A control method and device of a vehicle, product, electronic equipment and storage medium

Abstract

The application provides a vehicle control method and device, product, electronic equipment and storage medium, the control method comprises the following steps: in the process that the vehicle drives in an intelligent driving mode, in response to the action that the user steps on the brake pedal, acquiring 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, adjusting the height and 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 application, the user is more easily to operate the brake pedal when exiting the intelligent driving mode, the intention of the user to exit the intelligent driving mode is accurately identified, the user is effectively prevented from being mistaken when keeping the intelligent driving mode, and the reliability of the intelligent driving mode exit mechanism is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, in particular to a vehicle control method and device, product, electronic equipment and storage medium. BACKGROUND

[0002] With the development of technology, intelligent driving technology has gradually become a hot spot in the automotive industry, aiming to make vehicles safe to travel without or with minimal 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 only adjust the control of the vehicle when needed, such as fine-tuning the driving direction, increasing or decreasing the speed, etc., and the main driving control is handed over to the car system. In autonomous driving, the driver does not need to operate, and the vehicle is completely controlled by the car system.

[0004] In related technologies, the driver steps on the brake pedal to exit the intelligent driving mode. However, this method is prone to misjudgment of the user's operation. For example, when the user steps on the brake pedal to be ready to deal with an emergency situation, if the car system is too sensitive in recognizing the stepping action, it is easy to misidentify and exit the intelligent driving mode; if the sensitivity of recognizing the stepping action is reduced to prevent accidental touch, the user's stepping action cannot be accurately identified in an emergency situation to exit the intelligent driving mode in time. Therefore, the related technology has low accuracy in recognizing the user's intention to exit the intelligent driving mode. SUMMARY

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

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

[0007] During the process of the vehicle driving in an intelligent driving mode, in response to the user's action of stepping on the brake pedal, the pressure data and displacement data of the brake pedal are acquired;

[0008] According to the pressure data and the displacement data, the behavior intention of the user is determined;

[0009] According to the behavior 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, and the determining the behavior intention of the user according to the pressure data and the displacement data comprises:

[0011] If the pressure value is greater than or equal to a pressure threshold value and the distance value does not conform to a preset distance range, the behavior intention is determined as heavy stepping of the brake pedal.

[0012] If the pressure value is less than the pressure threshold value and the distance value conforms to the preset distance range, the behavior intention is determined as light stepping of the brake pedal.

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

[0014] If the user intention is heavy stepping of the brake pedal, the height and damping degree of the brake pedal are reduced, and the intelligent driving mode is exited.

[0015] If the user intention is light stepping of the brake pedal, the height and damping degree of the brake pedal are increased, and the intelligent driving mode is kept.

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

[0017] obtaining 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] obtaining the pressure data and the displacement data according to the second pressure signal and the second displacement signal.

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

[0022] performing 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.

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

[0024] determining outliers 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] replacing the abnormal pressure signal according to the replacement pressure signal to obtain the second pressure signal, and replacing the abnormal displacement signal according to the replacement displacement signal to obtain the second displacement signal.

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

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

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

[0030] an exit control module configured to adjust a height and a damping degree of the brake pedal according to the behavior intention, and exit the intelligent driving mode or keep the intelligent driving mode.

[0031] A computer program product comprising a computer program which, when executed by a processor, implements the control method of the vehicle as described above.

[0032] An electronic device comprising a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the control method of the vehicle as described above.

[0033] A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the control method of the vehicle as described above.

[0034] The embodiment of the present application has the following advantages: the embodiment of the present application acquires pressure data and displacement data of a brake pedal in response to an action of a user stepping on the brake pedal during driving of a vehicle in an intelligent driving mode, determines a behavior intention of the user according to the pressure data and the displacement data, adjusts a height and damping degree of the brake pedal according to the behavior intention, and exits the intelligent driving mode or keeps the intelligent driving mode, so that the user is more easily to operate the brake pedal when exiting the intelligent driving mode, the intention of the user to exit the intelligent driving mode is accurately identified, the user is effectively prevented from being mistaken when keeping the intelligent driving mode, and the reliability of an intelligent driving mode exit mechanism is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the present application will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

[0037] Figure 2 is a step flow chart of a control method of a vehicle provided by an embodiment of the present application;

[0038] Figure 3 is a pseudo code for pre-processing of sensor signals provided by an embodiment of the present application;

[0039] Figure 4 is a pseudo code for identifying a behavior intention provided by an embodiment of the present application;

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

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

[0042] In order to make the above-mentioned objects, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0043] In a related technology, the exit mechanism of intelligent driving mainly depends on the operation of the driver on the brake pedal. As shown in Figure 1 , the brake pedal position sensor usually adopts a non-contact Hall effect sensor or a resistance sensor, which can detect the displacement and force change 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 signals according to the preset algorithm and outputs them to other units to identify whether the driver's intention is to exit the intelligent driving mode.

