Vehicle control method and vehicle

Abstract

The application provides a vehicle control method and a vehicle. The running state of the vehicle includes at least an automatic driving mode and a regular driving mode. The vehicle includes a brake pedal with 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 regular 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 includes: in response to a switching instruction of the running state of the vehicle, obtaining a setting monitoring condition of the vehicle; the setting monitoring condition includes a collision risk condition of the vehicle; when the vehicle has a collision risk within a setting time length, maintaining the current running state of the vehicle and the current setting height of the brake pedal; when the vehicle has no collision risk within the setting time length, switching the current running state of the vehicle according to the switching instruction, and adjusting the brake pedal to the corresponding setting height in the switched running state.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a vehicle control method and a vehicle. Background Technology

[0002] During autonomous driving, the driver needs to keep their foot on the brake pedal for extended periods to ensure driving safety. To prevent accidental pressing, conventional brake pedals are designed to be 30-40mm higher than the comfortable position for the driver's foot.

[0003] More and more vehicles on the market are now able to switch between autonomous driving mode and conventional driving mode. In autonomous driving mode, if the driver keeps their foot on the brake pedal for an extended period of time, it may cause discomfort and make it difficult to maintain control, potentially leading to a dangerous situation. Summary of the Invention

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

[0005] This application provides a vehicle control method, wherein the vehicle's operating state includes at least an automatic driving mode and a normal driving mode, the vehicle includes a brake pedal, the brake pedal having an adjustable setting height, and 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 normal 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 includes:

[0007] In response to a command to switch the operating state of the vehicle, the system acquires the set monitoring information for the vehicle.

[0008] The monitoring settings include the vehicle's collision risk status;

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

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

[0011] When the vehicle is in autonomous driving mode, the brake pedal is set to a first height, specifically a comfortable position for the driver's foot. This ensures the driver is less likely to experience discomfort when their foot is on the brake pedal for extended periods. When the vehicle is in normal driving mode, the brake pedal is set to a second height, higher than the first, typically 30-40mm higher, to prevent accidental pedal use. When the driver needs to switch the vehicle's operating state, the vehicle monitors its settings, specifically the collision risk. If a collision risk exists when switching the vehicle's operating state, the current operating state and brake pedal height are maintained, reducing the risk of driver error due to changes in brake pedal height and thus improving driving safety. If no collision risk exists when switching the vehicle's operating state, the current operating state is switched according to the switching command, and the brake pedal is adjusted to the corresponding height for the new operating state, further enhancing driving safety.

[0012] Optionally, after obtaining the command to switch the operating state of the vehicle, the vehicle control method further includes:

[0013] The monitoring settings also include the braking status of the brake pedal;

[0014] When the brake pedal is engaged and the vehicle is at risk of collision within the set time period, the vehicle's current operating state and the brake pedal's current height are maintained.

[0015] When the brake pedal is engaged in braking action and the vehicle is not at risk of collision within the set time period, after the braking action is completed, the current operating state of the vehicle is switched according to the switching command, and the brake pedal is adjusted to the set height corresponding to the switched operating state.

[0016] Optionally, the first height may include multiple different height values;

[0017] The vehicle control method further includes:

[0018] Obtain the setting instruction for the first height;

[0019] Adjust the brake pedal to the corresponding height value according to the setting command.

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

[0021] Store the height value corresponding to the setting command as the first default height value of the brake pedal in the vehicle's autonomous driving mode;

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

[0023] Optionally, the second height may include multiple different height values;

[0024] The vehicle control method includes:

[0025] Obtain the setting instruction for the second height;

[0026] Adjust the brake pedal to the corresponding height value according to the setting command.

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

[0028] Store the height value corresponding to the setting command as the second default height value of the brake pedal in the normal driving mode of the vehicle.

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

[0030] Secondly, this application also provides a vehicle, the vehicle including a monitoring system, a controller and a brake pedal, the monitoring system and the brake pedal being electrically connected to the controller, the monitoring system being used to monitor the vehicle's set monitoring status, and the controller being 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 connect to the body of the vehicle;

[0033] An adjustment unit, which is electrically connected to the controller;

[0034] The second pedal arm is rotatably connected relative to the first pedal arm via the adjusting part;

[0035] A pedal portion is disposed at one end of the second pedal arm away from the first pedal arm.

[0036] Optionally, the adjustment unit includes a drive 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, and the other is rotatably connected to the connecting shaft. The output gear is fixed to the second pedal arm. The controller is electrically connected to the drive motor.

[0037] The drive motor includes an output shaft, which is connected to one end of the transmission gear set, and the other end of the transmission gear set is connected to the output gear. The drive 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 the collision risk of the vehicle, the collision risk detection component including at least one of millimeter-wave radar and a camera.

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

[0040] Optionally, the vehicle further includes an input component for receiving a switching command 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. Attached Figure Description

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

[0042] Figure 1 The diagram shown is a schematic representation of an embodiment of the vehicle control method of this application.

[0043] Figure 2 The diagram shown is a schematic diagram of another embodiment of the vehicle control method of this application.

[0044] Figure 3 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0045] Figure 4 The diagram shown is a schematic diagram of yet another embodiment of the vehicle control method of this application.

[0046] Figure 5 The diagram shown is a schematic representation of an embodiment of the brake pedal of the vehicle described in this application.

[0047] Figure 6 The diagram shown is a schematic representation of an embodiment of the controller, monitoring system, and input components of the vehicle described in this application.

[0048] Explanation of reference numerals in the attached figures:

[0049] 100. Brake pedal; 110. First pedal arm; 120. Adjustment unit; 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 panel input component; 172. Voice input component. Detailed Implementation

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

[0051] If the embodiments of this application contain terms relating to directional indications or positional relationships (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 relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0052] This application provides a vehicle control method and a vehicle. The vehicle control method and vehicle of this application will be described in detail below with reference to the accompanying drawings. Unless otherwise specified, the features of the following embodiments and implementations can be combined with each other.

[0053] This application provides a vehicle. The vehicle's operating states include at least an automatic driving mode and a normal driving mode. The vehicle includes a brake pedal 100, which has an adjustable height. When the operating state is automatic driving mode, the brake pedal 100 is set to a first height, specifically a comfortable position for the driver's foot. When the operating state is normal driving mode, the brake pedal 100 is set to a second height, specifically 30-40mm higher than the first height, to prevent accidental pressing by the driver.

[0054] This application provides a vehicle control method, see [link to relevant documentation] Figure 1 As shown, the vehicle control method includes steps S10, S21 and S22.

[0055] In step S10, in response to a command to switch the vehicle's operating state, the vehicle's set monitoring information is acquired. The set monitoring information includes the vehicle's collision risk status.

[0056] In step S21, when there is a risk of collision within a set time period, the current operating state of the vehicle and the current set 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 period, the current operating state of the vehicle is switched according to the switching command, and the brake pedal 100 is adjusted to the set height corresponding to the switched operating state.

[0058] When the driver needs to switch the vehicle's operating state during driving, the vehicle acquires its set monitoring information, specifically the collision risk situation. If there is a collision risk when the driver needs to switch the vehicle's operating state, the current operating state of the vehicle and the current setting height of the brake pedal 100 are maintained. This reduces the risk of driver misoperation due to changes in the setting height of the brake pedal 100, thus improving vehicle driving safety. If there is no collision risk when the driver needs to switch the vehicle's operating state, the current operating state of the vehicle is switched according to the switching command, and the brake pedal 100 is adjusted to the setting height corresponding to the switched operating state, thus improving vehicle driving safety.

[0059] In an optional embodiment, the monitoring settings also include the braking status of the brake pedal 100. See [link to documentation]. Figure 2 As shown, after obtaining the switching command for the vehicle's operating state in step S10, the vehicle control method further includes steps S31 and S32.

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

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

[0062] If the brake pedal 100 does not engage braking, then steps S21 and S22 are executed according to whether there is a risk of collision within a set time period.

[0063] When the driver applies the brakes to the brake pedal 100 during driving, and there is a risk of collision within a set time period, the vehicle's current operating state and the brake pedal 100's current height are maintained. This reduces the risk of driver misoperation due to changes in the brake pedal 100's height, thus improving vehicle safety. When the brake pedal 100 is engaged, and there is no risk of collision within the set time period, after the braking action is completed, the vehicle's current operating state is switched according to the switching command, and the brake pedal 100 is adjusted to the corresponding height for the switched operating state. This further reduces the risk of driver misoperation due to changes in the brake pedal 100's height. By switching the brake pedal 100's height, when the operating state is in automatic driving mode, the brake pedal 100's height is at the first height, improving driver comfort; when the operating state is switched to normal driving mode, the brake pedal 100's height is at the second height to prevent accidental application by the driver.

[0064] In an optional embodiment, the first height includes multiple different height values.

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

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

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

[0068] With the above settings, when the vehicle is in autonomous driving mode, the height of the brake pedal 100 can be adjusted to suit drivers of different body types, which is beneficial to the driver's driving comfort when the vehicle is in autonomous driving mode.

[0069] In an optional embodiment, see Figure 3 As shown, after obtaining the setting instruction for the first height in step S41, steps S43 and S44 are also included.

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

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

[0072] With the above settings, the vehicle can automatically adjust to the first default height value every time it switches to autonomous driving mode, eliminating the need for the driver to repeatedly adjust the first height value, thus facilitating the driver's adjustments to the vehicle.

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

[0074] In other embodiments, the first default height value of the brake pedal 100 in the autonomous driving mode can be set separately. That is, every time the vehicle switches to the autonomous driving mode, the height value corresponding to the brake pedal 100 is always the first default height value and will not change with subsequent adjustments to the height value of the brake pedal 100.

[0075] In an optional embodiment, the second height includes multiple different height values.

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

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

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

[0079] With the above settings, when the vehicle is in normal driving mode, the height of the brake pedal 100 can be adjusted to suit drivers of different body types, which is beneficial to the driver's driving comfort when the vehicle is in normal driving mode.

[0080] In an optional embodiment, see Figure 4 As shown, after obtaining the setting instruction for the second height in step S51, the method further includes steps S53 and S54.

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

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

[0083] With the above settings, the vehicle can automatically adjust to the second default height value every time it switches to the normal driving mode, eliminating the need for the driver to repeatedly adjust the second height value, thus facilitating the driver's adjustments to the vehicle.

[0084] In other embodiments, the second default height value of the brake pedal 100 in the vehicle's normal driving mode is always the height value of 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 can be set independently. That is, every 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 subsequent adjustments to the height value of the brake pedal 100.

[0086] This application also provides a vehicle. The vehicle includes a monitoring system 160, a controller 150, and a brake pedal 100. Both the monitoring system 160 and the brake pedal 100 are electrically connected to the controller 150. The monitoring system 160 is used to monitor the vehicle's set monitoring status. Specifically, the monitoring system 160 can be a radar or a camera. The controller 150 is used to execute vehicle control methods.

[0087] When the driver needs to switch the vehicle's operating state during driving, the vehicle monitoring system 160 obtains the vehicle's set monitoring information, specifically the collision risk situation. If there is a collision risk when the driver needs to switch the vehicle's operating state, 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 due to changes in the setting height of the brake pedal 100, thus improving vehicle driving safety. If there is no collision risk when the driver needs to switch the vehicle's operating state, the current operating state of the vehicle is switched according to the switching command, and the brake pedal 100 is adjusted to the setting height corresponding to the switched operating state, thus improving vehicle driving safety.

[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 connect 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 via the adjusting portion 120. The pedal portion 140 is disposed at the end of the second pedal arm 130 away from the first pedal arm 110.

[0089] See 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 via an adjusting part 120. When the operating state is automatic driving mode, the brake pedal 100 is set at a first height, specifically the comfortable position for 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 normal driving mode, the brake pedal 100 is set at a second height, specifically 30-40mm higher than the first height. In this case, the adjusting part 120 reduces the angle α between the second pedal arm 130 and the first pedal arm 110, thereby raising the pedal part 140.

[0090] In an optional embodiment, the adjustment unit 120 includes a drive 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 drive motor 121. The drive 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 drive 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 forward and reverse rotation of the drive motor 121 or the duration of forward and reverse rotation of the drive motor 121.

[0091] With the above settings, the adjustment unit 120 can steplessly adjust the setting height of the pedal unit 140, which is beneficial to the degree of freedom in adjusting the setting height of the pedal unit 140.

[0092] In some embodiments, the drive motor 121 and the transmission gear set 122 are disposed 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 drive motor 121 is disposed on the first pedal arm 110, and in the extending direction of the first pedal arm 110, the drive motor 121 may be disposed on one side of the output gear 123, and the transmission gear set 122 is disposed between the drive motor 121 and the output gear 123, thereby reducing the space occupied by the adjustment part 120 in the width direction of the pedal part 140. In other embodiments, the drive motor 121 and the transmission gear set 122 may also be disposed 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 the structure of other adjusting parts 120. For example, the adjusting part 120 can be configured as a cylinder or a lead screw motor, and the output end of the adjusting part 120 is connected to the second pedal arm 130, so that the second pedal arm 130 moves away from and towards the first pedal arm 110.

[0094] In an optional 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. The collision risk detection component 161 includes at least one of millimeter-wave radar and a camera. The collision risk detection component 161 can be installed at the front 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 for the vehicle within a set time period based on whether there is an obstacle in front of the vehicle, the distance between the obstacle and the vehicle, and the current driving speed of the vehicle. If there is a collision risk when the driver needs to switch the vehicle's operating state 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 components 161 can also determine whether there is an obstacle behind the vehicle.

[0096] In an optional embodiment, see Figure 6 As shown, the monitoring system 160 also includes a brake detection component 162 for monitoring the braking status of the brake pedal 100. 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 is engaged in braking; 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 is not engaged in braking.

[0097] With the above settings, when the driver needs to switch the vehicle's operating state during driving, the system detects whether there is a braking action on the brake pedal 100. If there is a braking action on the brake pedal 100 and there is no risk of collision within a set time period, after the braking action is completed, the current operating state of the vehicle is switched according to the switching command, and the brake pedal 100 is adjusted to the corresponding set height in the switched operating state, thereby reducing the risk of driver misoperation caused by changes in the set height of the brake pedal 100.

[0098] In an optional embodiment, see Figure 6 As shown, the vehicle also includes an input component 170 for receiving switching commands for the vehicle's operating state. The input component 170 is electrically connected to the controller 150 and includes at least one of a control panel input component 171 and a voice input component 172.

[0099] Drivers can switch vehicle operating statuses via voice input or by operating the control panel, allowing them to adjust the vehicle's operating status at any time during driving, thus improving driving convenience.

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

Claims

1. A vehicle control method, characterized in that, The vehicle's operating states include at least an autonomous driving mode and a normal driving mode. The vehicle includes a brake pedal with an adjustable height. When the operating state is the autonomous driving mode, the brake pedal's height is a first height; when the operating state is the normal driving mode, the brake pedal's height is a second height, wherein the second height is higher than the first height. The vehicle control method includes: In response to a command to switch the operating state of the vehicle, the system acquires the set monitoring information for the vehicle. The monitoring settings include the vehicle's collision risk status; When the vehicle is at risk of collision within a set time period, maintain the current operating state of the vehicle and the current setting height of the brake pedal; When the vehicle has no risk of collision within the set time period, the current operating state of the vehicle is switched according to the switching command, and the brake pedal is adjusted to the set height corresponding to the switched operating state. Following the command to switch the operating state of the vehicle, the vehicle control method further includes: The monitoring settings also include the braking status of the brake pedal; When the brake pedal is engaged and the vehicle is at risk of collision within the set time period, the vehicle's current operating state and the brake pedal's current height are maintained. When the brake pedal is engaged in braking action and the vehicle is not at risk of collision within the set time period, after the braking action is completed, the current operating state of the vehicle is switched according to the switching command, and the brake pedal is adjusted to the set height corresponding to the switched operating state.

2. The vehicle control method according to claim 1, characterized in that, The first height includes multiple different height values; The vehicle control method further includes: Obtain the setting instruction for the first height; Adjust the brake pedal to the corresponding height value according to the setting command.

3. The vehicle control method according to claim 2, characterized in that, After obtaining the setting instruction for the first height, the method also includes: Store the height value corresponding to the setting command as the first default height value of the brake pedal in the vehicle's autonomous driving mode; When the operating state is switched to the autonomous driving mode, the brake pedal is adjusted to the first default height value.

4. The vehicle control method according to claim 1, characterized in that, The second height includes multiple different height values; The vehicle control method includes: Obtain the setting instruction for the second height; Adjust the brake pedal to the corresponding height value according to the setting command.

5. The vehicle control method according to claim 4, characterized in that, After obtaining the setting instruction for the second height, it also includes: Store the height value corresponding to the setting command as the second default height value of the brake pedal in the normal driving mode of the vehicle. When the operating state is switched to the normal driving mode, the brake pedal is adjusted to the second default height value.

6. A vehicle, characterized in that, The vehicle includes a monitoring system and a controller. Both the monitoring system and the brake pedal are electrically connected to the controller. The monitoring system is used to monitor the vehicle's set monitoring status, and the controller is used to execute the vehicle control method as described in any one of claims 1-5.

7. The vehicle according to claim 6, characterized in that, The brake pedal also includes: A first pedal arm, the first pedal arm being used to connect to the body of the vehicle; An adjustment unit, which is electrically connected to the controller; The second pedal arm is rotatably connected relative to the first pedal arm via the adjusting part; A pedal portion is disposed at one end of the second pedal arm away from the first pedal arm.

8. The vehicle according to claim 7, characterized in that, The adjustment unit includes a drive 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, and the other is rotatably connected to the connecting shaft. The output gear is fixed to the second pedal arm. The controller is electrically connected to the drive motor; The drive motor includes an output shaft, which is connected to one end of the transmission gear set, and the other end of the transmission gear set is connected to the output gear. The drive motor drives the second pedal arm to rotate through the transmission gear set and the output gear.

9. The vehicle according to claim 6, characterized in that, The monitoring system includes a collision risk detection component for monitoring the collision risk of a vehicle, the collision risk detection component including at least one of millimeter-wave radar and a camera; And / or, the monitoring system further includes a brake detection component for monitoring the braking status of the brake pedal, the brake detection component including at least one of a pedal travel sensor and a camera.

10. The vehicle according to claim 6, characterized in that, The vehicle also includes an input component for receiving a switching command for the vehicle's operating state; 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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