Automobile reversing control method and device, storage medium and equipment

Abstract

The invention provides an automobile reversing control method and device, a storage medium and equipment.The method comprises the steps that when an automobile is in a reversing gear, obstacle information, detected by an ultrasonic radar, on a reversing driving path is received, and if the obstacle information indicates that an obstacle exists in a target area, a braking request signal is sent to a braking system according to the obstacle information; and if the obstacle information indicates that no obstacle exists in the target area, a crawling torque request signal is sent to the driving system when it is judged that an accelerator pedal is mistakenly stepped according to the accelerator depth and the accelerator change rate. In this way, safety protection under the reversing condition is achieved, when the vehicle approaches the obstacle, collision is avoided by requesting braking, when the driver steps on the accelerator by mistake, the accelerator requirement of the driver is not responded, the collision risk caused by misoperation during reversing is reduced, and therefore the safety of the vehicle in the reversing process is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to an automobile reversing control method, device, storage medium and equipment. Background Art

[0002] With the development of automobile technology, automatic emergency braking and accelerator mis-stepping prevention functions have become important means to improve driving safety. These technologies monitor the driving environment through intelligent systems, predict and respond to potential dangerous situations, and effectively reduce the occurrence of traffic accidents. However, the current automatic emergency braking and accelerator mis-stepping prevention functions mainly focus on the safety protection of the vehicle's forward direction, and lack sufficient protection mechanisms for reversing, which leads to poor safety of the car during reversing. Summary of the invention

[0003] The purpose of the present application is to provide a method, device, storage medium and equipment for controlling a vehicle reversing, aiming to solve the problem of poor safety of a vehicle during reversing in the related art.

[0004] In a first aspect, the present application provides a method for controlling a reverse movement of a vehicle, comprising: when the vehicle is in a reverse gear, receiving obstacle information on a reverse driving path detected by an ultrasonic radar; if the obstacle information indicates that there is an obstacle in a target area, sending a braking request signal to a braking system according to the obstacle information, and sending a zero torque request signal to a drive system; if the obstacle information indicates that there is no obstacle in the target area, when it is determined that the accelerator pedal is accidentally stepped on according to the throttle depth and the throttle change rate, sending a creep torque request signal to the drive system.

[0005] In the above implementation process, when the vehicle is in reverse gear, the obstacle information on the reverse driving path detected by the ultrasonic radar is received. If the obstacle information indicates that there is an obstacle in the target area, a brake request signal is sent to the brake system according to the obstacle information, and a zero torque request signal is sent to the drive system. If the obstacle information indicates that there is no obstacle in the target area, when the accelerator pedal is judged to be mistakenly stepped on according to the accelerator depth and the accelerator change rate, a creep torque request signal is sent to the drive system. In this way, the safety protection of the reverse situation is realized. When the vehicle approaches an obstacle, the collision is avoided by requesting braking. When the driver mistakenly steps on the accelerator, the driver's accelerator demand is not responded to, reducing the risk of collision caused by misoperation during reverse operation, thus effectively improving the safety of the car during reverse operation.

[0006] Furthermore, in some examples, before receiving the obstacle information on the reversing path detected by the ultrasonic radar, it includes: detecting whether the reversing anti-accidental stepping function is in an on state; the reversing anti-accidental stepping function is turned on or off by the driver through voice or the central control screen; the step of receiving the obstacle information on the reversing path detected by the ultrasonic radar is executed when the detection result is yes.

[0007] During the above implementation process, the driver can turn on or off the reverse anti-accidental step function through voice or the central control screen according to his or her driving habits and needs. Through this personalized setting, the driving comfort and satisfaction can be improved.

[0008] Further, in some examples, the obstacle information includes the position and distance of the obstacle; sending a braking request signal to the braking system based on the obstacle information includes: calculating the braking deceleration based on the position and distance of the obstacle, as well as the current vehicle speed and gear; generating a braking request signal based on the braking deceleration, and sending the braking request signal to the braking system.

[0009] In the above implementation process, when an obstacle is detected, the braking deceleration is calculated according to the position and distance of the obstacle, combined with the current vehicle speed and gear position, and then a braking request signal is generated and sent to the braking system. After receiving the signal, the braking system will adjust the braking force according to the braking deceleration requirements, thereby ensuring that the vehicle can stop smoothly before colliding with the obstacle and ensuring driving safety.

