Method and system for judging mistakenly stepping on accelerator and vehicle

Abstract

The invention discloses a method and system for judging mistaken stepping of an accelerator and a vehicle, and belongs to the technical field of driving safety. According to the method, vehicle dynamic data (vehicle speed and accelerator opening), environment information (obstacle distance and type) and driver biological signals (grip strength, myoelectricity and pressure distribution) are collected in real time through a multi-dimensional sensing module, and a dynamic safety distance model is combined to carry out cross validation on a mistaken stepping intention. The system preferentially triggers a non-intrusive alarm, and if it is detected that an accelerator is continuously abnormal, a biological signal is suddenly changed (such as muscle tension and sharp increase of grip strength) and an obstacle approaches a safety threshold value, power is automatically restrained, and braking is started. By fusing multi-source data, the problem of misjudgment caused by dependence on single environment perception in the prior art is solved, accurate distinguishing is achieved in emergency acceleration and mistaken stepping scenes, meanwhile, a driver active relieving mechanism is provided, and safety and control flexibility are both considered. The method is suitable for complex scenes such as low speed and congestion, and traffic accident risks caused by misoperation are remarkably reduced.

Description

Technical Field

[0001] The invention relates to a method, a system and a vehicle for judging the accidental stepping on the accelerator, belonging to the technical field of driving safety and vehicle intelligent control. Background Art

[0002] With the development of the automobile industry and the increasing attention paid to driving safety, preventing safety hazards caused by driver misoperation has become one of the important research directions. In particular, when the driver is driving at a low speed or parking, he or she may mistake the accelerator pedal for the brake pedal, which may cause the vehicle to accelerate suddenly and increase the risk of traffic accidents. Therefore, it is of great significance to develop a safety system that can effectively identify and prevent such misoperation.

[0003] Prior art 1 (CN109094541A) discloses a control method for a vehicle safety system. In this method, the accelerator is judged to be accidentally stepped on when one of the following conditions is met: (1) the maximum stopping distance of the vehicle exceeds the distance between the vehicle and the obstacle in front, and the gas pedal is operated; (2) when the vehicle starts or stops, there is a moving obstacle within the set range around the vehicle, and the gas pedal is operated; (3) the vehicle speed is greater than the safe speed, and the gas pedal is operated. The defects of prior art 1 are: the system may not be able to effectively distinguish between traversable obstacles (such as low snow piles) and rigid obstacles (such as walls), causing unnecessary intervention; obstacles outside the set range around the vehicle (such as vehicles suddenly cutting in from the side and rear) may not be detected in time.

[0004] Prior art 2 (CN114537136A) discloses a method for preventing accidental accelerator pedaling, which determines whether the driver has accidentally stepped on the accelerator pedal by obtaining the predicted trajectory in the current direction of travel of the vehicle, the current position information of the vehicle, the position information of obstacles in the current direction of travel of the vehicle, the current speed of the vehicle, and the current accelerator opening or the current rate of change of the accelerator opening. However, the defect is that it cannot distinguish whether the driver has "intentionally accelerated sharply" or "accidentally stepped on the accelerator pedal". For example, stepping on the accelerator pedal suddenly to avoid potential threats from behind or in front in advance may be misjudged as an erroneous operation. At the same time, the accuracy of the predicted trajectory depends on high-precision maps and positioning systems (such as GPS signals that are susceptible to interference).

[0005] The current method of judging whether the accelerator is accidentally pressed mainly relies on data from vehicle dynamics and environmental perception sensors. Solutions that rely solely on vehicle conditions and the environment have core flaws such as misjudgment of intent, environmental dependence, and lack of personalization. Summary of the invention

[0006] The current accelerator mis-stepping prevention system only relies on vehicle dynamics and lane environment to determine whether the accelerator is mis-stepped, and there is still a problem of misjudgment. To solve this problem, the present invention provides an accelerator mis-stepping prevention method, which includes the following steps:

[0007] S1: When the vehicle is started, the following information is obtained: the current location and destination of the vehicle; information about obstacles around the vehicle; steering wheel angle; current speed and current status of the throttle (rate of change and degree of pedaling); data from biosensors on the vehicle's steering wheel and driver's seat. The sensors are tested in real time to see if they are working properly, and if a fault occurs, the fault is reported.

