Vehicle speed control method and device, vehicle-mounted equipment, vehicle, medium and product

Abstract

The invention discloses a vehicle speed control method and device, vehicle-mounted equipment, a vehicle, a medium and a product, and the method comprises the steps that pedal signals of the vehicle are obtained, and the pedal signals comprise pedal position signals and pedal moving signals; according to pre-obtained calibration information, a target pedal matched with the pedal position signal is determined, the target pedal is an accelerator pedal or a deceleration pedal, the calibration information is used for indicating a signal matched with the accelerator pedal and / or a signal matched with the deceleration pedal, and the accelerator pedal and the deceleration pedal have the same mechanical structure; according to the pedal moving signal, the vehicle is controlled to conduct speed adjustment according to the function corresponding to the target pedal, under the condition that the target pedal is an accelerator pedal, the function of the target pedal is acceleration, and under the condition that the target pedal is a deceleration pedal, the function of the target pedal is deceleration. The accelerator pedal and the deceleration pedal which are of the same mechanical structure are adopted, so that the production and manufacturing cost of the pedal can be reduced.

Description

Technical Field

[0001] The present application belongs to the field of vehicle control technology, and in particular, relates to a vehicle speed control method, device, vehicle-mounted equipment, vehicle, medium and product. Background Art

[0002] With the continuous promotion and upgrading of electrification in the automotive industry, more and more components and functions will reduce the connection of mechanical structures and eventually realize wire control solutions. Under this technological development trend, the wire control solution of pedals is also gradually developing and popularizing.

[0003] The wire-controlled pedals include the brake pedal and the accelerator pedal. They eliminate the traditional mechanical connection and all operations are completed through electronic signals, that is, the driver's operating actions are converted into electrical signals, which are transmitted and controlled through the electronic system to control the corresponding actuators. In this way, mechanical components can be reduced, thereby reducing the failure rate.

[0004] Compared with the accelerator pedal, the brake pedal has a higher production cost due to its high requirements in terms of complexity, material cost, production process and safety. Therefore, how to reduce the production cost of the pedal without affecting the driver's driving safety and driving experience has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The embodiments of the present application provide a vehicle speed control method, device, vehicle-mounted equipment, vehicle, medium and product, which can reduce the production cost of pedals.

[0006] In a first aspect, an embodiment of the present application provides a vehicle speed control method, which is applied to a control unit of a vehicle, and the method includes:

[0007] Acquire a pedal signal of the vehicle, the pedal signal including a pedal position signal and a pedal movement signal;

[0008] Determine, according to the pre-acquired calibration information, a target pedal matched by the pedal position signal, the target pedal being an accelerator pedal or a decelerator pedal, the calibration information being used to indicate a signal matched by the accelerator pedal and / or a signal matched by the decelerator pedal, the accelerator pedal and the decelerator pedal having the same mechanical structure;

[0009] According to the pedal movement signal, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal. When the target pedal is an accelerator pedal, the function of the target pedal is acceleration. When the target pedal is a decelerator pedal, the function of the target pedal is deceleration.

[0010] In one embodiment of the present application, two initial pedals are provided on the vehicle, and the initial pedals send a first signal or a second signal when powered on and pressed; before determining the target pedal to which the pedal position signal matches according to the pre-acquired calibration information, the method further includes:

[0011] The two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information.

[0012] In an embodiment of the present application, the two initial pedals include a first pedal and a second pedal; the two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information, including:

[0013] When receiving a first signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is an accelerator pedal and the second pedal is a decelerator pedal;

[0014] Alternatively, upon receiving a second signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is a deceleration pedal and the second pedal is an acceleration pedal;

[0015] Alternatively, upon receiving a first signal sent when the first pedal is powered on and pressed, the first pedal is determined to be an accelerator pedal, and upon receiving a second signal sent when the second pedal is powered on and pressed, the second pedal is determined to be a decelerator pedal;

[0016] Calibration information is determined based on the accelerator pedal matching the first signal and the decelerator pedal matching the second signal.

[0017] In one embodiment of the present application, the method further includes:

[0018] When one of the following conditions is met, the first prompt information is output, and the first prompt information is used to indicate that the accelerator pedal is in an abnormal working state:

[0019] A first verification signal sent by the accelerator pedal is not received within a preset first time period;

[0020] receiving a first verification signal sent by the accelerator pedal at a first preset time interval, and determining that the first verification signal is not a first signal for M consecutive times, where M is an integer greater than 1;

[0021] And / or, when one of the following conditions is met, a second prompt information is output, the second prompt information being used to indicate that the deceleration pedal is in an abnormal working state:

[0022] The second verification signal sent by the deceleration pedal is not received within a preset second time period;

[0023] A second verification signal sent by the deceleration pedal at a second preset time interval is received, and the second verification signal is determined to be not a second signal for N consecutive times, where N is an integer greater than 1.

[0024] In an embodiment of the present application, after outputting the first prompt information or outputting the second prompt information, the method further includes:

[0025] Obtaining environmental information within a preset range of the vehicle's current location, including obstacle information and road sign information;

[0026] Perform path planning based on environmental information to obtain a target path, which includes a path for the vehicle to move from the current position to the target position;

[0027] Control the vehicle to move along the target path and stop at the target location.

