tests of the pedals, and then a reasonable limit can be determined based on the test results to determine the pressure threshold and the preset distance range.

[0086] Step 203: According to the behavioral intention, the height and damping degree of the brake pedal are adjusted, and the intelligent driving mode is exited or maintained.

[0087] In this embodiment, after the user's behavioral intention is determined, the control corresponding to the behavioral intention is performed, and the height and damping degree of the brake pedal are adjusted. When exiting the intelligent driving mode, the driver can control the brake pedal more conveniently. When maintaining the intelligent driving mode, the driver can be prevented from accidentally touching the brake pedal, the user's intention is accurately identified, and the reliability of the mechanism for exiting the intelligent driving mode is improved, thereby improving the driver's comfort.

[0088] In some embodiments of the present invention, step 203 includes:

[0089] Sub-step 2031, if the user intends to step on the brake pedal again, reducing the height of the brake pedal and the damping degree of the brake pedal, and exiting the smart driving mode;

[0090] Sub-step 2032, if the user intends to lightly step on the brake pedal, increase the height of the brake pedal and the damping degree of the brake pedal, and maintain the intelligent driving mode.

[0091] In this embodiment, the higher the height of the brake pedal and the greater the damping, the more difficult it is for the driver to control the brake pedal; conversely, if the height of the brake pedal is smaller and the damping is smaller, the easier it is for the driver to control the brake pedal. Based on this, when the behavioral intention is identified as heavy stepping on the brake pedal, the height of the brake pedal and the damping of the brake pedal are reduced, which can not only enable the vehicle system to quickly exit the intelligent driving mode in response to the action of the brake pedal, but also brake the vehicle in time to deal with various emergency situations, and make it more convenient for the driver to operate the brake pedal after exiting the intelligent driving mode; when the behavioral intention is identified as light stepping on the brake pedal, the height of the brake pedal and the damping of the brake pedal are increased to prevent the driver from accidentally touching the brake pedal to exit the intelligent assistance or brake the vehicle. In addition, by adjusting the height of the brake pedal, the driver's foot fatigue caused by long-term driving can also be reduced, and the driver's driving comfort can be improved.

[0092] In some embodiments of the present invention, Figure 5 As shown, a system architecture diagram of vehicle control is also provided, as follows:

[0093] The driver starts the smart driving mode, and one of the trigger conditions for exiting the smart driving mode is pressing the brake pedal. The following detection and control logic will be executed next:

[0094] The driver lightly touches the brake pedal under intelligent driving, and the displacement sensor and pressure sensor detect the slight displacement and pressure.

[0095] The ECU receives sensor signals, determines the driver's intention through a built-in algorithm, and decides whether the damping and height of the brake pedal need to be adjusted.

[0096] If the ECU determines that the driver has lightly touched the pedal, it will send a travel control signal to reduce the pedal travel and increase the pedal damping through a damping control signal. The brake pedal simulator adjusts according to the signal, increases the height of the brake pedal through the pedal travel control mechanism to reduce the perceptible travel, and increases the damping of the brake pedal through the adjustable damping actuator to ensure that a light touch will not exit the intelligent driving mode.

[0097] If the ECU determines that the driver has stepped hard on the pedal and the pressure sensor detects a large pressure, the ECU will immediately adjust the signal, reduce the damping of the pedal, reduce the height of the brake pedal to allow for an increase in pedal travel, and exit the intelligent driving mode to allow the driver to take over vehicle control.

[0098] The embodiments of the present invention have the following advantages: the embodiments of the present invention obtain the pressure data and displacement data of the brake pedal in response to the action of the user stepping on the brake pedal during the vehicle traveling in the intelligent driving mode, determine the user's behavioral intention based on the pressure data and displacement data, adjust the height and damping degree of the brake pedal based on the behavioral intention, and exit the intelligent driving mode or maintain the intelligent driving mode, so that it is easier for the user to operate the brake pedal when exiting the intelligent driving mode, accurately identify the user's intention to exit the intelligent driving mode, and effectively prevent the user from accidentally touching the brake pedal when maintaining the intelligent driving mode, thereby effectively improving the reliability of the intelligent driving mode exit mechanism.

[0099] Reference Figure 6 , shows a schematic diagram of the structure of a vehicle control device provided by an embodiment of the present invention, which may specifically include the following modules:

[0100] The data acquisition module 601 is used to acquire the pressure data and displacement data of the brake pedal in response to the action of the user stepping on the brake pedal during the vehicle driving in the intelligent driving mode;

[0101] A behavior intention determination module 602, configured to determine the user's behavior intention based on the pressure data and the displacement data;

[0102] The exit control module 603 is used to adjust the height and damping degree of the brake pedal according to the behavioral intention, and exit the intelligent driving mode or maintain the intelligent driving mode.

[0103] In some embodiments of the present invention, the pressure data is the pressure value of the brake pedal, the displacement data is the distance the brake pedal moves, and the behavior intention determination module 602 includes:

[0104] a re-stepping identification submodule, configured to determine that the behavior intention is to re-step on the brake pedal if the pressure value is greater than or equal to a pressure threshold and the distance value does not meet a preset distance range;

[0105] The light-pedaling recognition submodule is used to determine that the behavioral intention is to lightly step on the brake pedal if the pressure value is less than the pressure threshold and the distance value meets the preset distance range.