[0008] S2: The multi-dimensional perception module monitors the changes in various indicator values ​​and transmits the data to the control center in real time.

[0009] S3: Determine the current driving mode of the vehicle through the data sent back by the multi-dimensional perception module, and then adjust the minimum dynamic safety distance threshold in turn.

[0010] S4: The control system receives information about obstacles around the vehicle monitored by the multi-dimensional perception module; the current vehicle speed; the current status of the throttle (rate of change and degree of depression); the steering wheel angle; and data from the biosensors of the vehicle steering wheel and driver's seat. At the same time, the severity of the change is detected in real time and compared with the normal fluctuation threshold.

[0011] The accelerator misapplication system is activated when the sensor experiences one or more of the following abnormal conditions:

[0012] The current vehicle speed is outside the set vehicle speed threshold range; the current throttle opening > the set opening threshold; the distance from the obstacle closest to the vehicle within the detection range is about to approach the dynamic safety distance threshold; the current throttle opening > the set opening threshold or the current throttle opening change rate > the set change rate threshold; the data of the driver's biosensor fluctuates significantly.

[0013] S5: After the accelerator mis-operation system is activated, the control system issues different instructions according to different abnormal situations.

[0014] (1) If one or more of the following conditions are met, it will not be determined as an accidental step and no intervention will be performed, but an alarm will be issued:

[0015] ① The current vehicle speed is outside the set vehicle speed threshold range; ② The current throttle opening > the set opening threshold; ③ The current throttle opening change rate > the set change rate threshold; ④ The data of the driver's biosensor fluctuates violently and is accompanied by jitter; ⑤ The data of the driver's biosensor increases relatively steadily and the jitter amplitude is not large. At the same time, the vehicle body has tilted when the throttle changes significantly. The distance from the nearest obstacle to the vehicle within the detection range is about to approach the dynamic safety distance threshold.

[0016] (2) The system determines that the accelerator is accidentally pressed and issues an alarm before braking:

[0017] If one or more of the above (1) except ⑤ is satisfied and the distance between the nearest obstacle to the vehicle in the detection range is about to approach the dynamic safety distance threshold, it is determined that the accelerator is accidentally pressed and an alarm is issued without actively stopping the accelerator accidental pressing system. At this time, when approaching the limit braking distance, the accelerator accidental pressing system activates the brake.

[0018] Furthermore, the present invention provides a system for determining whether the accelerator is accidentally pressed, the system comprising a multi-dimensional perception module (data acquisition), a control center (data processing) and an execution module.

[0019] Among them, the multi-dimensional perception module includes an environmental perception module for obtaining the obstacle conditions around the vehicle during driving; a vehicle dynamic perception module for obtaining the vehicle's driving speed, throttle opening and change rate; and a biological signal perception module for monitoring the driver's biological signals.

[0020] The control center and the execution module receive the data features from the multi-dimensional perception module and fuse them to determine whether the accelerator is accidentally pressed.

[0021] The execution module receives instructions from the control center and executes alarm or braking actions.

[0022] The vehicle of the present invention should include the following parts:

[0023] Multi-dimensional perception module: This module should include three sub-modules: vehicle dynamics + biological signals + environmental perception.

[0024] Furthermore, the vehicle dynamic perception module should include a vehicle speed monitoring sensor for obtaining the real-time speed of the vehicle, a throttle opening sensor for detecting the current throttle opening, a throttle angle sensor for detecting the current rate of change of the throttle, and a steering wheel angle sensor for determining the driving angle of the vehicle body.

[0025] The environment perception module includes at least a forward ultrasonic radar and a surround-view camera, which are used to obtain obstacle information in the direction of vehicle travel.

[0026] The bio-signal submodule includes an electromyographic sensor for determining the degree of muscle contraction of the driver, a grip force sensor for determining changes in the driver's steering wheel grip force, and a pressure distribution sensor for determining whether there is a sudden change in the center of gravity on the seat.

[0027] Furthermore, the above vehicle trajectory prediction can be performed by reading the navigation route predetermined by the user, the driver's steering wheel angle and the vehicle speed.

[0028] Furthermore, if the above sensor fails, the main control system reports the fault on the vehicle computer page and turns on the fault light.