[0028] In one embodiment of the present application, according to the pedal movement signal, controlling the vehicle to adjust the speed according to the function corresponding to the target pedal includes:

[0029] In the case where the pedal movement signal includes a target parameter, the target parameter in the pedal movement signal is matched with a plurality of preset target parameters in a first relationship corresponding to the target pedal to obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, the first relationship including a plurality of preset target parameters and an adjustment speed corresponding to each preset target parameter, the target parameter being a displacement of the pedal or a rotation angle of the pedal;

[0030] According to the first adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0031] In one embodiment of the present application, the pedal movement signal includes a rotation rate of the pedal; and according to the pedal movement signal, controlling the vehicle to adjust the speed according to the function corresponding to the target pedal includes:

[0032] When the rotation rate is less than or equal to a preset threshold, the rotation rate is matched with a plurality of preset rotation rates in a second relationship corresponding to the target pedal to obtain a second adjustment speed corresponding to the rotation rate, wherein the second relationship includes a plurality of preset rotation rates and an adjustment speed corresponding to each preset rotation rate;

[0033] Alternatively, when the rotation rate is greater than a preset threshold, the preset adjustment speed is determined as the second adjustment speed, and the preset adjustment speed is greater than all adjustment speeds in the second relationship;

[0034] According to the second adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0035] In a second aspect, an embodiment of the present application provides a vehicle speed control device, which is applied to a control unit of a vehicle, and the device includes:

[0036] A signal acquisition module, used to acquire a pedal signal of the vehicle, the pedal signal including a pedal position signal and a pedal movement signal;

[0037] a target pedal determination module, used to determine a target pedal matched by the pedal position signal according to pre-acquired calibration information, the target pedal being an accelerator pedal or a decelerator pedal, the calibration information being used to indicate a signal matched by the accelerator pedal and / or a signal matched by the decelerator pedal, the accelerator pedal and the decelerator pedal having the same mechanical structure;

[0038] The speed adjustment module is used to control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal. When the target pedal is an accelerator pedal, the function of the target pedal is acceleration; when the target pedal is a decelerator pedal, the function of the target pedal is deceleration.

[0039] In a third aspect, an embodiment of the present application provides a vehicle-mounted device, including a control unit, which is used to implement the vehicle speed control method of the first aspect.

[0040] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the vehicle-mounted device of the third aspect.

[0041] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed, the vehicle speed control method of the first aspect is implemented.

[0042] In a sixth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a control unit of a vehicle-mounted device, the vehicle-mounted device executes the vehicle speed control method as in the first aspect.

[0043] The vehicle speed control method, device, vehicle-mounted equipment, vehicle, medium and product provided by the embodiments of the present application obtain the pedal position signal and pedal movement signal of the vehicle, then determine the target pedal matched by the pedal position signal according to the pre-acquired calibration information, and then control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal. In this way, by using the accelerator pedal and the decelerator pedal of the same mechanical structure to control the speed of the vehicle, the production cost of the pedal can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 is a flow chart of a vehicle speed control method provided in an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of the structure of an accelerator pedal or a decelerator pedal provided in an embodiment of the present application;

[0047] Figure 3 is a schematic structural diagram of a vehicle speed control device provided in an embodiment of the present application;

[0048] Figure 4 It is a schematic diagram of the structure of the vehicle-mounted equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0050] 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 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 device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0051] In each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the disclosed embodiment will be obtained.

[0052] In order to solve the problems of the prior art, the embodiments of the present application provide a vehicle speed control method, device, vehicle-mounted equipment, vehicle, medium and product. The vehicle speed control method provided by the embodiments of the present application is first introduced below.

[0053] Figure 1 is a flow chart of the vehicle speed control method provided in the embodiment of the present application. Figure 1 As shown, the vehicle speed control method provided in the embodiment of the present application is applied to a control unit of a vehicle, and the control unit may be an electronic control unit (Electronic Control Unit, ECU) or a controller. The method includes the following steps 101 to 103, wherein:

[0054] Step 101 : Acquire a pedal signal of a vehicle, where the pedal signal includes a pedal position signal and a pedal movement signal.

[0055] The pedal signal refers to the signal sent by the vehicle's pedal after being pressed, including a pedal position signal and a pedal movement signal. Among them, the pedal position signal is used to indicate the installation position of the pedal, and can be determined through vehicle calibration after the pedal is powered on for the first time. After the vehicle calibration is completed, the pedal position signal can be written into the pedal's chip. In this way, the pedal can send a pedal position signal to the vehicle's control unit during actual use. The pedal movement signal refers to a signal generated after the pedal is pressed, which is used to indicate information such as the movement distance and position of the pedal. For example, the pedal movement signal may include the displacement of the pedal, the rotation angle of the pedal, the rotation rate of the pedal, etc., or other signals that can be used to indicate the intention to adjust the speed.

[0056] Step 102, based on the pre-acquired calibration information, determine the target pedal that matches the pedal position signal, the target pedal is the accelerator pedal or the decelerator pedal, the calibration information is used to indicate the accelerator pedal matching signal and / or the decelerator pedal matching signal, the accelerator pedal and the decelerator pedal have the same mechanical structure.

[0057] In one embodiment of the present application, the accelerator pedal and the decelerator pedal of the vehicle are pedals with the same mechanical structure. The accelerator pedal and the decelerator pedal are installed in the same manner, and only the installation positions are different.