[0106] In some embodiments of the present invention, the exit control module 603 includes:

[0107] a first exit control submodule, configured to reduce the height of the brake pedal and the damping degree of the brake pedal and exit the intelligent driving mode if the user intends to step on the brake pedal again;

[0108] The second exit control submodule is used to increase the height of the brake pedal and the damping degree of the brake pedal and maintain the intelligent driving mode if the user intends to lightly step on the brake pedal.

[0109] In some embodiments of the present invention, the data acquisition module 601 includes:

[0110] An initial signal acquisition submodule, used for acquiring an initial pressure signal and an initial displacement signal of the brake pedal through a pressure sensor and a displacement sensor;

[0111] A first signal acquisition submodule, used for filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal;

[0112] a second signal acquisition submodule, configured to perform abnormal value processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal;

[0113] A data acquisition submodule is used to obtain the pressure data and the displacement data according to the second pressure signal and the second displacement signal.

[0114] In some embodiments of the present invention, the first signal acquisition submodule includes:

[0115] The filtering processing subunit is used to perform moving average filtering and median filtering on the initial pressure signal and the initial displacement signal to obtain the first pressure signal and the first displacement signal.

[0116] In some embodiments of the present invention, the second signal acquisition submodule includes:

[0117] an abnormal signal determination subunit, used to determine abnormal values ​​in the first pressure signal and the first displacement signal to obtain an abnormal pressure signal and an abnormal displacement signal;

[0118] a replacement signal determination subunit, configured to determine a replacement pressure signal and a replacement displacement signal according to the first pressure signal and the first displacement signal;

[0119] The second signal determination subunit is used to replace the abnormal pressure signal according to the replacement pressure signal to obtain the second pressure signal, and to replace the abnormal displacement signal according to the replacement displacement signal to obtain the second displacement signal.

[0120] Some embodiments of the present invention also provide an electronic device, which may include a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above vehicle control method is implemented.

[0121] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above vehicle control method is implemented.

[0122] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above vehicle control method when executed by a processor.

[0123] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0124] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0125] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0126] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0127] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0128] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0130] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0131] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0132] The control method and device, product, electronic device, and storage medium of the vehicle provided are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the vehicle is driving in the intelligent driving mode, in response to a user stepping on a brake pedal, obtaining pressure data and displacement data of the brake pedal; determining the behavior intention of the user according to the pressure data and the displacement data; According to the behavioral intention, the height and damping degree of the brake pedal are adjusted, and the intelligent driving mode is exited or maintained.

2. The method according to claim 1, characterized in that The pressure data is a pressure value of the brake pedal, the displacement data is a distance value of the brake pedal movement, and determining the user's behavior intention according to the pressure data and the displacement data includes: If the pressure value is greater than or equal to the pressure threshold, and the distance value does not meet the preset distance range, determining that the behavior intention is to step on the brake pedal again; If the pressure value is less than the pressure threshold and the distance value meets the preset distance range, it is determined that the behavior intention is to lightly step on the brake pedal.

3. The method according to claim 2, characterized in that The adjusting the height and damping degree of the brake pedal according to the user intention, and exiting the intelligent driving mode or maintaining the intelligent driving mode, comprises: If the user intends to step on the brake pedal again, reducing the height of the brake pedal and the damping degree of the brake pedal, and exiting the smart driving mode; If the user intends to lightly step on the brake pedal, the height of the brake pedal and the damping degree of the brake pedal are increased, and the intelligent driving mode is maintained.

4. The method according to claim 1, characterized in that: The obtaining of the pressure data and displacement data of the brake pedal comprises: Acquiring an initial pressure signal and an initial displacement signal of the brake pedal through a pressure sensor and a displacement sensor; Filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal; Performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal; The pressure data and the displacement data are obtained according to the second pressure signal and the second displacement signal.

5. The method according to claim 4, characterized in that The filtering the initial pressure signal and the initial displacement signal to obtain a first pressure signal and a first displacement signal includes: The initial pressure signal and the initial displacement signal are subjected to moving average filtering and median filtering to obtain the first pressure signal and the first displacement signal.

6. The method according to claim 4, characterized in that The performing outlier processing on the first pressure signal and the first displacement signal to obtain a second pressure signal and a second displacement signal includes: Determine abnormal values ​​in the first pressure signal and the first displacement signal to obtain an abnormal pressure signal and an abnormal displacement signal; determining a replacement pressure signal and a replacement displacement signal according to the first pressure signal and the first displacement signal; The abnormal pressure signal is replaced according to the replacement pressure signal to obtain the second pressure signal, and the abnormal displacement signal is replaced according to the replacement displacement signal to obtain the second displacement signal.

7. A vehicle control device, characterized in that: The device comprises: a data acquisition module, configured to acquire pressure data and displacement data of the brake pedal in response to an action of a user stepping on the brake pedal during the vehicle driving in the intelligent driving mode; a behavior intention determination module, used to determine the behavior intention of the user according to the pressure data and the displacement data; An exit control module is used to adjust the height and damping degree of the brake pedal according to the behavioral intention, and exit the intelligent driving mode or maintain the intelligent driving mode.

8. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the vehicle control method according to any one of claims 1 to 6.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the vehicle control method according to any one of claims 1 to 6 is implemented.

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