[0029] Furthermore, the above-mentioned mis-stepping alarm signal includes red flashing of the instrument panel + beeping prompt.

[0030] Furthermore, the physical quantities used to define the dynamic safety distance threshold include: initial speed and the nearest obstacle distance.

[0031] Further, the dynamic safety distance formula is: dynamic safety distance = (v2) / (2μg) + reaction distance (where v is the current speed; μ is the road friction coefficient; g is the acceleration of gravity).

[0032] The above-mentioned active termination of the accelerator accidental pressing system behavior further includes two methods: a voice system and a backup physical button.

[0033] Further voice release or activation of the accelerator accidental step system requires the driver's voice recording before use; physical button release or activation requires 3 clicks within a short period of time.

[0034] Furthermore, in the above-mentioned vehicle, a grip force sensor covers the 3 o'clock and 9 o'clock positions of the steering wheel; a pressure distribution sensor is embedded in the front 1 / 3 area of ​​the seat cushion; and an electromyography sensor is integrated on the seat surface at a distance of ≤5mm from the skin.

[0035] This solution deeply integrates vehicle dynamic data, environmental perception information and driver biosignals (such as electromyography value, steering wheel grip) to build a multi-dimensional cross-validation mechanism to accurately identify the intention of mis-stepping. The system gives priority to reminding the driver with non-invasive warnings and retains his control; if abnormal operation is detected after the warning and the biosignals (muscle tension, grip force surge) change synchronously, a dual safety response (power suppression + active braking) is triggered to avoid misjudgment and interfere with normal driving (such as emergency overtaking) while achieving active risk avoidance. The biosensor adopts a concealed integrated design, taking into account the high robustness and human-computer interaction comfort in rainy and snowy / nighttime environments, and by adding a driver's active release mechanism (such as long pressing the steering wheel button), it ensures that the system can quickly restore control when it is triggered by mistake. In the future, multimodal data will be further integrated to optimize the real-time and intelligent level of human-machine collaborative control, providing accurate, flexible and humanized solutions for active safety systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The following is a flow chart of a method for preventing accidental stepping on the accelerator according to an embodiment of the present invention:

[0037] Figure 2 This is a schematic diagram of the structure of the accelerator anti-misoperation device according to an embodiment of the present invention:

[0038] Figure 3 and Figure 4 This is a schematic diagram of setting a biological monitoring sensor in a car according to an embodiment of the present invention:

[0039] Reference numerals

[0040] 1 Exit anti-accidental stepping system button; 2 Grip force sensor; 3 Electromyography sensor; 4 Pressure distribution sensor. DETAILED DESCRIPTION

[0041] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention, and the embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present invention.

[0042] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0043] Example 1: Accelerator Trigger Verification in Low-Speed ​​Scenarios (Combined with Figure 1-4 Schematic diagram)

[0044] S1: After the vehicle starts, the multi-dimensional perception module starts synchronously and reads the user's travel information:

[0045] Activate multi-dimensional perception modules: ① Vehicle dynamic perception module: vehicle speed sensor (not indicated in the figure); electronic accelerator pedal sensor (not indicated in the figure); ② Environmental perception module: forward ultrasonic radar (not indicated in the figure); surround view camera (not indicated in the figure). ③ Bio-signal perception module: grip sensor 2; electromyography sensor 3; pressure distribution sensor 4. At the same time, the main control system does not report sensor failure problems on the vehicle computer page and the fault light is not on.

[0046] Read user location and destination information and predict trajectory.

[0047] The system detects that the vehicle is at a low speed through the speed sensor; the surround-view camera identifies the type of obstacle, which is assumed to be a concrete pillar, while the forward ultrasonic radar detects the distance to the concrete pillar in front; the system then automatically calculates the minimum dynamic safety distance threshold for this low speed condition based on the dynamic safety distance formula (dynamic safety distance = (v2) / (2μg); v is the current speed; μ is the road friction coefficient; g is the acceleration of gravity.

[0048] S2: The main control system monitors the signal value changes of the multi-dimensional perception module (including three sub-perception modules: vehicle dynamics, environmental perception, and biological signals) in real time.