[0010] Further, in some examples, when it is determined based on the throttle depth and the throttle change rate that the accelerator pedal is mistakenly stepped on, a creep torque request signal is sent to the drive system, including: when the throttle depth is greater than or equal to a first depth value, and the throttle change rate is greater than or equal to a preset change rate, or when the throttle depth is equal to a second depth value, a creep torque request signal is sent to the drive system; the first depth value is less than the second depth value.

[0011] In the above implementation process, a specific method is provided for determining whether the accelerator pedal is mistakenly stepped on according to the accelerator depth and the accelerator change rate.

[0012] Further, in some examples, the method is applied to a vehicle controller; the vehicle controller includes an anti-collision braking system and an accelerator mis-stepping prevention system; when the anti-collision braking system is activated, the steps of sending a braking request signal to the braking system according to the obstacle information and sending a zero torque request signal to the drive system are executed; when the accelerator mis-stepping prevention system is activated, the step of sending a creep torque request signal to the drive system is executed.

[0013] In the above implementation process, the reverse anti-misstep function is implemented as two subsystems. The first subsystem is the anti-collision braking system, which can detect obstacles on the driving path through ultrasonic radar when the vehicle is reversing, and avoid collision by requesting braking when the vehicle approaches obstacles. The second subsystem is the throttle anti-misstep system, which can detect whether the accelerator pedal is accidentally stepped on when the vehicle is reversing and there are no obstacles around, and will not respond to the driver's throttle demand if it is. In this way, driving safety during reversing is effectively improved.

[0014] Furthermore, in some examples, it also includes: when the anti-collision braking system or the throttle anti-misstepping system is activated, a function activation signal is sent to the instrument, so that the instrument displays a text prompt and / or a sound prompt.

[0015] In the above implementation process, when the reverse anti-misstep function is activated, a function activation signal is sent to the instrument, and the instrument gives the driver information prompts, thereby improving the driver's user experience.

[0016] Further, in some examples, after the anti-collision braking system is activated, if the vehicle state satisfies any of the following conditions, the anti-collision braking system exits the activation state: the vehicle is in the parking gear; the vehicle is in the forward gear, and the throttle depth is less than a third depth value; the distance between the obstacle and the vehicle is greater than the target distance value, and the vehicle speed is zero.

[0017] In the above implementation process, a judgment condition for the anti-collision braking system to exit the activation state is provided to reduce the occurrence of unnecessary braking actions.

[0018] Further, in some examples, after the throttle anti-misoperation system is activated, if the vehicle state meets any of the following conditions, the throttle anti-misoperation system exits the activation state: the vehicle is in parking gear or neutral gear; the vehicle is in forward gear and the throttle depth is less than the third depth value; the throttle depth is less than the fourth depth value; wherein the third depth value is greater than the fourth depth value.

[0019] In the above implementation process, the judgment condition for the throttle accidental stepping prevention system to exit the activation state is provided to improve the accuracy of the throttle accidental stepping prevention system and effectively reduce unnecessary interference.

[0020] Further, in some examples, after the anti-collision braking system and the throttle anti-misoperation system are both activated, if the vehicle state satisfies any condition for the anti-collision braking system to exit the activation state, the anti-collision braking system and the throttle anti-misoperation system both exit the activation state.

[0021] In the above implementation process, the anti-collision braking system and the throttle anti-misoperation system can be activated at the same time. If the throttle anti-misoperation system is activated but not deactivated, the anti-collision braking system will also be deactivated when the vehicle status satisfies the judgment condition for the anti-collision braking system to deactivate. In this way, the reliability of the system is improved.

[0022] Furthermore, in some examples, the sensitivity of the anti-collision braking system and the throttle anti-misstepping system is adjusted by the driver through voice or the central control screen; after the vehicle detects the existence of an obstacle in the target area, the distance at which braking is started is positively correlated with the sensitivity of the anti-collision braking system; the throttle depth threshold and the throttle change rate threshold are both negatively correlated with the sensitivity of the throttle anti-misstepping system; the throttle depth threshold and the throttle change rate threshold are thresholds for determining whether the accelerator pedal is mistakenly stepped on.

[0023] In the above implementation process, the driver can adjust the sensitivity of the anti-collision braking system and the throttle mis-stepping prevention system. The greater the sensitivity of the anti-collision braking system, the greater the distance the vehicle starts braking after detecting an obstacle, and the greater the sensitivity of the throttle mis-stepping prevention system, the smaller the throttle depth threshold and throttle change rate threshold. In this way, the driver's experience is effectively improved.