[0058] Figure 2 is a schematic diagram of the structure of the accelerator pedal or decelerator pedal provided in the embodiment of the present application. In order to briefly describe the structure of the accelerator pedal and the decelerator pedal, the accelerator pedal and the decelerator pedal are collectively referred to as pedals below. Figure 2 As shown, specifically, the pedal includes a pedal base 1, a pedal surface 2, a motion guide mechanism 3, a rotation mechanism 4, an electrical structure 5 and an electrical interface 6. Among them, the pedal base 1 is used to support various parts of the pedal so that the pedal can be installed on the body structure of the vehicle. The pedal surface 2 is used to provide a foot contact angle or position to improve the comfort of the driver when pressing the pedal. The motion guide mechanism 3 is composed of a shell, a return spring and a plurality of sensors. The shell can be a plastic shell for guiding the rotation movement of the pedal. The return spring is used to provide a return force and a pedal feel. The plurality of sensors include an angle sensor, a displacement sensor and a speed sensor, etc., which can be used to detect the rotation angle, displacement and rotation rate of the pedal respectively. The rotation mechanism 4 includes a rotation shaft, a buckle and a pedal feel mechanism, and the rotation shaft and the buckle are used to fix one end of the pedal surface 2 to the center of the rotation shaft so that the pedal surface 2 can rotate stably around the center of the rotation shaft. The pedal feel mechanism is used to provide a pedal feel when the pedal is pressed. The electrical structure 5 includes a chip and a circuit structure, which is used to convert data such as pedal position information, displacement, rotation angle and rotation rate into electrical signals. The electrical interface 6 is connected to the wiring harness in the circuit structure, and can transmit an electrical signal to the control unit so that the control unit can determine the function of the pedal and then control the speed of the vehicle based on the function of the pedal.

[0059] The accelerator pedal and decelerator pedal used in the embodiment of the present application have the same mechanical structure. When performing speed control, the control unit may not be able to distinguish whether it should accelerate or decelerate at this time. To solve this problem, based on the aforementioned structure of the pedal, after the pedal is powered on for the first time, the pedal can send a corresponding signal to the control unit, and the control unit calibrates the entire vehicle according to the signal sent by the pedal, thereby obtaining calibration information that can be used to indicate the signal that the accelerator pedal matches and / or the signal that the decelerator pedal matches. After the calibration is completed, if the control unit receives the pedal signal, the control unit can match the pedal position signal in the pedal signal with the calibration information, thereby determining the signal that the pedal position signal in the calibration information matches, and further determining the target pedal based on the signal that the pedal position signal in the calibration information matches. In this way, it can be determined that the pedal that sends the pedal signal is an accelerator pedal or a decelerator pedal, which facilitates the control unit to further perform speed control based on the function of the target pedal in the future.

[0060] Step 103, based on the pedal movement signal, controls the vehicle to adjust the speed according to the function corresponding to the target pedal, wherein when the target pedal is an accelerator pedal, the function of the target pedal is acceleration, and when the target pedal is a decelerator pedal, the function of the target pedal is deceleration.

[0061] It can be seen that the function of the accelerator pedal is to control the vehicle to accelerate, and the function of the decelerator pedal is to control the vehicle to decelerate. Therefore, after determining that the target pedal is the accelerator pedal or the decelerator pedal, the control unit can control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal. Specifically, if the target pedal is the accelerator pedal, the function of the target pedal is acceleration. At this time, according to the pedal movement signal, the acceleration of the vehicle can be determined, and the vehicle can be controlled to accelerate according to the acceleration. If the target pedal is the decelerator pedal, the function of the target pedal is deceleration. At this time, according to the pedal movement signal, the deceleration of the vehicle can be determined, and then the vehicle can be controlled to decelerate according to the deceleration.

[0062] Steps 101 to 103 shown in the embodiment of the present application obtain the pedal position signal and pedal movement signal of the vehicle, then determine the target pedal that matches the pedal position signal according to the pre-acquired calibration information, and then control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal. In this way, by using the accelerator pedal and the decelerator pedal of the same mechanical structure to control the speed of the vehicle, the production cost of the pedal can be reduced.

[0063] In one embodiment of the present application, two initial pedals are provided on the vehicle, and the initial pedals send a first signal or a second signal when powered on and pressed; before determining the target pedal to which the pedal position signal matches according to the pre-acquired calibration information, the method further includes:

[0064] The two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information.

[0065] After the pedal is installed on the vehicle, it is necessary to calibrate the pedal to obtain the calibration information of the pedal so that the target pedal can be determined based on the calibration information and the pedal position signal. Specifically, two initial pedals, i.e., uncalibrated pedals, can be provided on the vehicle. After the initial pedals are powered on, at least one of the two initial pedals can be pressed so that the pressed initial pedal sends a first signal or a second signal. The types of the first signal and the second signal are not limited here, as long as the control unit can receive and identify them.

[0066] The control unit can calibrate the two initial pedals using the first signal and / or the second signal to obtain calibration information. For example, assuming that one of the two initial pedals sends a first signal, the control unit calibrates the initial pedal as an accelerator pedal, and calibrates the initial pedal that does not send the first signal as a decelerator pedal, or, assuming that one of the initial pedals sends a second signal, the control unit calibrates the initial pedal as a decelerator pedal, and calibrates the initial pedal that does not send the second signal as an accelerator pedal, or, assuming that one of the pedals sends a first signal and the other pedal sends a second signal, the control unit calibrates the initial pedal that sends the first signal as an accelerator pedal and calibrates the initial pedal that sends the second signal as a decelerator pedal, then, the first signal can be obtained as a signal matching the accelerator pedal and the second signal can be obtained as a signal matching the decelerator pedal. In the above manner, the first signal and / or the second signal can be used to calibrate the two initial pedals to obtain calibration information. In this way, during the driving process of the vehicle, the control unit can determine the target pedal according to the calibration information and the pedal position signal, and then adjust the speed of the vehicle based on the function of the target pedal.

[0067] In one embodiment of the present application, the two initial pedals include a first pedal and a second pedal; the two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information, including:

[0068] When receiving a first signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is an accelerator pedal and the second pedal is a decelerator pedal;

[0069] Alternatively, upon receiving a second signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is a deceleration pedal and the second pedal is an acceleration pedal;

[0070] Alternatively, upon receiving a first signal sent when the first pedal is powered on and pressed, the first pedal is determined to be an accelerator pedal, and upon receiving a second signal sent when the second pedal is powered on and pressed, the second pedal is determined to be a decelerator pedal;

[0071] Calibration information is determined based on the accelerator pedal matching the first signal and the decelerator pedal matching the second signal.

[0072] The initial pedal refers to an uncalibrated pedal, which sends a first signal or a second signal when it is powered on and pressed. To ensure driving safety, two initial pedals are provided on the vehicle, namely, a first pedal and a second pedal. The first pedal can be any one of the two initial pedals, and the second pedal is the initial pedal other than the first pedal of the two initial pedals. After the first pedal and the second pedal are installed on the vehicle, the two initial pedals can be calibrated using the first signal and / or the second signal. Specifically, in the case of receiving a first signal sent by the first pedal when it is powered on and pressed, the control unit can determine that the first pedal is an accelerator pedal, and determine that the second pedal is a decelerator pedal. Alternatively, in the case of receiving a second signal sent by the first pedal when it is powered on and pressed, the control unit can determine that the first pedal is a decelerator pedal, and determine that the second pedal is an accelerator pedal. Alternatively, in the case of receiving a first signal sent by the first pedal when it is powered on and pressed, the control unit can determine that the first pedal is an accelerator pedal, and, in the case of receiving a second signal sent by the second pedal when it is powered on and pressed, determine that the second pedal is a decelerator pedal. In this way, the control unit can obtain calibration information. At this time, the calibration information includes two sets of correspondences, one set of correspondences is the correspondence between the accelerator pedal and the first signal (specifically, it can be the correspondence between the identifier of the accelerator pedal and the identifier of the first signal), and the other set of correspondences is the correspondence between the deceleration pedal and the second signal (specifically, it can be the correspondence between the identifier of the deceleration pedal and the identifier of the second signal). In this way, after the calibration is completed, the target pedal can be determined based on the calibration information when the vehicle is driving to control the speed of the vehicle.

[0073] In one embodiment of the present application, the method further includes:

[0074] When one of the following conditions is met, the first prompt information is output, and the first prompt information is used to indicate that the accelerator pedal is in an abnormal working state:

[0075] A first verification signal sent by the accelerator pedal is not received within a preset first time period;

[0076] receiving a first verification signal sent by the accelerator pedal at a first preset time interval, and determining that the first verification signal is not a first signal for M consecutive times, where M is an integer greater than 1;

[0077] And / or, when one of the following conditions is met, a second prompt information is output, the second prompt information being used to indicate that the deceleration pedal is in an abnormal working state:

[0078] The second verification signal sent by the deceleration pedal is not received within a preset second time period;

[0079] A second verification signal sent by the deceleration pedal at a second preset time interval is received, and the second verification signal is determined to be not a second signal for N consecutive times, where N is an integer greater than 1.

[0080] To ensure driving safety, during the driving process of the vehicle, the accelerator pedal and the decelerator pedal can send verification signals to the control unit, and the control unit determines whether a fault occurs. Specifically, the first verification signal is a verification signal sent by the accelerator pedal. The accelerator pedal can send a first verification signal to the control unit at a first preset time interval. If the control unit does not receive the first verification signal sent by the accelerator pedal within the first time period, it is determined that the accelerator pedal may have a circuit short circuit or open circuit fault, and at this time, a first prompt message is output to warn that the accelerator pedal is in an abnormal working state. Alternatively, if the control unit receives the first verification signal sent by the accelerator pedal at a first preset time interval, but determines that the first verification signal is not the first signal for M consecutive times, it can be determined that the accelerator pedal is faulty (for example, wiring harness wiring error, circuit short circuit, chip failure, etc.), and the first prompt message is output to warn that the accelerator pedal is in an abnormal working state.

[0081] The second verification signal is a verification signal sent by the deceleration pedal. The deceleration pedal can send a second verification signal to the control unit at every second preset time interval. If the control unit does not receive the second verification signal sent by the deceleration pedal within the second time period, it determines that the deceleration pedal is faulty (for example, the circuit of the deceleration pedal is in a short circuit or open circuit state, etc.), and outputs a second prompt message to warn that the deceleration pedal is in an abnormal working state. Alternatively, if the control unit receives the second verification signal sent by the deceleration pedal at every second preset time interval, but determines that the second verification signal is not the second signal for N consecutive times, it can be determined that the deceleration pedal is faulty (for example, wiring harness wiring error, circuit short circuit, chip failure, etc.), and outputs a second prompt message to warn that the deceleration pedal is in an abnormal working state.

[0082] It should be noted that the first time period is greater than the first preset time interval, and the second time period is greater than the second preset time interval. The first time period and the second time period may be the same or different. The first preset time interval and the second preset time interval may be the same or different. For example, the first time period may be 10 seconds, the first preset time interval may be 1 second, the second time period may be 5 seconds, and the second preset time interval is 1 second. Moreover, M and N are both integers greater than 1, and the two may be the same or different. The first time period, the first preset time interval, the second time period, the second preset time interval, M and N may be adjusted according to the actual verification frequency requirements, or measured according to sample data.

[0083] In addition, the pedal verification method is related to the calibration information. When the calibration information indicates that the accelerator pedal matches the first signal and the decelerator pedal matches the second signal, by judging whether the first verification signal is the same as the first signal, it can be determined whether the accelerator pedal is faulty, and by judging whether the second verification signal is the same as the second signal, it can be determined whether the decelerator pedal is faulty. If the calibration information is changed, then the aforementioned verification method can also be modified accordingly according to the changed calibration information.

[0084] In one embodiment of the present application, after outputting the first prompt information or outputting the second prompt information, the method further includes:

[0085] Obtaining environmental information within a preset range of the vehicle's current location, including obstacle information and road sign information;

[0086] Perform path planning based on environmental information to obtain a target path, which includes a path for the vehicle to move from the current position to the target position;

[0087] Control the vehicle to move along the target path and stop at the target location.

[0088] If the control unit outputs the first prompt information or the second prompt information, it means that the accelerator pedal or the decelerator pedal is faulty. In order to ensure driving safety, the control unit can control the vehicle to stop through the intelligent driving system equipped by the vehicle. First, through the sensors, image acquisition devices and other devices arranged on the vehicle, the control unit can obtain environmental information within a preset range of the current position of the vehicle. Environmental information may include obstacle information and road sign information. Obstacle information is used to indicate the position and moving speed of items (such as guardrails, other vehicles) that may affect the passage of the vehicle. Road sign information is information such as lane lines, traffic signs, and traffic lights on the road section where the vehicle is located. In addition, environmental information may also include relevant information of pedestrians within the preset range of the current position, such as the position and moving speed of pedestrians. In this way, based on the environmental information, the control unit can determine the target path and control the vehicle to move along the target path. When the vehicle moves to the target position, the vehicle is controlled to stop.

[0089] Exemplarily, in combination with information such as obstacle information, vehicle specification parameters, and road sign information, the control unit can preliminarily determine one or more candidate locations for the vehicle to stop. When there are multiple candidate locations, the control unit can select any candidate location as the target location, or can select the candidate location with the shortest distance from the vehicle as the target location, or can also combine traffic rules, the degree of influence on the passage of other vehicles when moving to each candidate location, and other factors to determine the target location. After obtaining the target location, based on the path planning algorithm (such as Dijkstra algorithm, artificial potential field method, fast random expansion tree algorithm, etc.), the control unit can further determine the target path from the current position to the target location.

[0090] In addition, after outputting the first prompt information or outputting the second prompt information, the control unit may also control the vehicle to decelerate and control the warning light to turn on at the same time to reduce the possibility of an accident occurring to the vehicle.

[0091] In one embodiment of the present application, according to the pedal movement signal, controlling the vehicle to adjust the speed according to the function corresponding to the target pedal includes:

[0092] In the case where the pedal movement signal includes a target parameter, the target parameter in the pedal movement signal is matched with a plurality of preset target parameters in a first relationship corresponding to the target pedal to obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, the first relationship including a plurality of preset target parameters and an adjustment speed corresponding to each preset target parameter, the target parameter being a displacement of the pedal or a rotation angle of the pedal;

[0093] According to the first adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0094] The target parameter is the displacement of the pedal or the rotation angle of the pedal. The displacement of the pedal refers to the linear change of the pedal from the unpressed position to the pressed position, and the rotation angle of the pedal refers to the angular change of the pedal from the unpressed position to the pressed position. The displacement, rotation angle and speed are in direct proportion. The first relationship includes multiple preset target parameters and the adjustment speed corresponding to each preset target parameter.

[0095] Since the target pedal can be an accelerator pedal or a decelerator pedal, the first relationship corresponding to the target pedal can be divided into a first relationship corresponding to the accelerator pedal and a first relationship corresponding to the decelerator pedal. Therefore, if the target pedal is an accelerator pedal, when the pedal movement signal includes a target parameter, the control unit can match the target parameter in the pedal movement signal with a plurality of preset target parameters in the first relationship corresponding to the accelerator pedal, and obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, in which case the first adjustment speed is the first acceleration. If the target pedal is a decelerator pedal, when the pedal movement signal includes a target parameter, the control unit can match the target parameter in the pedal movement signal with a plurality of preset target parameters in the first relationship corresponding to the decelerator pedal, and obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, in which case the first adjustment speed is the first deceleration.

[0096] The control unit can control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the first adjustment speed. That is, when the target pedal is the accelerator pedal, the first adjustment speed is the first acceleration, and the control unit can control the vehicle to accelerate according to the first acceleration. When the target pedal is the deceleration pedal, the first adjustment speed is the first deceleration, and the control unit can control the vehicle to decelerate according to the first deceleration. In this way, the speed of the vehicle can be controlled.

[0097] In addition, there is a corresponding relationship between displacement and rotation angle. According to the corresponding relationship, displacement and rotation angle can be converted to each other. The corresponding relationship is related to the structure and specification parameters of the pedal and can be obtained through experimental testing. During the driving of the vehicle, the control unit can obtain the displacement and rotation angle of the target pedal in real time, and determine whether the displacement and rotation angle conform to the corresponding relationship between the displacement and the rotation angle. If not, it is determined that the target pedal has failed and the third prompt information is output. In addition, a certain error is allowed. For example, when the displacement is 10 mm, according to the corresponding relationship, the rotation angle should be 5 degrees. Then when the rotation angle is between 4 and 6 degrees, it is considered that the displacement and rotation angle conform to the corresponding relationship.

[0098] In one embodiment of the present application, the pedal movement signal includes a rotation rate of the pedal; and according to the pedal movement signal, controlling the vehicle to adjust the speed according to the function corresponding to the target pedal includes:

[0099] When the rotation rate is less than or equal to a preset threshold, the rotation rate is matched with a plurality of preset rotation rates in a second relationship corresponding to the target pedal to obtain a second adjustment speed corresponding to the rotation rate, wherein the second relationship includes a plurality of preset rotation rates and an adjustment speed corresponding to each preset rotation rate;

[0100] Alternatively, when the rotation rate is greater than a preset threshold, the preset adjustment speed is determined as the second adjustment speed, and the preset adjustment speed is greater than all adjustment speeds in the second relationship;

[0101] According to the second adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0102] The rotation rate of the pedal is the rate of change of the pedal opening. Based on the function of the target pedal, the control unit can control the speed of the vehicle according to the rotation rate. Specifically, the second relationship includes a plurality of preset rotation rates, and an adjustment speed corresponding to each preset rotation rate. If the target pedal is an accelerator pedal or a decelerator pedal, then the second relationship corresponding to the target pedal can be divided into a second relationship corresponding to the accelerator pedal and a second relationship corresponding to the decelerator pedal.

[0103] After obtaining the rotation rate, the control unit can determine the relative relationship between the rotation rate and the preset threshold. If the target pedal is an accelerator pedal and the rotation rate is less than or equal to the preset threshold, the rotation rate is matched with multiple preset rotation rates in the second relationship corresponding to the accelerator pedal to obtain a second adjustment speed corresponding to the rotation rate, and the second adjustment speed is the second acceleration. If the target pedal is a deceleration pedal and the rotation rate is less than or equal to the preset threshold, the rotation rate is matched with multiple preset rotation rates in the second relationship corresponding to the deceleration pedal to obtain a second adjustment speed corresponding to the rotation rate, and the second adjustment speed is the second deceleration.

[0104] Alternatively, if the rotation rate is greater than a preset threshold, it is determined that an emergency may exist in the current scene, for example, the distance between the vehicle and the vehicle in front is small, or the distance between the vehicle and the vehicle behind is small, and the preset adjustment speed can be determined as the second adjustment speed. It can be understood that in order to meet the speed adjustment requirements in emergency situations, the preset adjustment speed is greater than all adjustment speeds in the second relationship. The preset adjustment speed includes a preset acceleration and a preset deceleration. When the target pedal is an accelerator pedal, the preset adjustment speed is a preset acceleration. When the target pedal is a decelerator pedal, the preset adjustment speed is a preset deceleration. In this way, the speed of the vehicle can be controlled.

[0105] The vehicle speed control method provided in the embodiment of the present application is illustrated below.

[0106] Step 1: After the initial pedal is assembled to the vehicle, power on the initial pedal for the first time and press the initial pedal. The initial pedal can transmit a first signal or a second signal to the ECU. If the ECU recognizes the first signal, the pedal is determined as an accelerator pedal. If the second signal is recognized, the pedal is determined as a decelerator pedal.

[0107] Step 2: During the use of the vehicle, the pedal chip of the pedal can send a verification signal to the ECU in real time. For the accelerator pedal, the ECU verifies in real time whether the verification signal is consistent with the first signal. For the deceleration pedal, the ECU verifies in real time whether the verification signal is consistent with the second signal. If they are consistent, it works normally. If the ECU does not receive the verification signal, or it continues to be inconsistent within a specified time period, it sends the first prompt message or the second prompt message to warn the driver, and then cooperates with intelligent driving to achieve vehicle deceleration and safe parking.

[0108] Step 3: When the pedal is pressed, the pedal chip transmits the displacement, rotation angle and / or rotation rate of the pedal to the ECU, and transmits the pedal position signal to the ECU. The ECU determines the target pedal that the pedal position signal matches based on the pedal position signal and calibration information.

[0109] Step 4: If the target pedal is a deceleration pedal, the vehicle is controlled to generate a corresponding deceleration according to the displacement, rotation angle and / or rotation rate. At this time, the greater the displacement or rotation angle of the target pedal, the greater the deceleration generated. In addition, the greater the rotation rate, the greater the deceleration generated. When the rotation rate reaches the preset threshold, the ECU determines that the driver has a need for emergency braking, and a greater deceleration (i.e., the preset deceleration) will be generated instantly.

[0110] Step 5: If the target pedal is the accelerator pedal, the vehicle is controlled to generate corresponding acceleration according to the displacement, rotation angle and / or rotation rate. At this time, the greater the displacement or rotation angle of the target pedal, the greater the acceleration generated. In addition, the greater the rotation rate, the greater the acceleration generated. When the rotation rate reaches the preset threshold, the ECU determines that the driver has an abnormal acceleration demand, and it will instantly generate a greater acceleration (i.e., the preset acceleration).

[0111] The vehicle speed control method provided in the embodiment of the present application can reduce the connection of mechanical structures and increase the space of the cockpit by setting two wire-controlled pedals with the same mechanical mechanism at different positions, thereby reducing the production cost of the pedals without sacrificing driving comfort.

[0112] Figure 3 Schematic diagram of the structure of the vehicle speed control device provided in the embodiment of the present application. Figure 3 As shown, the vehicle speed control device 300 includes:

[0113] A signal acquisition module 301 is used to acquire a pedal signal of the vehicle, where the pedal signal includes a pedal position signal and a pedal movement signal;

[0114] a target pedal determination module 302, for determining a target pedal matched by the pedal position signal according to pre-acquired calibration information, the target pedal being an accelerator pedal or a decelerator pedal, the calibration information being used to indicate a signal matched by the accelerator pedal and / or a signal matched by the decelerator pedal, the accelerator pedal and the decelerator pedal having the same mechanical structure;

[0115] The speed adjustment module 303 is used to control the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal. When the target pedal is an accelerator pedal, the function of the target pedal is acceleration; when the target pedal is a decelerator pedal, the function of the target pedal is deceleration.

[0116] In an embodiment of the present application, the vehicle speed control device 300 further includes a calibration information determination module, which is used to:

[0117] The two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information.

[0118] In one embodiment of the present application, the calibration information determination module is further used to:

[0119] When receiving a first signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is an accelerator pedal and the second pedal is a decelerator pedal;

[0120] Alternatively, upon receiving a second signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is a deceleration pedal and the second pedal is an acceleration pedal;

[0121] Alternatively, upon receiving a first signal sent when the first pedal is powered on and pressed, the first pedal is determined to be an accelerator pedal, and upon receiving a second signal sent when the second pedal is powered on and pressed, the second pedal is determined to be a decelerator pedal;

[0122] Calibration information is determined based on the accelerator pedal matching the first signal and the decelerator pedal matching the second signal.

[0123] In one embodiment of the present application, the vehicle speed control device 300 further includes a prompt information output module for:

[0124] When one of the following conditions is met, the first prompt information is output, and the first prompt information is used to indicate that the accelerator pedal is in an abnormal working state:

[0125] A first verification signal sent by the accelerator pedal is not received within a preset first time period;

[0126] receiving a first verification signal sent by the accelerator pedal at a first preset time interval, and determining that the first verification signal is not a first signal for M consecutive times, where M is an integer greater than 1;

[0127] And / or, when one of the following conditions is met, a second prompt information is output, the second prompt information being used to indicate that the deceleration pedal is in an abnormal working state:

[0128] The second verification signal sent by the deceleration pedal is not received within a preset second time period;

[0129] A second verification signal sent by the deceleration pedal at a second preset time interval is received, and the second verification signal is determined to be not a second signal for N consecutive times, where N is an integer greater than 1.

[0130] In one embodiment of the present application, the vehicle speed control device 300 further includes a parking control module for:

[0131] Obtaining environmental information within a preset range of the vehicle's current location, including obstacle information and road sign information;

[0132] Perform path planning based on environmental information to obtain a target path, which includes a path for the vehicle to move from the current position to the target position;

[0133] Control the vehicle to move along the target path and stop at the target location.

[0134] In one embodiment of the present application, the speed adjustment module 303 is further used to:

[0135] In the case where the pedal movement signal includes a target parameter, the target parameter in the pedal movement signal is matched with a plurality of preset target parameters in a first relationship corresponding to the target pedal to obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, the first relationship including a plurality of preset target parameters and an adjustment speed corresponding to each preset target parameter, the target parameter being a displacement of the pedal or a rotation angle of the pedal;

[0136] According to the first adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0137] In one embodiment of the present application, the speed adjustment module 303 is further used to:

[0138] When the rotation rate is less than or equal to a preset threshold, the rotation rate is matched with a plurality of preset rotation rates in a second relationship corresponding to the target pedal to obtain a second adjustment speed corresponding to the rotation rate, wherein the second relationship includes a plurality of preset rotation rates and an adjustment speed corresponding to each preset rotation rate;

[0139] Alternatively, when the rotation rate is greater than a preset threshold, the preset adjustment speed is determined as the second adjustment speed, and the preset adjustment speed is greater than all adjustment speeds in the second relationship;

[0140] According to the second adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

[0141] The vehicle speed control device 300 provided in the embodiment of the present application can implement the various processes implemented in the aforementioned vehicle speed control method embodiment and achieve the same technical effect. To avoid repetition, it will not be described here.

[0142] Figure 4 Schematic diagram of the structure of the vehicle-mounted device provided in the embodiment of the present application. Figure 4 As shown, the vehicle-mounted device may include a control unit 401 and a memory 402 storing computer program instructions.

[0143] Specifically, the control unit 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0144] Memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, memory 402 may include a removable or non-removable (or fixed) medium. In appropriate cases, memory 402 may be inside or outside of an integrated gateway disaster recovery device. In a specific embodiment, memory 402 is a non-volatile solid-state memory.

[0145] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to the first aspect or the second aspect of the present disclosure.

[0146] The control unit 401 implements any one of the vehicle speed control methods in the above embodiments by reading and executing computer program instructions stored in the memory 402 .

[0147] In one example, the vehicle-mounted device may further include a communication interface 403 and a bus 410. Figure 4 As shown, the control unit 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0148] The communication interface 403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0149] Bus 410 includes hardware, software or both, and the parts of vehicle speed control method or verification equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 410 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0150] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned vehicle-mounted device.

[0151] The vehicle can be a private car, such as a sedan, SUV, MPV or pickup truck. The vehicle can also be an operating vehicle, such as a van, bus, small truck or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0152] In addition, in combination with the vehicle speed control method in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any vehicle speed control method in the above embodiment is implemented.

[0153] In addition, the embodiments of the present application may provide a computer program product for implementation. When the instructions in the computer program product are executed by the control unit of the vehicle-mounted device, the vehicle-mounted device implements any one of the vehicle speed control methods in the above embodiments.

[0154] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiment, several specific steps are described as examples. However, the method process of the present application is not limited to the specific steps described, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0155] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0156] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0157] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box 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, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0158] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of the present application.

Claims

1. A vehicle speed control method, characterized in that: Applied to a control unit of a vehicle, the method comprises: Acquire a pedal signal of the vehicle, wherein the pedal signal includes a pedal position signal and a pedal movement signal; Determine, according to pre-acquired calibration information, a target pedal matched by the pedal position signal, wherein the target pedal is an accelerator pedal or a decelerator pedal, wherein the calibration information is used to indicate a signal matched by the accelerator pedal and / or a signal matched by the decelerator pedal, and the accelerator pedal and the decelerator pedal have the same mechanical structure; According to the pedal movement signal, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal, wherein when the target pedal is an accelerator pedal, the function of the target pedal is acceleration, and when the target pedal is a decelerator pedal, the function of the target pedal is deceleration.

2. The method according to claim 1, characterized in that The vehicle is provided with two initial pedals, which send out a first signal or a second signal when powered on and pressed; Before determining the target pedal to which the pedal position signal matches according to the pre-acquired calibration information, the method further includes: The two initial pedals are calibrated using the first signal and / or the second signal to obtain calibration information.

3. The method according to claim 2, characterized in that The two initial pedals include a first pedal and a second pedal; The step of calibrating the two initial pedals using the first signal and / or the second signal to obtain calibration information includes: Upon receiving a first signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is an accelerator pedal and the second pedal is a decelerator pedal; or, Upon receiving a second signal sent by the first pedal when it is powered on and pressed, determining that the first pedal is a deceleration pedal and the second pedal is an acceleration pedal; or, upon receiving a first signal sent when the first pedal is powered on and pressed, determining that the first pedal is an accelerator pedal; and upon receiving a second signal sent when the second pedal is powered on and pressed, determining that the second pedal is a decelerator pedal; The calibration information is determined based on the accelerator pedal matching the first signal and the decelerator pedal matching the second signal.

4. The method according to claim 3, characterized in that The method further comprises: When one of the following conditions is met, a first prompt message is output, wherein the first prompt message is used to indicate that the accelerator pedal is in an abnormal working state: The first verification signal sent by the accelerator pedal is not received within a preset first time period; receiving a first verification signal sent by the accelerator pedal at a first preset time interval, and determining M times in succession that the first verification signal is not the first signal, where M is an integer greater than 1; and / or, When one of the following conditions is met, a second prompt information is output, wherein the second prompt information is used to indicate that the deceleration pedal is in an abnormal working state: The second verification signal sent by the deceleration pedal is not received within a preset second time period; A second verification signal sent by the deceleration pedal at a second preset time interval is received, and the second verification signal is determined to be not the second signal for N consecutive times, where N is an integer greater than 1.

5. The method according to claim 4, characterized in that After outputting the first prompt information or outputting the second prompt information, the method further includes: Acquiring environmental information within a preset range of the current position of the vehicle, the environmental information including obstacle information and road sign information; Performing path planning according to the environmental information to obtain a target path, wherein the target path includes a path for the vehicle to move from the current position to the target position; The vehicle is controlled to move along the target path and stop at the target location.

6. The method according to claim 1, characterized in that The step of controlling the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal includes: In the case where the pedal movement signal includes a target parameter, the target parameter in the pedal movement signal is matched with a plurality of preset target parameters in a first relationship corresponding to the target pedal to obtain a first adjustment speed corresponding to the target parameter in the pedal movement signal, the first relationship including a plurality of preset target parameters and an adjustment speed corresponding to each of the preset target parameters, the target parameter being a displacement of the pedal or a rotation angle of the pedal; According to the first adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

7. The method according to claim 1, characterized in that The pedal movement signal includes a rotation rate of the pedal; The step of controlling the vehicle to adjust the speed according to the function corresponding to the target pedal according to the pedal movement signal includes: When the rotation rate is less than or equal to a preset threshold, matching the rotation rate with a plurality of preset rotation rates in a second relationship corresponding to the target pedal to obtain a second adjustment speed corresponding to the rotation rate, wherein the second relationship includes a plurality of preset rotation rates and an adjustment speed corresponding to each of the preset rotation rates; or, In a case where the rotation rate is greater than the preset threshold, determining a preset adjustment speed as the second adjustment speed, wherein the preset adjustment speed is greater than all adjustment speeds in the second relationship; According to the second adjustment speed, the vehicle is controlled to adjust the speed according to the function corresponding to the target pedal.

8. A vehicle speed control device, characterized in that: A control unit applied to a vehicle, the device comprising: A signal acquisition module, used to acquire a pedal signal of the vehicle, wherein the pedal signal includes a pedal position signal and a pedal movement signal; a target pedal determination module, for determining a target pedal matched by the pedal position signal according to pre-acquired calibration information, wherein the target pedal is an accelerator pedal or a decelerator pedal, the calibration information is used to indicate a signal matched by the accelerator pedal and / or a signal matched by the decelerator pedal, and the accelerator pedal and the decelerator pedal have the same mechanical structure; The speed adjustment module is used to control the vehicle to adjust the speed according to the function corresponding to the target pedal based on the pedal movement signal, wherein when the target pedal is an accelerator pedal, the function of the target pedal is acceleration, and when the target pedal is a deceleration pedal, the function of the target pedal is deceleration.

9. A vehicle-mounted device, characterized in that: It comprises a control unit, and the control unit is used to implement the vehicle speed control method as described in any one of claims 1-7.

10. A vehicle, characterized in that: Comprising the vehicle-mounted device as claimed in claim 9.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed, the vehicle speed control method according to any one of claims 1 to 7 is implemented.

12. A computer program product, characterized in that When the instructions in the computer program product are executed by the control unit of the vehicle-mounted device as claimed in claim 9, the vehicle-mounted device executes the vehicle speed control method as claimed in any one of claims 1 to 7.

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