Pedal status monitoring method and apparatus, and vehicle
Patent Information
- Application Number
- PCT/CN2025/079032
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2025-02-25
- Publication Date
- 2026-09-03
Smart Images
Figure CN2025079032_03092026_PF_FP_ABST
Abstract
Description
Pedal condition monitoring methods, devices and vehicles Technical Field
[0001] This application relates to the field of intelligent vehicles, and more specifically, to a method, device, and vehicle for monitoring pedal status. Background Technology
[0002] Monitoring the status of the brake and accelerator pedals during vehicle operation is crucial. Traditional methods of detecting pedal status using mechanical sensors (such as resistive thin-film pressure sensors) are susceptible to external humidity, which can affect the accuracy of pedal status monitoring results. Summary of the Invention
[0003] This application provides a pedal condition monitoring method, device, and vehicle, which helps to improve the accuracy of pedal condition monitoring results.
[0004] In a first aspect, this application provides a pedal state monitoring method, the method comprising: acquiring first data from a detection device, the first data including raw data or point cloud data, the detection device being used to monitor the state of the accelerator pedal and / or brake pedal; transmitting the first data, or processing the first data.
[0005] Traditional mechanical sensors suffer from poor accuracy, long latency, and are susceptible to the effects of external humidity. Based on the aforementioned technical solution, a detection device can be used to monitor the status of the accelerator pedal and / or brake pedal. This detection device offers advantages such as high accuracy and low latency, and is unaffected by humidity, thus improving the accuracy of pedal status monitoring results and reducing latency.
[0006] In some possible implementations, the method can be executed by a detection device, which includes a first interface and transmits first data, including: transmitting the first data through the first interface.
[0007] In conjunction with the first aspect, in some implementations of the first aspect, the detection device is a millimeter-wave radar or a lidar.
[0008] In some possible implementations, the first data can be the raw data collected by the detection device, or the first data can be point cloud data obtained by the detection device or external data processing equipment after processing the raw data, and the point cloud data includes three-dimensional coordinate information.
[0009] For example, the raw data can be a voltage signal or a current signal. Furthermore, the voltage or current signal can be acquired by an analog-to-digital converter (ADC) in the detection device.
[0010] In some possible implementations, the first data is processed, including: filtering out static clutter and DC interference from the point cloud data.
[0011] In conjunction with the first aspect, in some implementations of the first aspect, the detection device is located in the driver's area within the cockpit.
[0012] In some possible implementations, the detection device may be located to the side, above, or below the area where the accelerator pedal and brake pedal are located. In conjunction with the first aspect, in some implementations of the first aspect, sending the first data includes: sending the first data to the data storage system for automated driving (DSSAD), or sending the first data to the vehicle's control module.
[0013] As intelligent driving becomes more widespread and advanced, driving safety and the determination of responsibility in the event of a vehicle accident become crucial. The Guidelines for Safety Services of Automated Vehicles (Trial) stipulate that at least 90 seconds of operational status information prior to a vehicle accident should be automatically recorded and stored. Currently, the industry lacks effective information to reconstruct accident scenes, and there is controversy regarding whether the accident was caused by the user accidentally pressing the accelerator pedal or by a malfunction in the vehicle's brakes, making it difficult to determine responsibility between the user and the OEM. Based on the aforementioned technical solutions, after acquiring the initial data, it can be sent to the automated driving data recording system. This allows for the reconstruction of the accident scene using the initial data stored in the automated driving data recording system, thus helping to determine responsibility between the user and the OEM. Alternatively, after acquiring the initial data, it can be sent to the vehicle's control module. This allows the vehicle's control module to control the vehicle based on the initial data, contributing to improved driving safety.
[0014] In some possible implementations, the control module can be an autonomous driving controller.
[0015] In conjunction with the first aspect, in some implementations of the first aspect, the first data is processed, including: processing the first data; and sending the processed data.
[0016] In some possible implementations, the first data is sent, or the first data is processed, including: sending the first data to the autonomous driving data recording system when the vehicle is in intelligent driving mode; or sending processed data to the autonomous driving data recording system after processing the first data.
[0017] In some possible implementations, the first data is sent, or the first data is processed, including: sending the first data to the vehicle's control module when the vehicle is in manual driving mode, or sending processed data to the control module after processing the first data.
[0018] In some possible implementations, the method can be executed by a pedal state monitoring device, the detection device including a first interface, the pedal state monitoring device including a second interface and a third interface, acquiring first data collected by the detection device, including: receiving the first data sent by the detection device through the first interface through the second interface; the method further includes: sending processed data through the third interface.