[0024] In the second aspect, the present application provides a vehicle reversing control device, including: an information receiving module, which is used to receive obstacle information on the reversing driving path detected by an ultrasonic radar when the vehicle is in a reverse gear; an anti-collision braking module, which is used to send a braking request signal to the braking system according to the obstacle information if the obstacle information indicates that there is an obstacle in the target area, and send a zero torque request signal to the drive system; a throttle anti-misstepping module, which is used to send a creep torque request signal to the drive system if the obstacle information indicates that there is no obstacle in the target area, and when it is judged that the throttle pedal is mistakenly stepped on according to the throttle depth and the throttle change rate.

[0025] In a third aspect, the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0026] In a fourth aspect, the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0027] In a fifth aspect, the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0028] Other features and advantages disclosed in the present application will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned technology disclosed in the present application.

[0029] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 A flow chart of a vehicle reversing control method provided in an embodiment of the present application; Figure 2 A schematic diagram of the workflow of a reversing anti-misstepping solution based on ultrasonic radar detection provided in an embodiment of the present application; Figure 3 A block diagram of a vehicle reversing control device provided in an embodiment of the present application; Figure 4 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0033] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0034] As described in the background technology, the current automatic emergency braking function and the accelerator anti-misstep function are mainly implemented in the forward direction of the vehicle, without considering the reversing situation. Therefore, during the reversing process of the vehicle, if pedestrians or other obstacles suddenly appear at the rear, the system's detection and response capabilities are limited, and there is a risk of collision. Alternatively, if the driver accidentally steps on the accelerator, the vehicle may suddenly accelerate, making it difficult for the driver to quickly adjust the direction, increasing the risk of collision, and resulting in poor safety of the car during reversing.

[0035] In response to the above problems, an embodiment of the present application provides a car reversing control solution. During the vehicle reversing process, ultrasonic radar is used to detect obstacles behind the vehicle. At the same time, the automatic emergency braking function and the throttle anti-misstepping function are combined. When the driver accidentally steps on the accelerator, the power can be cut off. When an obstacle is detected, the vehicle can automatically perform emergency braking, thereby effectively improving the safety of the car during the reversing process.

[0036] Next, the embodiments of the present application are introduced: like Figure 1 As shown, Figure 1 This is a flow chart of a vehicle reversing control method provided in an embodiment of the present application. The method can be applied to a vehicle control unit (VCU) of an electric vehicle. It should be noted that the throttle mentioned in this embodiment refers to the electronic throttle of the electric vehicle, which can also be called the electric throttle.

[0037] The method comprises: Step 101: When the vehicle is in reverse gear, receiving obstacle information on the reverse driving path detected by the ultrasonic radar; The automatic emergency braking function and the accelerator anti-misstepping function in the related technology require high hardware configuration, including but not limited to laser radar, millimeter wave radar and high-definition camera, etc. The hardware cost is high and it is difficult to apply to vehicles with lower configuration. The solution of this embodiment uses ultrasonic radar to detect obstacles on the vehicle's reversing path, which effectively reduces the hardware cost. The ultrasonic radar here is a radar sensor device that uses ultrasonic waves to detect targets. It emits ultrasonic waves outward through an ultrasonic transmitting device, and then uses a receiver to receive the reflected ultrasonic waves, and measures the distance by measuring the time difference between transmission and reception. When implemented, the ultrasonic radar can be installed at the rear of the car.

[0038] In some embodiments, the step of receiving the obstacle information on the reversing driving path detected by the ultrasonic radar mentioned in this step may include: detecting whether the reversing anti-misstepping function is in the on state; the reversing anti-misstepping function is turned on or off by the driver through voice or central control screen; the step of receiving the obstacle information on the reversing path detected by the ultrasonic radar is executed when the detection result is yes. In other words, the scheme of this embodiment can be implemented as the reversing anti-misstepping function of the vehicle controller. The driver can turn on or off the reversing anti-misstepping function through voice or central control screen according to his driving habits and needs. When the function is turned on, the vehicle controller automatically requests power off or emergency braking according to the detected throttle misstepping and collision risk. When the function is turned off, the driver controls the vehicle to reverse. In this way, through this personalized setting, the driving comfort and satisfaction are improved. Of course, in other embodiments, the reversing anti-misstepping function can also be intelligently turned on or off by the vehicle controller.