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

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

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

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

[0048] Finally, according to the calculation result, it is judged whether the free travel is exceeded or other intentions are exited from the intelligent driving.

[0049] For the above related technology, there is a lack of consideration of the driver's operation habits and emergency response, and 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 application provides a vehicle control method and device, electronic equipment, and storage medium. The embodiments of the present application will be described in detail below.

[0051] Referring to Figure 2 , a step flowchart of a vehicle control method provided by an embodiment of the present application is shown, which can specifically include the following steps:

[0052] In step 201, during the process of the vehicle driving in the intelligent driving mode, the pressure data and the displacement data of the brake pedal are acquired in response to the action of the user stepping on the brake pedal.

[0053] The intelligent driving mode is a driving mode after the vehicle is started in the intelligent driving mode. The intelligent driving can be an assisted driving, such as an assisted driving system developed based on an advanced driver assistance system (ADAS), an adaptive cruise control (ACC) and the like, which only needs the driver to complete less operation to perform the driving control. The intelligent driving can also be a fully automatic driving, which does not need the driver to intervene in the control of the vehicle driving by any operation.

[0054] The pressure data is related to the pressure data of the action of the user stepping on the brake pedal to exert the pressure on the brake pedal, such as a pressure electric signal collected by a pressure sensor, and the pressure data obtained by processing and converting the digital signal. The pressure data can be a pressure value, such as N (Newton).

[0055] The displacement data is related to the displacement data of the action of the user stepping on the brake pedal to exert the pressure on the brake pedal, such as a displacement electric signal collected by a displacement sensor, and the displacement data obtained by processing and converting the digital signal. The displacement data can be a distance value, such as mm (millimeter).

[0056] In some embodiments of the present application, the acquisition of the pressure data and the displacement data of the brake pedal comprises:

[0057] The initial pressure signal and the initial displacement signal of the brake pedal are acquired by the pressure sensor and the displacement sensor.

[0058] The initial pressure signal and the initial displacement signal are filtered to obtain the first pressure signal and the first displacement signal.

[0059] The first pressure signal and the first displacement signal are subjected to the abnormal value processing to obtain the second pressure signal and the 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 the embodiment, the initial pressure signal is a relevant signal collected by the pressure sensor, such as a pressure electrical signal; and the first displacement signal is a relevant signal collected by the displacement sensor, such as a displacement electrical signal. The initial signals collected by the pressure sensor and the displacement sensor may have a large amount of noise (i.e. random or unexpected signals) due to various factors, and thus the initial signals need to be preprocessed. The high-frequency noise and random noise can be removed by filtering processing, so as to smooth the signals and reduce signal fluctuations. The abnormal values in the data are identified and corrected by abnormal value detection and processing.

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

[0063] Further, the first pressure signal and the first displacement signal are subjected to abnormal value processing, such as filtering abnormal values and replacing abnormal values, to obtain the second pressure signal and the second displacement signal, which are signals after noise removal through data preprocessing.

[0064] Finally, the pressure data and the 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 are subjected to a series of calculations or processing, and then converted into analog-digital signals through digital-analog conversion to obtain the pressure data and the displacement data represented by specific numerical values.

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

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

[0067] In the embodiment, the moving average filtering is used to smooth the data sequence and remove noise while retaining the overall trend of the signal. The filtering processing mainly realizes the smoothing effect by calculating the average value of the data in a certain window (or interval) in the data sequence. The median filtering processing is used to remove impulse noise, and the value between every two signals is calculated by calculating the median value of the data in the window, so as to realize the smoothing effect.

[0068] In a specific implementation, for example, Figure 3As shown in the pseudo code, the processing logic of the moving average filter and the median filter can be defined first, the initial pressure signal and the initial displacement signal are input to the moving average filter, the initial pressure signal and the initial displacement signal are filtered, and then the output data is input to the median filter to obtain the output of the first pressure signal and the first displacement signal.

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

[0070] determining outliers 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] replacing the abnormal pressure signal with the replacement pressure signal to obtain the second pressure signal, and replacing the abnormal displacement signal with the replacement displacement signal to obtain the second displacement signal.

[0073] In this embodiment, the outlier processing on the filtered first pressure signal and the first displacement signal includes determining outliers in the first pressure signal and the first displacement signal to obtain an abnormal pressure signal and an abnormal displacement signal.