[0049] S3: Determine the current driving mode of the vehicle through the data sent back by the multi-dimensional perception module, and then adjust the minimum dynamic safety distance threshold in turn.

[0050] At this time, the initial speed and the distance to the nearest obstacle detected by the multi-dimensional perception module, in turn, define the minimum dynamic safety distance threshold in the low-speed scenario.

[0051] S4: Abnormal indicator value activates the accelerator mis-stepping system

[0052] At this time, the monitored data showed the following anomalies: the throttle opening suddenly increased from the initial position to the threshold; the distance between the vehicle and the nearest concrete column was close to the dynamic safety threshold; the throttle change rate exceeded the threshold; the steering wheel grip exceeded the normal fluctuation threshold and the jitter amplitude was large; the seat pressure center moved beyond the threshold within the threshold time; the electromyography RMS value of a leg exceeded the threshold and the jitter amplitude was large.

[0053] System judgment: After detecting the above data abnormalities, the system mis-stepping probability model inputs (steering wheel grip, current speed, throttle change rate, obstacle dynamic distance, electromyography RMS value) and outputs the mis-stepping probability. At this time, the output mis-stepping probability is >95%, exceeding the threshold of 80%, proving that the accelerator is mis-stepped. The system activates the accelerator mis-stepping system and issues corresponding instructions to the execution module.

[0054] S5: After the accelerator mis-operation system is activated, the control system issues different instructions according to different abnormal situations.

[0055] The control center will first trigger the primary alarm (the dashboard flashes red + beeping). If the throttle opening does not decrease within the threshold time and the biological signal continues to be abnormal, the system will activate the braking system:

[0056] After the primary alarm is triggered, the driver does not actively press button 2 to exit the accelerator accidental stepping prevention system or voice terminate the accelerator accidental stepping system.

[0057] The control center then sends instructions to the execution module to limit power transmission, apply the brakes, initiate full braking according to the collision time, turn on the hazard lights synchronously and record the event log.

[0058] Example 2: Verification of preventing false triggering in congested following scenarios

[0059] Scenario description: The vehicle is following a car at a low speed, the car in front stops, and the driver actively accelerates to change lanes.

[0060] S1: After the vehicle starts, the multi-dimensional perception module starts synchronously and reads the user's travel information:

[0061] Activate multi-dimensional perception modules: ① Vehicle dynamic perception module: vehicle speed sensor (not indicated in the figure); electronic accelerator pedal sensor (not indicated in the figure); ② Environmental perception module: forward ultrasonic radar (not indicated in the figure); surround view camera (not indicated in the figure). ③ Bio-signal perception module: grip sensor 2; electromyography sensor 3; pressure distribution sensor 4. At the same time, the main control system does not report sensor failure problems on the vehicle computer page and the fault light is not on.

[0062] Read user location and destination information and predict trajectory.

[0063] S2: The main control system monitors the signal value changes of the multi-dimensional perception module (including three sub-perception modules: vehicle dynamics, environmental perception, and biological signals) in real time.

[0064] S3: Determine the current driving mode of the vehicle through the data sent back by the multi-dimensional perception module, and then adjust the minimum dynamic safety distance threshold in turn.

[0065] At this time, the initial speed and the distance to the nearest obstacle detected by the multi-dimensional perception module will in turn define the minimum dynamic safety distance threshold in the acceleration lane change scenario.

[0066] S4: Abnormal indicator value activates the accelerator mis-stepping system

[0067] At this time, the monitored data showed the following abnormalities: the throttle opening suddenly increased from the initial position to the threshold; the distance between the vehicle and the nearest obstacle was close to the dynamic safety threshold; the steering wheel angle changed in advance; the throttle change rate exceeded the threshold; the steering wheel grip fluctuated normally but the jitter amplitude was normal; the seat pressure center moved within the threshold time without exceeding the threshold; the electromyography RMS of the legs increased but the jitter amplitude was normal.

[0068] System judgment: After detecting the above data abnormalities, the system mis-stepping probability model inputs (steering wheel grip, current speed, throttle change rate, obstacle dynamic distance, electromyography RMS value) and outputs the mis-stepping probability. At this time, the output mis-stepping probability is <5%, which is lower than the threshold of 80%, proving that there is no mis-stepping of the accelerator. The system activates the accelerator mis-stepping system and issues corresponding instructions to the execution module.