[0039] Step 102: If the obstacle information indicates that there is an obstacle in the target area, a braking request signal is sent to the braking system according to the obstacle information, and a zero torque request signal is sent to the driving system; The target area mentioned in this step may refer to a fan-shaped or cone-shaped area centered on the ultrasonic radar and extending outward. When the obstacle distance detected by the ultrasonic radar is less than or equal to the preset obstacle distance threshold, it can be determined that there is an obstacle in the target area. The preset obstacle distance threshold here can be 0.5 meters. Of course, in other embodiments, the obstacle distance threshold can also be set differently according to the needs of the specific scene, such as the type of ultrasonic radar, the response speed of the braking system, etc.

[0040] When there is an obstacle in the target area, the vehicle controller requests braking according to the obstacle information and sends a zero torque request signal to the drive system to avoid collision between the vehicle and the obstacle. The zero torque request signal here is a signal requesting to reduce the torque to zero. In some embodiments, the obstacle information mentioned in this step may include the position and distance of the obstacle, and the sending of the braking request signal to the braking system according to the obstacle information mentioned in this step may include: calculating the braking deceleration according to the position and distance of the obstacle, as well as the current vehicle speed and gear; generating a braking request signal according to the braking deceleration, and sending the braking request signal to the braking system. That is, when an obstacle is detected, the vehicle controller calculates the braking deceleration according to the position and distance of the obstacle, combined with the current vehicle speed and gear, and then generates a braking request signal, and sends it to the braking system through the vehicle's communication network, such as a CAN (Controller Area Network) bus. After receiving the signal, the braking system will adjust the magnitude of the braking force according to the braking deceleration requirement, thereby ensuring that the vehicle can achieve a smooth stop before colliding with the obstacle and ensuring driving safety.

[0041] In addition, after braking, when the vehicle speed is less than or equal to the target speed, the vehicle controller will send a parking gear request signal to the braking system. The target speed here can be 15km / h, of course, it can also be set differently according to different vehicle models.

[0042] Step 103: If the obstacle information indicates that there is no obstacle in the target area, when it is determined that the accelerator pedal is mistakenly stepped on according to the accelerator depth and the accelerator change rate, a creep torque request signal is sent to the drive system.

[0043] In this embodiment, the automatic emergency braking function for reversing and the accelerator anti-misstepping function are combined into one function. When the vehicle is reversing and there are no obstacles around, the vehicle controller determines whether the accelerator pedal is mistakenly stepped on according to the accelerator depth and accelerator change rate. If it is determined that the driver has mistakenly stepped on the accelerator pedal, the vehicle controller sends a creep torque request signal to the drive system. After receiving the signal, the drive system will adjust the torque output of the motor so that the vehicle can crawl at a stable speed. In this way, the stability of the reversing process is improved.

[0044] In some embodiments, when it is determined in this step that the accelerator pedal is mistakenly stepped on based on the throttle depth and the throttle change rate, sending a creep torque request signal to the drive system may include: when the throttle depth is greater than or equal to a first depth value, and the throttle change rate is greater than or equal to a preset change rate, or when the throttle depth is equal to a second depth value, sending a creep torque request signal to the drive system; the first depth value is less than the second depth value. That is to say, taking the first depth value as 70%, the second depth value as 100%, and the preset change rate as 400% / s as an example, when the throttle depth is greater than or equal to 70%, and the throttle change rate is greater than or equal to 400% / s, it indicates that the throttle is violently stepped on in a very short time. This may be caused by the driver being nervous or distracted when reversing and mistakenly stepping on the throttle as the brake. Therefore, the vehicle controller determines that the throttle pedal is mistakenly stepped on. At this time, the vehicle controller sends a creep torque request signal to the drive system. Alternatively, when the throttle depth is equal to 100%, since extreme acceleration is usually not required when reversing, the vehicle controller also believes that the throttle pedal is mistakenly stepped on, and then sends a creep torque request signal to the drive system, thereby reducing the risk of collision caused by misoperation when reversing. Among them, the first depth value, the second depth value and the preset change rate can be set differently according to the needs of different scenarios, and this application does not limit this.