[0019] In some possible implementations, the first data is processed, including processing the raw data collected by the detection device.
[0020] For example, processing the first data collected by the detection device includes: performing signal processing on the first data collected by the detection device to obtain detection-level information.
[0021] For example, processing the first data collected by the detection device includes: performing signal processing on the first data collected by the detection device to obtain detection-level information; and performing data processing on the detection-level information to obtain target-level information.
[0022] In conjunction with the first aspect, in certain implementations of the first aspect, processing the first data includes: determining, based on the first data, the state information of the pedal whose state has changed, the state information including first indication information and second indication information, the first indication information being used to indicate that the type of the pedal whose state has changed is an accelerator pedal and / or a brake pedal, and the second indication information being used to indicate the opening information of the pedal whose state has changed; wherein, sending the processed data includes: sending the state information to an autonomous driving data recording system, or sending the state information to the vehicle's control module.
[0023] Based on the above technical solution, the state information of the pedal whose state has changed can be determined according to the first data, and this state information can then be sent to the autonomous driving data recording system or the vehicle's control module. This allows the autonomous driving data recording system to save this state information, enabling the reconstruction of the accident scene after an accident, thus helping to determine the responsibility between the user and the OEM. Alternatively, the vehicle's control module can use this state information to control the vehicle, contributing to improved driving safety.
[0024] In some possible implementations, the method can be executed by a pedal state monitoring device, the detection device including a first interface, the pedal state monitoring device including a second interface and a third interface, acquiring first data collected by the detection device, including: receiving the first data sent by the detection device through the first interface through the second interface; the method further includes: sending state information to the autonomous driving data recording system or the vehicle's control module through the third interface.
[0025] In conjunction with the first aspect, in some implementations of the first aspect, the opening information includes the degree of pedaling and / or the motion state, the motion state being used to indicate the speed of movement of the pedal when the state changes.
[0026] Based on the above technical solution, the opening information can include the degree of stepping and / or the state of movement, which can be used to reconstruct the accident scene, or it can be used by the control module to control the vehicle.
[0027] In some possible implementations, the second indication information includes a first field and / or a second field, wherein the first field is used to indicate the degree of trampling and the second field is used to indicate the state of motion.
[0028] In conjunction with the first aspect, in some implementations of the first aspect, when the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
[0029] In some possible implementations, where the second indication information includes a second field, the second indication information also includes a third field, which is used to indicate the confidence level of the motion state.
[0030] In conjunction with the first aspect, in some implementations of the first aspect, the detection device includes an antenna array, which determines the state information of a pedal whose state has changed based on first data, including: determining the opening information of the pedal whose state has changed based on a first signal received by at least one antenna in the antenna array; and determining the type of the pedal whose state has changed based on a second signal received by the antenna array.
[0031] Based on the above technical solution, the type of pedal whose state has changed can be determined by the signal received by the antenna array, and then the opening information of the pedal whose state has changed can be determined by combining the signal received by at least one antenna in the antenna array.
[0032] In some possible implementations, determining the type of pedal whose state has changed based on the second signal received by the antenna array includes: performing angle estimation based on the second signal received by the antenna array to obtain an angle estimation result; and determining the type of pedal whose state has changed based on the angle estimation result.
[0033] In some possible implementations, determining the opening information of the pedal whose state has changed based on a first signal received by at least one antenna in the antenna array includes: determining the distance and speed between the pedal whose state has changed and the detection device based on the first signal received by at least one antenna in the antenna array; and determining the opening information of the pedal whose state has changed based on the distance and speed between the pedal whose state has changed and the detection device, as well as the angle estimation result.
[0034] In conjunction with the first aspect, in certain implementations of the first aspect, the detection device includes a first antenna and a second antenna. Based on first data, determining the state information of a pedal whose state has changed includes: determining first distance information based on a third signal received by the first antenna, the first distance information including the distance between the first antenna and the pedal whose state has changed; determining second distance information based on a fourth signal received by the second antenna, the second distance information including the distance between the second antenna and the pedal whose state has changed; determining the type of pedal whose state has changed based on the first and second distance information; and determining the opening degree information of the pedal whose state has changed based on the third and / or fourth signals.