[0069] S5: After the accelerator mis-operation system is activated, the control system issues different instructions according to different abnormal situations.

[0070] The control center triggers the primary alarm at this time (the dashboard flashes red + the buzzer prompts).

[0071] After the primary alarm is triggered, the driver does not need to actively press the exit anti-accidental step system button 2 or voice terminate the accelerator accidental step system. The system's primary alarm will automatically disappear after a few seconds, and the hazard lights will be turned on simultaneously and the event log will be recorded.

[0072] In the above embodiment, a biosignal sensor module is added to the accelerator mistakenly pressing judgment system, which can effectively increase the probability of misjudgment and avoid accidents caused by mistakenly pressing the accelerator when braking, thereby ensuring the life and property safety of the driver, and also ensuring the safety of surrounding people and obstacles when parking; at the same time, the cost is low, easy to be accepted by customers, and the probability of customer vehicle accidents is reduced; for new drivers, it also eliminates the worry about accidentally pressing the accelerator when parking.

[0073] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining whether the accelerator is accidentally pressed, characterized in that: The following steps are involved: S1: After the vehicle is started, the following data are obtained through the multi-dimensional perception module: vehicle location, destination information, obstacle information, steering wheel angle, current vehicle speed, throttle opening and change rate, driver's biological signal data; real-time detection of sensor status, and alarm if there is a fault; S2: The multi-dimensional perception module transmits data to the control center in real time; S3: Determine the vehicle driving mode based on the returned data and dynamically adjust the safety distance threshold; S4: The control center monitors the severity of data changes and activates the accelerator mis-stepping system when at least one of the following abnormalities is met: the vehicle speed exceeds the threshold range, the throttle opening and change rate exceed the threshold, the obstacle distance approaches the safety distance threshold, and the driver's bio-signal data fluctuation exceeds the normal range; S5: Execute warning and braking operations according to abnormal combinations: If only the vehicle speed, throttle opening / change rate, and driver biosignal data fluctuate abnormally but there is no threat of nearby obstacles, the alarm is triggered; If the above anomalies are met at the same time and the obstacle distance is close to the safety distance threshold, it is determined that the brake is pressed incorrectly and the braking operation is performed.

2. The method according to claim 1, characterized in that The calculation formula of the safety distance threshold is: Safety distance threshold = (v2) / (2μg)+reaction distance, where v is the current vehicle speed, μ is the road friction coefficient, and g is the acceleration due to gravity.

3. The method according to claim 1, characterized in that The driver's biological signal data includes at least one of: changes in steering wheel grip force, changes in seat pressure distribution, and leg electromyographic signals.

4. The method according to claim 1, characterized in that: The conditions for triggering the braking operation in step S5 further include: within the threshold time after the alarm, no decrease in the throttle opening is detected, and the driver's biological signal data continues to be abnormal.

5. The method according to claim 1, characterized in that It also includes a mechanism for the driver to actively cancel the accidental stepping system: through voice commands, physical buttons, and multiple triggering in a short period of time, the system intervention will be terminated.

6. A system for determining whether the accelerator is accidentally pressed, characterized in that: include: Multi-dimensional perception module: including vehicle dynamic perception submodule, environment perception submodule, and biological signal perception submodule; Vehicle dynamic perception submodule, including vehicle speed sensor, throttle sensor, and steering wheel angle sensor; Environmental perception submodule, including ultrasonic radar and surround-view camera; Bio-signal sensing submodule, including grip force sensor, pressure distribution sensor, and electromyography sensor; Control center: used to integrate multi-dimensional data, dynamically calculate the safety distance threshold, determine the probability of mis-stepping and generate instructions; Execution module: performs alarm, power limitation and braking operations according to instructions.

7. The system according to claim 6, characterized in that The sensor configuration of the bio-signal sensing submodule includes: grip force sensors at the 3 o'clock and 9 o'clock positions of the steering wheel, pressure distribution sensors in the front 1 / 3 area of ​​the seat, and integrated electromyography sensors on the seat surface that are ≤5mm away from the skin.

8. A vehicle, characterized in that: It comprises a system for determining if the accelerator is accidentally pressed as described in any one of claims 6-7.

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