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

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

[0076] In a specific implementation, as shown in the pseudo code, all first pressure signals or first displacement signals are traversed to determine the abnormal pressure signal and the abnormal displacement signal, and then the mean value of all first pressure signals is used to replace the abnormal pressure signal, or the mean value of all first displacement signals is used to replace the abnormal displacement signal, and the output value is the second pressure signal and the second displacement signal. Figure 3

[0077] Step 202, determining the behavior intention of the user according to the pressure data and the displacement data;

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

[0079] In some embodiments of the application, the pressure data is a pressure value borne by the brake pedal, and the displacement data is a distance value of movement of the brake pedal. Step 202 comprises:

[0080] In sub-step 2021, if the pressure value is greater than or equal to a pressure threshold value, and the distance value does not conform to a preset distance range, it is determined that the behavior intention is heavy stepping on the brake pedal.

[0081] In sub-step 2022, if the pressure value is less than the pressure threshold value, and the distance value conforms to the preset distance range, it is determined that the behavior intention is light stepping on the brake pedal.

[0082] In the embodiment, the behavior intention of the action of the user stepping on the brake pedal is determined to be heavy stepping or light stepping through comparison of the pressure value with the pressure threshold value and comparison of the distance value with the preset distance range. If the behavior intention is heavy stepping, it indicates that the user's intention to brake the vehicle or exit the intelligent driving mode is relatively strong, for example, the user encounters an emergency and wants to take over the control of the vehicle. If the behavior intention is light stepping, it indicates that the user's intention to brake the vehicle or exit the intelligent driving mode is not strong, for example, the user may just step on the brake pedal at any time to respond to an emergency.

[0083] As an example, the pressure threshold value 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 value, and the distance value is not within the preset distance range, it is identified that the behavior intention is heavy stepping on the brake pedal. When the pressure value is less than the pressure threshold value, and the distance value is within the preset distance range, it is identified that the behavior intention is light stepping on the brake pedal.

[0084] In a specific implementation, as shown in the pseudo code, the pressure threshold value and the preset distance range are defined in advance, and then the business logic of comparing the pressure data with the pressure threshold value and comparing the displacement data with the preset distance range is encapsulated as a function to obtain the output of the behavior intention of the user. Figure 4

[0085] In actual application, the pressure threshold value and the preset distance range can be set according to the actual needs of the situation, and the application does not limit this. For example, the pressure threshold value and the preset distance range can be determined based on actual testing of the pedal according to the physical characteristics of different pedal simulators, and then a reasonable limit can be determined according to the testing situation.

[0086] ​Step 203: Adjust the height and damping of the brake pedal according to the stated behavioral intention, and exit or maintain the intelligent driving mode.

[0087] In this embodiment, once the user's behavioral intention is determined, the control corresponding to that intention is performed, and the height and damping of the brake pedal are adjusted. When exiting the intelligent driving mode, it makes it easier for the driver to control the brake pedal. When maintaining the intelligent driving mode, it can prevent the driver from accidentally touching the brake pedal, accurately identify the user's intention, improve the reliability of the mechanism for exiting the intelligent driving mode, and improve the driver's comfort.

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

[0089] Sub-step 2031: If the user intends to press the brake pedal hard, then reduce the height of the brake pedal and the damping of the brake pedal, and exit the intelligent driving mode.

[0090] Sub-step 2032: If the user intends to lightly press the brake pedal, then increase the height and damping of the brake pedal, and maintain the intelligent driving mode.

[0091] In this embodiment, the higher the brake pedal height and the greater the damping, the more difficult it is for the driver to control the brake pedal; conversely, the lower the brake pedal height and the smaller the damping, the easier it is for the driver to control the brake pedal. Based on this, when a driver's intention to heavily press the brake pedal is detected, reducing the brake pedal height and damping not only allows the vehicle's infotainment system to quickly exit the intelligent driving mode in response to the brake pedal action, but also enables timely braking to handle various emergencies. Furthermore, it makes brake pedal operation more convenient for the driver after exiting intelligent driving mode. When a driver's intention to lightly press the brake pedal is detected, increasing the brake pedal height and damping prevents accidental brake pedal operation to exit intelligent assistance or brake the vehicle. In addition, adjusting the brake pedal height can reduce driver fatigue caused by prolonged driving, improving driving comfort.

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

[0093] The driver activates the intelligent driving mode, which is triggered by pressing the brake pedal. The following detection and control logic will then be executed:

[0094] When the driver lightly touches the brake pedal in intelligent driving mode, displacement and pressure sensors detect slight displacement and pressure.

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

[0096] If the ECU determines that the driver is tapping the pedal, it will send a stroke control signal to reduce the pedal stroke and a damping control signal to increase the pedal damping. The brake pedal simulator adjusts the height of the brake pedal to reduce the perceived stroke through the pedal stroke control mechanism and increases the damping of the brake pedal through the adjustable damping actuator, ensuring that tapping does not exit the intelligent driving mode.

[0097] If the ECU determines that the driver is heavy on the pedal, the pressure sensor detects a larger pressure, and the ECU adjusts the signal to reduce the damping of the pedal, reduce the height of the brake pedal to allow the pedal stroke to increase, and exit the intelligent driving mode to facilitate the driver to take over the control of the vehicle.

[0098] The embodiment of the present application has the following advantages: the embodiment of the present application acquires pressure data and displacement data of the brake pedal in response to the user's action of stepping on the brake pedal during the process of the vehicle driving in the intelligent driving mode, determines the user's behavior intention according to the pressure data and the displacement data, adjusts the height and damping of the brake pedal according to the behavior intention, and exits or maintains the intelligent driving mode, which realizes that the user is more easily to operate the brake pedal when exiting the intelligent driving mode, accurately identifies the user's intention to exit the intelligent driving mode, effectively prevents the user from being mistaken when maintaining the intelligent driving mode, and effectively improves the reliability of the intelligent driving mode exit mechanism.

[0099] Referring to Figure 6 , a structure schematic diagram of a control device of a vehicle provided by an embodiment of the present application is shown, which can specifically include the following modules:

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

[0101] The behavior intention determination module 602 is configured to determine the user's behavior intention according to the pressure data and the displacement data.

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

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

[0104] a heavy braking identification sub-module, configured to determine that the behavior intention is heavy braking of the brake pedal if the pressure value is greater than or equal to a pressure threshold value and the distance value does not meet a preset distance range;

[0105] a light braking identification sub-module, configured to determine that the behavior intention is light braking of the brake pedal if the pressure value is less than the pressure threshold value and the distance value meets the preset distance range.

[0106] In some embodiments of the present application, the exit control module 603 comprises:

[0107] a first exit control sub-module, configured to reduce a height of the brake pedal and a damping degree of the brake pedal and exit the intelligent driving mode if the user intention is heavy braking of the brake pedal;

[0108] a second exit control sub-module, configured 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 intention is light braking of the brake pedal.

[0109] In some embodiments of the present application, the data acquisition module 601 comprises:

[0110] an initial signal acquisition sub-module, configured to acquire 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 sub-module, configured to perform filtering processing on 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 sub-module, configured to perform outlier 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 sub-module, configured 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 application, the first signal acquisition sub-module comprises:

[0115] a filtering processing sub-unit, configured to perform moving average filtering processing and median filtering processing 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 application, the second signal acquisition sub-module comprises:

[0117] An abnormal signal determination sub-unit is configured 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 sub-unit is configured to determine a replacement pressure signal and a replacement displacement signal according to the first pressure signal and the first displacement signal.

[0119] A second signal determination sub-unit is configured to replace the abnormal pressure signal with the replacement pressure signal to obtain the second pressure signal, and replace the abnormal displacement signal with the replacement displacement signal to obtain the second displacement signal.

[0120] Some embodiments of the present application also provide an electronic device, which can include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the computer program, when executed by the processor, implements the control method of the vehicle.

[0121] Some embodiments of the present application also provide a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the control method of the vehicle.

[0122] Some embodiments of the present application also provide a computer program product, which includes a computer program, and the computer program, when executed by a processor, implements the control method of the vehicle.

[0123] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the related parts refer to the parts of the method embodiments.

[0124] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of the related data need to comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for the user to choose authorization or refusal.

[0125] Each embodiment in the specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts of each embodiment can be referred to each other.

[0126] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In one embodiment, the present application can be implemented as a computer program product, which can include a computer-readable storage medium having stored computer program code. Embodiments of the present application can also be implemented as a system on chips (SoC).

[0127] Embodiments of the present application are described in terms of flowcharts and / or block diagrams in which several operational steps or blocks are presented, and various elements of machine according to the embodiments of the present application are described. It will be understood that each operational step or block in a flowchart, and combinations of operational steps or blocks, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing element or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart block(s) or a flowchart block(s) combinations. These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block(s) or a flowchart block(s) combinations. Figure 1 Figure 1

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices to cause a series of operational steps to be performed on the computer or other programmable terminal devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart block(s) or a flowchart block(s) combinations. Figure 1 Figure 1

[0129] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices to cause a series of operational steps to be performed on the computer or other programmable terminal devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart block(s) or a flowchart block(s) combinations. Figure 1 Figure 1

[0130] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments by those skilled in the art once they learn of the basic inventive concepts. Therefore, the appended claims are intended to cover all such modifications and variations as fall within the scope of the embodiments of the present application.

[0131] ​​​​​​Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be intended to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the above element.

[0132] The control method and device of the provided vehicle, product, electronic device, and storage medium are described in detail above, the principles and implementation manners of the present application are described by applying specific examples in this document, and the above example descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes, and in summary, the content of the specification should not be understood as a limitation on the present application.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: During the vehicle's operation in intelligent driving mode, in response to the user's action of pressing the brake pedal, pressure data and displacement data of the brake pedal are acquired. Based on the pressure data and the displacement data, the user's behavioral intention is determined; Based on the stated behavioral intent, the height and damping of the brake pedal are adjusted, and the intelligent driving mode is exited or maintained. The pressure data is the pressure value applied to the brake pedal, and the displacement data is the distance the brake pedal moves. Determining the user's behavioral intent based on 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, then the intention of the behavior is determined to be to press the brake pedal hard. If the pressure value is less than the pressure threshold and the distance value is within the preset distance range, then the intention of the behavior is determined to be to lightly press the brake pedal. The step of adjusting the height and damping of the brake pedal according to the stated behavioral intent, and exiting or maintaining the intelligent driving mode, includes: If the intended action is to press the brake pedal hard, then reduce the height and damping of the brake pedal, and exit the intelligent driving mode. If the intended action is to lightly press the brake pedal, then the height and damping of the brake pedal are increased, and the intelligent driving mode is maintained.

2. The method according to claim 1, characterized in that, The acquisition of the pressure data and displacement data of the brake pedal includes: The initial pressure signal and initial displacement signal of the brake pedal are obtained by pressure sensor and displacement sensor. The initial pressure signal and the initial displacement signal are filtered to obtain a first pressure signal and a first displacement signal; Anomaly processing is performed on the first pressure signal and the first displacement signal to obtain the second pressure signal and the second displacement signal; The pressure data and the displacement data are obtained based on the second pressure signal and the second displacement signal.

3. The method according to claim 2, characterized in that, The step of filtering the initial pressure signal and the initial displacement signal to obtain the first pressure signal and the 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.

4. The method according to claim 2, characterized in that, The step of performing outlier processing on the first pressure signal and the first displacement signal to obtain the second pressure signal and the second displacement signal includes: Determine the abnormal values ​​in the first pressure signal and the first displacement signal to obtain the abnormal pressure signal and the abnormal displacement signal; The replacement pressure signal and the replacement displacement signal are determined based on the first pressure signal and the first displacement signal; The abnormal pressure signal is replaced by the replacement pressure signal to obtain the second pressure signal, and the abnormal displacement signal is replaced by the replacement displacement signal to obtain the second displacement signal.

5. A vehicle control device, characterized in that, The device includes: The data acquisition module is used to acquire the pressure data and displacement data of the brake pedal in response to the user's action of pressing the brake pedal while the vehicle is driving in intelligent driving mode. The behavior intent determination module is used to determine the user's behavior intent based on the pressure data and the displacement data; The exit control module is used to adjust the height and damping of the brake pedal according to the stated behavioral intention, and to exit the intelligent driving mode or maintain the intelligent driving mode. Wherein, the pressure data is the pressure value applied to the brake pedal, the displacement data is the distance the brake pedal moves, and the behavior intent determination module includes: The re-pressing recognition submodule is used to determine that the behavioral intention is to re-press the brake pedal if the pressure value is greater than or equal to the pressure threshold and the distance value does not meet the preset distance range. The light-tap recognition submodule is used to determine that the behavioral intention is to lightly tap the brake pedal if the pressure value is less than the pressure threshold and the distance value meets the preset distance range. The exit control module includes: The first exit control submodule is used to reduce the height and damping of the brake pedal and exit the intelligent driving mode if the behavioral intention is to press the brake pedal hard. The second exit control submodule is used to increase the height and damping of the brake pedal and maintain the intelligent driving mode if the intended behavior is to lightly press the brake pedal.

6. A computer program product comprising a computer program that, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 4.

7. 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, wherein the computer program, when executed by the processor, implements the vehicle control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the vehicle control method as described in any one of claims 1 to 4.

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