[0045] In some embodiments, the vehicle controller may include an anti-collision braking system and an anti-accidental throttle pedaling system; when the anti-collision braking system is activated, the steps of sending a braking request signal to the braking system according to the obstacle information and sending a zero torque request signal to the drive system are executed; when the anti-accidental throttle pedaling system is activated, the steps of sending a creep torque request signal to the drive system are executed. In other words, the reverse anti-accidental pedaling function is implemented as two subsystems. The first subsystem is the anti-collision braking system, which can detect obstacles on the driving path through ultrasonic radar when the vehicle is reversing, and avoid collision by requesting braking when the vehicle approaches obstacles. The second subsystem is the anti-accidental throttle pedaling system, which can detect whether the accelerator pedal is accidentally stepped on when the vehicle is reversing and there are no obstacles around, and if so, it will not respond to the driver's throttle demand. In this way, driving safety during reversing is effectively improved.

[0046] Furthermore, in some embodiments, it may also include: when the anti-collision braking system or the throttle mis-stepping prevention system is activated, a function activation signal is sent to the instrument, so that the instrument displays a text prompt and / or a sound prompt. That is, when the reverse mis-stepping prevention function is activated, the vehicle controller sends a function activation signal to the instrument, and the instrument gives the driver information prompts, thereby improving the driver's experience.

[0047] In addition, in some embodiments, after the anti-collision braking system is activated, if the vehicle state meets any of the following conditions, the anti-collision braking system exits the activation state: the vehicle is in the parking gear; the vehicle is in the forward gear, and the throttle depth is less than the third depth value; the distance between the obstacle and the vehicle is greater than the target distance value, and the vehicle speed is zero. That is to say, after the anti-collision braking system is activated, it will continue to send a braking request signal to the braking system and send a zero torque request signal to the drive system. When the vehicle is in the parking gear, since there is no risk of collision in a stationary state, the braking intervention will cause the vehicle to shake, etc., so the anti-collision braking system exits the activation state; similarly, when the vehicle is in the forward gear and the throttle depth is less than the third depth value, it indicates that the driver is actively controlling the vehicle speed through the accelerator pedal, so the anti-collision braking system exits the activation state to avoid automatic braking and its operation conflict; and when the obstacle distance is greater than the target distance value and the vehicle speed is zero, it indicates that there is no need for emergency braking at present, so the anti-collision braking system exits the activation state. In this way, the occurrence of unnecessary braking actions is effectively reduced.

[0048] The third depth value may be 3%, and the target distance value may be the distance value obtained by adding the preset obstacle distance threshold mentioned above to the hysteresis interval. For example, if the preset obstacle distance threshold is 0.5m and the hysteresis interval is 0.2m, the target distance value may be 0.7m. In addition, when the anti-collision braking system exits the activation state, it will jump to the function-on state, but will not be turned off.

[0049] In some embodiments, after the throttle anti-misstepping system is activated, if the vehicle state meets any of the following conditions, the throttle anti-misstepping system exits the activation state: the vehicle is in parking gear or neutral gear; the vehicle is in forward gear and the throttle depth is less than the third depth value; the throttle depth is less than the fourth depth value; wherein the third depth value is greater than the fourth depth value. That is to say, after the throttle anti-misstepping system is activated, it will continue to send a creep torque request signal to the drive system. When the vehicle is in parking gear or neutral gear, it indicates that the vehicle is not in a driving state. At this time, the throttle anti-misstepping system exits the activation state, which can reduce the energy consumption of the system and unnecessary interference; similarly, when the vehicle is in forward gear and the throttle depth is less than the third depth value, it indicates that the driver is actively controlling the vehicle speed through the throttle pedal. Therefore, the throttle anti-misstepping system exits the activation state to avoid conflict with its operation; and when the throttle depth is less than the fourth depth value, it indicates that the throttle depth is extremely small, which usually does not change the running state of the vehicle and does not affect driving safety. Therefore, the throttle anti-misstepping system exits the activation state. In this way, the accuracy of the throttle anti-misoperation system is improved and unnecessary interference is effectively reduced.

[0050] Furthermore, in some embodiments, after both the anti-collision braking system and the throttle anti-misstepping system are activated, if the vehicle state satisfies any condition for the anti-collision braking system to exit the activation state, both the anti-collision braking system and the throttle anti-misstepping system will exit the activation state. In other words, the anti-collision braking system and the throttle anti-misstepping system can be in the activated state at the same time. For example, when the vehicle gradually approaches an obstacle while reversing, the throttle anti-misstepping system is activated but not exited, while the anti-collision braking system is activated. Then, when the vehicle state satisfies the anti-collision braking system exit condition, the throttle anti-misstepping system will also exit the activation state. In this way, the reliability of the system is improved.

[0051] In addition, in some embodiments, the sensitivity of the anti-collision braking system and the throttle anti-misstepping system can be adjusted by the driver through voice or the central control screen; after the vehicle detects the existence of an obstacle in the target area, the distance at which braking begins is positively correlated with the sensitivity of the anti-collision braking system; the throttle depth threshold and the throttle change rate threshold are both negatively correlated with the sensitivity of the throttle anti-misstepping system; the throttle depth threshold and the throttle change rate threshold are thresholds for determining whether the throttle pedal is mistakenly stepped on. In other words, when the driver turns on the reverse anti-misstepping function, he can adjust the sensitivity of the anti-collision braking system and the throttle anti-misstepping system according to his driving preferences and actual scenarios. There are multiple control strategies that can be stored in the anti-collision braking system. Different control strategies correspond to different starting braking distances. When working, the anti-collision braking system selects the corresponding control strategy to execute according to the current sensitivity. The greater the sensitivity, the greater the distance at which the vehicle starts braking after detecting an obstacle. Similarly, there are multiple control strategies that can be stored in the throttle anti-misstepping system. Different control strategies correspond to different throttle depth thresholds and throttle change rate thresholds. The throttle anti-misstepping system determines whether the throttle pedal is mistakenly stepped on based on whether the current throttle depth of the vehicle is greater than or equal to the throttle depth threshold and whether the current throttle change rate is greater than or equal to the throttle change rate threshold. When working, the throttle anti-misstepping system selects the corresponding control strategy to execute according to the current sensitivity. The greater the sensitivity, the smaller the throttle depth threshold and throttle change rate threshold. In this way, the driver's experience is effectively improved.

[0052] In the embodiment of the present application, when the vehicle is in reverse gear, the obstacle information on the reverse driving path detected by the ultrasonic radar is received. If the obstacle information indicates that there is an obstacle in the target area, a brake request signal is sent to the brake system according to the obstacle information, and a zero torque request signal is sent to the drive system. If the obstacle information indicates that there is no obstacle in the target area, when the accelerator pedal is judged to be mistakenly stepped on according to the accelerator depth and the accelerator change rate, a creep torque request signal is sent to the drive system. In this way, safety protection for reversing is achieved. When the vehicle approaches an obstacle, a collision is avoided by requesting braking. When the driver mistakenly steps on the accelerator, the driver's accelerator demand is not responded to, reducing the risk of collision caused by misoperation during reversing. In this way, the safety of the car during reversing is effectively improved.

[0053] In order to explain the solution of this application in more detail, a specific embodiment is introduced below: This embodiment provides a reverse vehicle anti-accidental stepping solution based on ultrasonic radar detection. The solution is applied to the vehicle controller, which includes an anti-collision braking system and an accelerator anti-accidental stepping system. The workflow of the solution is as follows: Figure 2 As shown, including: S201, the reverse accidental stepping prevention function is turned on; specifically, the driver can turn on or off the reverse accidental stepping prevention function through voice or the central control screen, and can also adjust the sensitivity of the anti-collision braking system and the throttle accidental stepping prevention system; S202, determining whether the vehicle is in R (Reverse) gear and whether the vehicle speed is less than or equal to 15 km / h, if yes, executing S203, otherwise returning to S201; S203, the reverse parking prevention function is in standby mode; S204, determining whether the obstacle distance is less than or equal to 0.5 m, if yes, executing S205, otherwise executing S208; wherein the obstacle distance is obtained by ultrasonic radar detection; S205, the anti-collision braking subsystem is activated, and a request is made to brake and reduce the output torque of the motor to zero. Specifically, when the anti-collision braking subsystem is activated, the braking deceleration is calculated according to the obstacle distance detected by the ultrasonic radar, combined with the current vehicle speed and gear position, and a braking request signal and a braking deceleration request signal are sent to the braking system, and a zero torque request signal is sent to the drive system. After braking, the vehicle controller sends a P (Parking) gear request signal to the braking system, and sends a function activation signal to the instrument, and the instrument displays a text prompt and a sound prompt. S206, determining whether the vehicle state satisfies any one of the anti-collision braking system exit conditions, if yes, executing S207, otherwise returning to S205; wherein the anti-collision braking system exit conditions include: the gear is in P gear; the gear is in D (Drive) gear and the throttle depth is less than the target depth value (the target depth value is greater than 3%); the obstacle distance is greater than 0.7m and the vehicle speed is 0; S207, the anti-collision braking system exits the activation state, and then returns to S203; S208, determining whether the throttle depth is greater than or equal to 70% and whether the throttle change rate is greater than or equal to 400% / s, or whether the throttle depth is equal to 100%, if yes, executing S209, otherwise returning to S203; S209, the throttle anti-misoperation system is activated, the throttle is not responded to, and the output torque of the motor is requested to be limited to the creep torque; specifically, when the throttle anti-misoperation system is activated, a zero torque request signal is sent to the drive system, and a function activation signal is sent to the instrument at the same time, and the instrument displays a text prompt and a sound prompt; S210, determining whether the vehicle state satisfies any one of the throttle mis-stepping prevention system exit conditions, if yes, executing S211, otherwise returning to S209; wherein the throttle mis-stepping prevention system exit conditions include: the gear position is in P gear or N (Neutral) gear; the gear position is in D gear and the throttle depth is less than the target depth value; the throttle depth is less than 3%; S211: The throttle accidental stepping prevention system exits the activation state, and then returns to S203.

[0054] In this embodiment, the ultrasonic radar detects obstacles behind the vehicle, effectively reducing the hardware cost of the function. At the same time, the accelerator anti-misoperation function is combined with the automatic emergency braking function. When the driver accidentally steps on the accelerator, the accelerator will not respond, reducing the risk of collision caused by misoperation when reversing. When an obstacle is detected, the vehicle can automatically perform emergency braking to avoid collision with the obstacle. In this way, driving safety during reversing is effectively improved.

[0055] Corresponding to the embodiments of the aforementioned method, the present application also provides embodiments of a vehicle reversing control device and a terminal using the same: like Figure 3 As shown, Figure 3 : is a block diagram of a vehicle reversing control device provided in an embodiment of the present application, the device comprising: The information receiving module 31 is used to receive obstacle information on the reverse driving path detected by the ultrasonic radar when the vehicle is in reverse gear; an anti-collision braking module 32, configured to send a braking request signal to a braking system and a zero torque request signal to a driving system according to the obstacle information if the obstacle information indicates that there is an obstacle in the target area; The throttle anti-misstepping module 33 is used to send a creep torque request signal to the drive system if the obstacle information indicates that there is no obstacle in the target area and when it is determined that the throttle pedal is misstepped according to the throttle depth and the throttle change rate.

[0056] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0057] This application also provides an electronic device, see Figure 4 , Figure 4 A block diagram of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 410, a communication interface 420, a memory 430, and at least one communication bus 440. The communication bus 440 is used to realize direct connection and communication between these components. The communication interface 420 of the electronic device in the embodiment of the present application is used to communicate signaling or data with other node devices. The processor 410 may be an integrated circuit chip with signal processing capabilities.

[0058] The processor 410 mentioned above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor 410 can also be any conventional processor, etc.

[0059] The memory 430 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 430 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 410, the electronic device may execute the above-mentioned Figure 1 The method embodiment involves various steps.

[0060] Optionally, the electronic device may further include a storage controller and an input / output unit.

[0061] The memory 430, storage controller, processor 410, peripheral interface, input and output unit components are directly or indirectly electrically connected to each other to achieve data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses 440. The processor 410 is used to execute executable modules stored in the memory 430, such as software function modules or computer programs included in the electronic device.

[0062] The input and output unit is used to provide users with the task creation and to create a start optional time period or preset execution time for the task to realize the interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and a keyboard.

[0063] Understandably, Figure 4 The structure shown is for illustration only, and the electronic device may also include Figure 4 More or fewer components as shown, or with Figure 4 Different configurations shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0064] An embodiment of the present application further provides a storage medium having instructions stored thereon. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described here.

[0065] The present application also provides a computer program product, which, when executed on a computer, enables the computer to execute the method described in the method embodiment.

[0066] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0067] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0068] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0069] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0070] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0071] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for controlling a vehicle reversing, characterized in that: include: When the vehicle is in reverse gear, it receives obstacle information on the reverse driving path detected by the ultrasonic radar; If the obstacle information indicates that there is an obstacle in the target area, sending a braking request signal to the braking system according to the obstacle information, and sending a zero torque request signal to the driving system; If the obstacle information indicates that there is no obstacle in the target area, when it is determined that the accelerator pedal is mistakenly stepped on according to the accelerator depth and the accelerator change rate, a creep torque request signal is sent to the drive system.

2. The method according to claim 1, characterized in that Before receiving obstacle information on the reversing driving path detected by the ultrasonic radar, the method includes: Detect whether the reverse anti-accidental stepping function is in the on state; the reverse anti-accidental stepping function is turned on or off by the driver through voice or central control screen; The step of receiving obstacle information on the reversing path detected by the ultrasonic radar is performed when the detection result is yes.

3. The method according to claim 1, characterized in that The obstacle information includes the position and distance of the obstacle; and sending a braking request signal to the braking system according to the obstacle information includes: Calculating the braking deceleration according to the position and distance of the obstacle, as well as the current vehicle speed and gear position; A brake request signal is generated according to the brake deceleration, and the brake request signal is sent to a brake system.

4. The method according to claim 1, characterized in that: When it is determined according to the throttle depth and the throttle change rate that the accelerator pedal is mistakenly stepped on, sending a creep torque request signal to the drive system comprises: When the throttle depth is greater than or equal to a first depth value and the throttle change rate is greater than or equal to a preset change rate, or when the throttle depth is equal to a second depth value, a creep torque request signal is sent to the drive system; the first depth value is less than the second depth value.

5. The method according to claim 1, characterized in that The method is applied to a vehicle controller; the vehicle controller includes an anti-collision braking system and an accelerator mis-stepping prevention system; when the anti-collision braking system is activated, the steps of sending a braking request signal to the braking system according to the obstacle information and sending a zero torque request signal to the driving system are executed; When the accelerator mis-stepping prevention system is activated, a step of sending a creep torque request signal to the driving system is performed.

6. The method according to claim 5, characterized in that Also includes: When the anti-collision braking system or the accelerator mis-stepping prevention system is activated, a function activation signal is sent to the instrument so that the instrument displays a text prompt and / or a sound prompt.

7. The method according to claim 3, characterized in that After the anti-collision braking system is activated, if the vehicle state meets any of the following conditions, the anti-collision braking system exits the activation state: The vehicle is in park; The vehicle is in a forward gear, and the throttle depth is less than a third depth value; The distance between the obstacle and the vehicle is greater than a target distance value, and the vehicle speed is zero.

8. The method according to claim 7, characterized in that After the throttle accidental stepping prevention system is activated, if the vehicle status meets any of the following conditions, the throttle accidental stepping prevention system exits the activation state: The vehicle is in park or neutral; The vehicle is in a forward gear, and the throttle depth is less than the third depth value; The throttle depth is less than a fourth depth value; wherein the third depth value is greater than the fourth depth value.

9. The method according to claim 8, characterized in that After the anti-collision braking system and the throttle anti-misoperation system are both activated, if the vehicle state satisfies any condition for the anti-collision braking system to exit the activation state, the anti-collision braking system and the throttle anti-misoperation system both exit the activation state.

10. The method according to claim 5, characterized in that The sensitivity of the anti-collision braking system and the throttle anti-misstepping system is adjusted by the driver through voice or the central control screen; after the vehicle detects the existence of an obstacle in the target area, the distance at which braking begins is positively correlated with the sensitivity of the anti-collision braking system; the throttle depth threshold and the throttle change rate threshold are both negatively correlated with the sensitivity of the throttle anti-misstepping system; the throttle depth threshold and the throttle change rate threshold are thresholds for determining whether the accelerator pedal is mistakenly stepped on.

11. A vehicle reversing control device, characterized in that: include: An information receiving module, used to receive obstacle information on the reverse driving path detected by the ultrasonic radar when the vehicle is in reverse gear; an anti-collision braking module, configured to send a braking request signal to a braking system and a zero torque request signal to a driving system according to the obstacle information if the obstacle information indicates that there is an obstacle in the target area; The throttle anti-misstepping module is used to send a creep torque request signal to the drive system if the obstacle information indicates that there is no obstacle in the target area and when it is determined according to the throttle depth and the throttle change rate that the throttle pedal is misstepped.

12. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

13. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method according to any one of claims 1 to 10 is implemented.

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