[0035] Based on the above technical solution, the type of pedal whose state has changed can be determined by the distance between the first antenna and the pedal whose state has changed, as well as the distance between the second antenna and the pedal whose state has changed. Furthermore, by combining the signals received by the first antenna and / or the second antenna, the opening information of the pedal whose state has changed can be determined.
[0036] In some possible implementations, the first antenna includes an antenna element, and the second antenna includes an antenna element.
[0037] Secondly, this application provides a pedal state monitoring device, which includes: an acquisition unit for acquiring first data from a detection device, the first data including raw data or point cloud data, the detection device being used to monitor the state of the accelerator pedal and / or brake pedal; a transmission unit for transmitting the first data, or a data processing unit for processing the first data.
[0038] In conjunction with the second aspect, in some implementations of the second aspect, the detection device is located in the driver's area within the cockpit.
[0039] In conjunction with the second aspect, in some implementations of the second aspect, the sending unit is used to: send first data to the autonomous driving data recording system, or send first data to the vehicle's control module.
[0040] In conjunction with the second aspect, in some implementations of the second aspect, a data processing unit is used to process the first data; and a sending unit is used to send the processed data.
[0041] In conjunction with the second aspect, in some implementations of the second aspect, a data processing unit is used to determine the state information of a pedal whose state has changed based on the first data. The state information includes first indication information and second indication information. The first indication information is used to indicate that the type of the pedal whose state has changed is an accelerator pedal and / or a brake pedal, and the second indication information is used to indicate the opening information of the pedal whose state has changed. A sending unit is used to send the state information to an autonomous driving data recording system, or to a vehicle control module.
[0042] In conjunction with the second aspect, in some implementations of the second aspect, the opening information includes the degree of pedaling and / or the motion state, the motion state being used to indicate the speed of movement of the pedal when the state changes.
[0043] In conjunction with the second aspect, in some implementations of the second aspect, when the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
[0044] In conjunction with the second aspect, in some implementations of the second aspect, the detection device includes an antenna array and a data processing unit, configured to: determine the opening information of the pedal whose state has changed based on a first signal received by at least one antenna in the antenna array; and determine the type of the pedal whose state has changed based on a second signal received by the antenna array.
[0045] In conjunction with the second aspect, in some implementations of the second aspect, the detection device includes a first antenna and a second antenna, and a data processing unit configured to: determine first distance information based on a third signal received by the first antenna, the first distance information including the distance between the first antenna and the pedal whose state has changed; determine second distance information based on a fourth signal received by the second antenna, the second distance information including the distance between the second antenna and the pedal whose state has changed; determine the type of the pedal whose state has changed based on the first distance information and the second distance information; and determine the opening degree information of the pedal whose state has changed based on the third signal and / or the fourth signal.
[0046] In conjunction with the second aspect, in some implementations of the second aspect, the detection device is a millimeter-wave radar or a lidar.
[0047] Thirdly, this application provides a pedal state monitoring device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program in the memory, so that the pedal state monitoring device can implement the method in any of the possible implementations of the first aspect described above.
[0048] Fourthly, this application provides a pedal status monitoring system, which includes a detection device and the device described in any one of the second or third aspects above.
[0049] Fifthly, this application provides a vehicle that includes the device described in the second or third aspect above, or the system described in the fourth aspect above.
[0050] The vehicles mentioned in this application may include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment. For example, vehicles may be means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not specifically limit the type of vehicle.
[0051] In a sixth aspect, this application provides a computer program product comprising: computer program code, which, when executed on a computer, causes the computer to perform the method in any possible implementation of the first aspect.
[0052] In a seventh aspect, this application provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the method in any possible implementation of the first aspect.
[0053] Eighthly, this application provides a chip including circuitry for performing the method in any of the possible implementations of the first aspect described above. Attached Figure Description
[0054] Figure 1 is a functional block diagram of the vehicle provided in an embodiment of this application.
[0055] Figure 2 is a schematic block diagram of the ADAS provided in the embodiments of this application.
[0056] Figure 3 is a schematic flowchart of the pedal status monitoring method provided in the embodiments of this application.
[0057] Figure 4 is a schematic block diagram of the pedal status monitoring system provided in an embodiment of this application.
[0058] Figure 5 is a schematic flowchart of the pedal status monitoring method provided in the embodiments of this application.
[0059] Figure 6 is a schematic diagram of the antenna structure in the detection device provided in the embodiment of this application.
[0060] Figure 7 is another schematic diagram of the antenna structure in the detection device provided in the embodiment of this application.
[0061] