Vehicle control method and vehicle

Abstract

The invention provides a vehicle control method and a vehicle. The running state of the vehicle at least comprises an automatic driving mode and a conventional driving mode. A vehicle includes a brake pedal having an adjustable setting height. When the running state is an automatic driving mode, the set height of the brake pedal is a first height; when the running state is the conventional driving mode, the set height of the brake pedal is a second height, and the second height is higher than the first height. The vehicle control method comprises the steps that in response to a switching instruction for the running state of a vehicle, the set monitoring condition of the vehicle is obtained; the set monitoring condition comprises a collision risk condition of the vehicle; when the vehicle has the collision risk within the set duration, the current running state of the vehicle and the current set height of a brake pedal are maintained; and when the vehicle does not have the collision risk within the set duration, the current running state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to the set height corresponding to the switched running state.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular to a vehicle control method and a vehicle. Background Art

[0002] During the process of automatic driving, the driver needs to keep his foot on the brake pedal for a long time to ensure driving safety. To prevent the driver from stepping on it by mistake, the conventional brake pedal is designed to be 30-40mm higher than the comfortable position of the driver's foot.

[0003] More and more vehicles on the market are able to switch between autonomous driving mode and regular driving mode. In autonomous driving mode, when the driver keeps his foot on the brake pedal for a long time, it may cause discomfort to the driver and make it difficult to maintain, which may cause danger. Summary of the invention

[0004] The present application provides a vehicle control method and a vehicle that can keep the brake pedal in a comfortable position for the driver in an automatic driving mode, thereby improving the driving safety of the vehicle.

[0005] The present application provides a vehicle control method, wherein the operating state of the vehicle includes at least an automatic driving mode and a conventional driving mode, the vehicle includes a brake pedal, the brake pedal has an adjustable setting height, when the operating state is the automatic driving mode, the setting height of the brake pedal is a first height; when the operating state is the conventional driving mode, the setting height of the brake pedal is a second height, wherein the second height is higher than the first height;

[0006] The vehicle control method comprises:

[0007] In response to a switching instruction for the running state of the vehicle, obtaining a set monitoring condition for the vehicle;

[0008] The set monitoring conditions include the collision risk conditions of the vehicle;

[0009] When the vehicle is at risk of collision within the set time period, maintaining the current operating state of the vehicle and the current setting height of the brake pedal;

[0010] When there is no risk of collision for the vehicle within the set time period, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to a set height corresponding to the switched operating state.

[0011] When the vehicle is in the automatic driving mode, the setting height of the brake pedal is the first height, and the first height is specifically the comfortable position for the driver's foot. When the driver keeps his foot on the brake pedal for a long time, he is not likely to feel uncomfortable. When the vehicle is in the normal driving mode, the setting height of the brake pedal is the second height, and the second height is higher than the first height, and can be specifically set to be 30-40mm higher than the first height, so as to prevent the driver from stepping on it by mistake. When the driver needs to switch the running state of the vehicle during driving, the vehicle obtains the set monitoring situation of the vehicle, specifically the collision risk situation of the vehicle. If there is a collision risk when the driver needs to switch the running state of the vehicle during driving, the current running state of the vehicle and the current setting height of the brake pedal are maintained, so as to reduce the risk of driver's misoperation caused by the change of the setting height of the brake pedal, which is beneficial to the driving safety of the vehicle. If there is no collision risk when the driver needs to switch the running state of the vehicle during driving, the current running state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to the corresponding setting height under the switched running state, which is beneficial to the driving safety of the vehicle.

[0012] Optionally, after obtaining the switching instruction for the running state of the vehicle, the vehicle control method further includes:

[0013] The set monitoring condition also includes the braking condition of the brake pedal;

[0014] When the brake pedal is in braking action and the vehicle is at risk of collision within the set time, maintaining the current running state of the vehicle and the current setting height of the brake pedal;

[0015] When the brake pedal is in braking action and there is no risk of collision for the vehicle within the set time, after the braking action is completed, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to a set height corresponding to the switched operating state.

[0016] Optionally, the first height includes a plurality of different height values;

[0017] The vehicle control method further includes:

[0018] Obtaining a setting instruction for the first height;

[0019] The brake pedal is adjusted to a corresponding height value according to the setting instruction.

[0020] Optionally, after obtaining the instruction for setting the first height, the method further includes:

[0021] storing the height value corresponding to the setting instruction as a first default height value of the brake pedal of the vehicle in the automatic driving mode;

[0022] When the operating state is switched to the automatic driving mode, the brake pedal is adjusted to the first default height value.

[0023] Optionally, the second height includes a plurality of different height values;

[0024] The vehicle control method comprises:

[0025] Obtaining a setting instruction for the second height;

[0026] The brake pedal is adjusted to a corresponding height value according to the setting instruction.

[0027] Optionally, after obtaining the instruction for setting the second height, the method further includes:

[0028] storing the height value corresponding to the setting instruction as a second default height value of the brake pedal of the vehicle in a normal driving mode;

[0029] When the operating state is switched to the normal driving mode, the brake pedal is adjusted to the second default height value.

[0030] In a second aspect, the present application also provides a vehicle, comprising a monitoring system, a controller and a brake pedal, wherein the monitoring system and the brake pedal are both electrically connected to the controller, the monitoring system is used to monitor the set monitoring conditions of the vehicle, and the controller is used to execute the vehicle control method described in the first aspect.

[0031] Optionally, the brake pedal further includes:

[0032] a first pedal arm, the first pedal arm being used to be connected to a body of the vehicle;

[0033] A regulating unit, the regulating unit is electrically connected to the controller;

[0034] a second pedal arm, the second pedal arm being rotatably connected relative to the first pedal arm via the adjusting portion;

[0035] The pedal portion is arranged at an end of the second pedal arm away from the first pedal arm.

[0036] Optionally, the adjustment unit includes a driving motor, a transmission gear set, an output gear and a connecting shaft, one of the first pedal arm and the second pedal arm is fixed to the connecting shaft, the other is rotatably connected to the connecting shaft, and the output gear is fixed to the second pedal arm; the controller is electrically connected to the driving motor;

[0037] The driving motor comprises an output shaft, the output shaft is connected to one end of the transmission gear set, the other end of the transmission gear set is connected to the output gear, and the driving motor drives the second pedal arm to rotate through the transmission gear set and the output gear.

[0038] Optionally, the monitoring system includes a collision risk detection component for monitoring a collision risk situation of the vehicle, and the collision risk detection component includes at least one of a millimeter wave radar and a camera.

[0039] Optionally, the monitoring system further includes a brake detection component for monitoring the braking condition of the brake pedal, and the brake detection component includes at least one of a pedal travel sensor and a camera.

[0040] Optionally, the vehicle further includes an input component for receiving a switching instruction for the operating state of the vehicle; the input component is electrically connected to the controller, and the input component includes at least one of a control screen input component and a voice input component. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] Figure 1 Shown is a schematic diagram of an embodiment of a vehicle control method of the present application.

[0043] Figure 2 Shown is a schematic diagram of another embodiment of the vehicle control method of the present application.

[0044] Figure 3 Shown is a schematic diagram of yet another embodiment of the vehicle control method of the present application.

[0045] Figure 4 Shown is a schematic diagram of yet another embodiment of the vehicle control method of the present application.

[0046] Figure 5 Shown is a schematic diagram of an embodiment of a brake pedal of a vehicle of the present application.

[0047] Figure 6 Shown is a schematic diagram of an embodiment of a controller, a monitoring system and an input component of a vehicle of the present application.

[0048] Description of reference numerals:

[0049] 100. brake pedal; 110. first pedal arm; 120. adjustment part; 121. drive motor; 122. transmission gear set; 123. output gear; 130. second pedal arm; 140. pedal part; 150. controller; 160. monitoring system; 161. collision risk detection component; 162. brake detection component; 170. input component; 171. control screen input component; 172. voice input component. DETAILED DESCRIPTION

[0050] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0051] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0052] The present application provides a vehicle control method and a vehicle. The vehicle control method and the vehicle of the present application are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0053] The present application provides a vehicle. The operating state of the vehicle includes at least an automatic driving mode and a conventional driving mode. The vehicle includes a brake pedal 100, and the brake pedal 100 has an adjustable setting height. When the operating state is the automatic driving mode, the setting height of the brake pedal 100 is a first height, and specifically the first height is a comfortable position for the driver's foot. When the operating state is the conventional driving mode, the setting height of the brake pedal 100 is a second height, and specifically can be set to be 30-40 mm higher than the first height, so as to prevent the driver from stepping on it by mistake.

[0054] This application provides a vehicle control method, see Figure 1 As shown, the vehicle control method includes step S10, step S21 and step S22.

[0055] In step S10, in response to a switching instruction for the running state of the vehicle, a set monitoring condition of the vehicle is acquired, wherein the set monitoring condition includes a collision risk condition of the vehicle.

[0056] In step S21 , when the vehicle is at risk of collision within a set time period, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained.

[0057] In step S22, when there is no risk of collision for the vehicle within a set time, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to a corresponding set height in the switched operating state.

[0058] When the driver needs to switch the operating state of the vehicle during driving, the vehicle obtains the set monitoring status of the vehicle, specifically the collision risk status of the vehicle. If there is a collision risk when the driver needs to switch the operating state of the vehicle during driving, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained, thereby reducing the risk of driver misoperation caused by changes in the setting height of the brake pedal 100, which is beneficial to the driving safety of the vehicle. If there is no collision risk when the driver needs to switch the operating state of the vehicle during driving, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to the corresponding setting height under the switched operating state, which is beneficial to the driving safety of the vehicle.

[0059] In an optional embodiment, the monitoring condition is set to also include the braking condition of the brake pedal 100. Figure 2 As shown, after step S10 obtains the switching instruction for the running state of the vehicle, the vehicle control method further includes step S31 and step S32.

[0060] In step S31 , when the brake pedal 100 is in braking action and the vehicle is at risk of collision within a set time period, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained.

[0061] In step S32, when the brake pedal 100 is in braking action and there is no risk of collision of the vehicle within a set time, after the braking action is completed, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to the corresponding set height in the switched operating state.

[0062] When there is no braking action of the brake pedal 100, corresponding steps S21 and S22 are executed according to whether there is a risk of collision of the vehicle within a set time period.

[0063] When the driver performs a braking action on the brake pedal 100 during driving, and the vehicle is at risk of collision within a set time, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained, thereby reducing the risk of driver misoperation caused by changes in the setting height of the brake pedal 100, which is beneficial to the driving safety of the vehicle. When the brake pedal 100 is in a braking action and the vehicle is not at risk of collision within a set time, after the braking action is completed, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to the corresponding setting height under the switched operating state, thereby reducing the risk of driver misoperation caused by changes in the setting height of the brake pedal 100, and by switching the setting height of the brake pedal 100, when the operating state is the automatic driving mode, the setting height of the brake pedal 100 is the first height, thereby improving the driving comfort of the driver; when the operating state is switched to the normal driving mode, the setting height of the brake pedal 100 is the second height to prevent the driver from stepping on it by mistake.

[0064] In an optional embodiment, the first height includes a plurality of different height values.

[0065] See also Figure 3 As shown, the vehicle control method also includes step S41 and step S42.

[0066] In step S41, a setting instruction for a first height is obtained.

[0067] In step S42, the brake pedal 100 is adjusted to a corresponding height value according to the setting instruction.

[0068] Through the above settings, when the vehicle is in the automatic driving mode, by setting the height value of the brake pedal 100, the brake pedal 100 can be suitable for drivers of different body sizes, which is beneficial to the driving comfort of the driver when the vehicle is in the automatic driving mode.

[0069] In an alternative embodiment, see Figure 3 As shown, after step S41, obtaining the setting instruction for the first height, it also includes step S43 and step S44.

[0070] In step S43, the height value corresponding to the setting instruction is stored as the first default height value of the brake pedal 100 of the vehicle in the automatic driving mode.

[0071] In step S44, when the operating state is switched to the automatic driving mode, the brake pedal 100 is adjusted to a first default height value.

[0072] Through the above settings, the vehicle can automatically adjust to the first default height value each time it switches to the automatic driving mode, without the driver having to repeatedly adjust the height value of the first height, thereby facilitating the driver's adjustment of the vehicle.

[0073] In other embodiments, the first default height value of the brake pedal 100 of the vehicle in the automatic driving mode is always the height value in the most recent automatic driving mode.

[0074] In other embodiments, the first default height value of the brake pedal 100 when the vehicle is in the automatic driving mode can be set separately, that is, each time the vehicle is switched to the automatic driving mode, the height value corresponding to the brake pedal 100 is always the first default height value, and will not change with the subsequent adjustment of the height value of the brake pedal 100.

[0075] In an optional embodiment, the second height includes a plurality of different height values.

[0076] See also Figure 4 As shown, the vehicle control method also includes step S51 and step S52.

[0077] In step S51, a setting instruction for the second height is obtained.

[0078] In step S52, the brake pedal 100 is adjusted to a corresponding height value according to the setting instruction.

[0079] Through the above settings, when the vehicle is in the normal driving mode, by setting the height value of the brake pedal 100, the brake pedal 100 can be suitable for drivers of different body sizes, which is beneficial to the driving comfort of the driver when the vehicle is in the normal driving mode.

[0080] In an alternative embodiment, see Figure 4 As shown, after step S51, obtaining the setting instruction for the second height, it also includes step S53 and step S54.

[0081] In step S53, the height value corresponding to the setting instruction is stored as the second default height value of the brake pedal 100 of the vehicle in the normal driving mode;

[0082] In step S54 , when the operating state is switched to the normal driving mode, the brake pedal 100 is adjusted to a second default height value.

[0083] Through the above settings, the vehicle can automatically adjust to the second default height value each time it switches to the normal driving mode, without the driver having to repeatedly adjust the height value of the second height, thereby facilitating the driver's adjustment of the vehicle.

[0084] In some other embodiments, the second default height value of the brake pedal 100 in the normal driving mode of the vehicle is always the height value in the most recent normal driving mode.

[0085] In other embodiments, the second default height value of the brake pedal 100 in the normal driving mode of the vehicle can be set separately, that is, each time the vehicle switches to the normal driving mode, the height value corresponding to the brake pedal 100 is always the second default height value, and will not change with the subsequent adjustment of the height value of the brake pedal 100.

[0086] The present application also provides a vehicle. The vehicle includes a monitoring system 160, a controller 150 and a brake pedal 100. The monitoring system 160 and the brake pedal 100 are both electrically connected to the controller 150, and the monitoring system 160 is used to monitor the set monitoring conditions of the vehicle. Specifically, the monitoring system 160 can be a radar or a camera. The controller 150 is used to execute a vehicle control method.

[0087] When the driver needs to switch the running state of the vehicle during driving, the vehicle obtains the set monitoring status of the vehicle through the monitoring system 160, specifically the collision risk status of the vehicle. If there is a collision risk when the driver needs to switch the running state of the vehicle during driving, the current running state of the vehicle and the current setting height of the brake pedal 100 are maintained, thereby reducing the risk of driver misoperation caused by changes in the setting height of the brake pedal 100, which is beneficial to the driving safety of the vehicle. If there is no collision risk when the driver needs to switch the running state of the vehicle during driving, the current running state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to the corresponding setting height under the switched running state, which is beneficial to the driving safety of the vehicle.

[0088] In an optional embodiment, the brake pedal 100 further includes a first pedal arm 110, an adjusting portion 120, a second pedal arm 130 and a pedal portion 140. The first pedal arm 110 is used to be connected to the vehicle body. The adjusting portion 120 is electrically connected to the controller 150. The second pedal arm 130 is rotatably connected relative to the first pedal arm 110 through the adjusting portion 120. The pedal portion 140 is disposed at one end of the second pedal arm 130 away from the first pedal arm 110.

[0089] See also Figure 5As shown, the first end of the first pedal arm 110 is connected to the vehicle body. The first end of the second pedal arm 130 is rotatably connected to the second end of the first pedal arm 110 through the adjusting portion 120. When the operating state is the automatic driving mode, the setting height of the brake pedal 100 is the first height, and the specific first height is the comfortable position of the driver's foot. At this time, the angle α between the first pedal arm 110 and the second pedal arm 130 increases. When the operating state is the conventional driving mode, the setting height of the brake pedal 100 is the second height, which can be specifically set to be 30-40mm higher than the first height. At this time, the angle α between the second pedal arm 130 and the first pedal arm 110 is reduced by the adjusting portion 120, thereby raising the pedal portion 140.

[0090] In an optional embodiment, the adjustment part 120 includes a driving motor 121, a transmission gear set 122, an output gear 123 and a connecting shaft. One of the first pedal arm 110 and the second pedal arm 130 is fixed to the connecting shaft, and the other is rotatably connected to the connecting shaft. The output gear 123 is fixed to the second pedal arm 130, and when the output gear 123 rotates, the second pedal arm 130 rotates accordingly. The controller 150 is electrically connected to the driving motor 121. The driving motor 121 includes an output shaft, which is connected to one end of the transmission gear set 122, and the other end of the transmission gear set 122 is connected to the output gear 123. The driving motor 121 drives the output gear 123 to rotate through the transmission gear set 122, and drives the second pedal arm 130 to rotate relative to the first pedal arm 110 through the output gear 123. Specifically, the controller 150 can adjust the height of the pedal part 140 by controlling the angle of the forward and reverse rotation of the driving motor 121 or the duration of the forward and reverse rotation of the driving motor 121.

[0091] Through the above arrangement, the adjustment portion 120 can achieve stepless adjustment of the setting height of the pedal portion 140 , which is beneficial to the adjustment freedom of the setting height of the pedal portion 140 .

[0092] In some embodiments, the driving motor 121 and the transmission gear set 122 are arranged on one side of the outside of the first pedal arm 110 or the second pedal arm 130. Specifically, the output gear 123 may be a bevel gear. The driving motor 121 is arranged on the first pedal arm 110, and in the extending direction of the first pedal arm 110, the driving motor 121 may be arranged on one side of the output gear 123, and the transmission gear set 122 is arranged between the driving motor 121 and the output gear 123, so as to reduce the occupied space of the adjusting part 120 in the width direction of the pedal part 140. In other embodiments, the driving motor 121 and the transmission gear set 122 may also be arranged inside the first pedal arm 110 or the second pedal arm 130.

[0093] In other alternative embodiments, when the arrangement relationship between the first pedal arm 110, the second pedal arm 130 and the vehicle body is different, the height of the pedal portion 140 can also be adjusted by other structures of the adjustment portion 120. For example, the adjustment portion 120 can be configured as a cylinder or a screw motor, and the output end of the adjustment portion 120 is connected to the second pedal arm 130, so that the second pedal arm 130 moves in the direction away from and close to the first pedal arm 110.

[0094] In an alternative embodiment, see Figure 6 As shown, the monitoring system 160 includes a collision risk detection component 161 for monitoring the collision risk of the vehicle, and the collision risk detection component 161 includes at least one of a millimeter wave radar and a camera. The collision risk detection component 161 can be arranged on the front side of the vehicle and is used to detect whether there is an obstacle in front of the vehicle. The controller 150 can calculate whether there is a collision risk of the vehicle within a set time period according to whether there is an obstacle in front of the vehicle, the distance between the obstacle in front of the vehicle and the vehicle, and the current driving speed of the vehicle. If there is a collision risk when the driver needs to switch the operating state of the vehicle during driving, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained, thereby reducing the risk of driver misoperation caused by changes in the setting height of the brake pedal 100, which is beneficial to the driving safety of the vehicle.

[0095] In other embodiments, collision risk detection components 161 are provided on both the front and rear sides of the vehicle, so that when the vehicle is reversing, the collision risk detection component 161 can also be used to determine whether there is an obstacle behind the vehicle.

[0096] In an alternative embodiment, see Figure 6 As shown, the monitoring system 160 further includes a brake detection component 162 for monitoring the braking condition of the brake pedal 100, and the brake detection component 162 includes at least one of a pedal travel sensor and a camera. Specifically, when the brake detection component 162 detects that the pedal movement is greater than a set travel, the brake detection component 162 determines that the brake pedal 100 has a braking action; when the brake detection component 162 detects that the pedal movement is less than or equal to the set travel, the brake detection component 162 determines that the brake pedal 100 has no braking action.

[0097] Through the above configuration, when the driver needs to switch the running state of the vehicle during driving, it is detected whether there is a braking action on the brake pedal 100. When there is a braking action on the brake pedal 100 and the vehicle does not have a collision risk within a set time, after the braking action is completed, the current running state of the vehicle is switched according to the switching instruction, and the brake pedal 100 is adjusted to the corresponding setting height under the switched running state, thereby reducing the risk of driver's misoperation caused by the change in the setting height of the brake pedal 100.

[0098] In an alternative embodiment, see Figure 6 As shown, the vehicle further includes an input component 170 for receiving a switching instruction for the running state of the vehicle. The input component 170 is electrically connected to the controller 150 and includes at least one of a control screen input component 171 and a voice input component 172 .

[0099] The driver can switch the vehicle's operating status by voice input or operation on the operation panel, which is convenient for the driver to adjust the vehicle's operating status at any time during driving, which is beneficial to the convenience of vehicle driving.

[0100] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that: The running state of the vehicle includes at least an automatic driving mode and a conventional driving mode, the vehicle includes a brake pedal, the brake pedal has an adjustable setting height, when the running state is the automatic driving mode, the setting height of the brake pedal is a first height; when the running state is the conventional driving mode, the setting height of the brake pedal is a second height, wherein the second height is higher than the first height; The vehicle control method comprises: In response to a switching instruction for the running state of the vehicle, obtaining a set monitoring condition for the vehicle; The set monitoring conditions include the collision risk conditions of the vehicle; When the vehicle is at risk of collision within the set time period, maintaining the current operating state of the vehicle and the current setting height of the brake pedal; When there is no risk of collision for the vehicle within the set time period, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to a set height corresponding to the switched operating state.

2. The vehicle control method according to claim 1, characterized in that: After obtaining the switching instruction for the running state of the vehicle, the vehicle control method further includes: The set monitoring condition also includes the braking condition of the brake pedal; When the brake pedal is in braking action and the vehicle is at risk of collision within the set time, maintaining the current running state of the vehicle and the current setting height of the brake pedal; When the brake pedal is in braking action and there is no risk of collision for the vehicle within the set time, after the braking action is completed, the current operating state of the vehicle is switched according to the switching instruction, and the brake pedal is adjusted to a set height corresponding to the switched operating state.

3. The vehicle control method according to claim 1, characterized in that: The first height includes a plurality of different height values; The vehicle control method further includes: Obtaining a setting instruction for the first height; The brake pedal is adjusted to a corresponding height value according to the setting instruction.

4. The vehicle control method according to claim 3, characterized in that: After obtaining the setting instruction for the first height, the method further includes: storing the height value corresponding to the setting instruction as a first default height value of the brake pedal of the vehicle in the automatic driving mode; When the operating state is switched to the automatic driving mode, the brake pedal is adjusted to the first default height value.

5. The vehicle control method according to claim 1, characterized in that: The second height includes a plurality of different height values; The vehicle control method comprises: Obtaining a setting instruction for the second height; The brake pedal is adjusted to a corresponding height value according to the setting instruction.

6. The vehicle control method according to claim 5, characterized in that: After obtaining the setting instruction for the second height, the method further includes: storing the height value corresponding to the setting instruction as a second default height value of the brake pedal of the vehicle in a normal driving mode; When the operating state is switched to the normal driving mode, the brake pedal is adjusted to the second default height value.

7. A vehicle, characterized in that: The vehicle includes a monitoring system, a controller and a brake pedal, wherein the monitoring system and the brake pedal are electrically connected to the controller, the monitoring system is used to monitor the set monitoring conditions of the vehicle, and the controller is used to execute the vehicle control method as described in any one of claims 1-6.

8. The vehicle according to claim 7, characterized in that The brake pedal also includes: a first pedal arm, the first pedal arm being used to be connected to a body of the vehicle; A regulating unit, the regulating unit is electrically connected to the controller; a second pedal arm, the second pedal arm being rotatably connected relative to the first pedal arm via the adjusting portion; The pedal portion is arranged at an end of the second pedal arm away from the first pedal arm.

9. The vehicle according to claim 8, characterized in that The adjusting part comprises a driving motor, a transmission gear set, an output gear and a connecting shaft, one of the first pedal arm and the second pedal arm is fixed to the connecting shaft, the other is rotatably connected to the connecting shaft, and the output gear is fixed to the second pedal arm; The controller is electrically connected to the drive motor; The driving motor comprises an output shaft, the output shaft is connected to one end of the transmission gear set, the other end of the transmission gear set is connected to the output gear, and the driving motor drives the second pedal arm to rotate through the transmission gear set and the output gear.

10. The vehicle according to claim 7, characterized in that The monitoring system includes a collision risk detection component for monitoring a collision risk condition of the vehicle, the collision risk detection component including at least one of a millimeter wave radar and a camera; And / or, the monitoring system further includes a brake detection component for monitoring the braking condition of the brake pedal, and the brake detection component includes at least one of a pedal travel sensor and a camera.

11. The vehicle according to claim 7, characterized in that The vehicle also includes an input component for receiving a switching instruction for the operating state of the vehicle; the input component is electrically connected to the controller, and the input component includes at least one of a control screen input component and a voice input component.

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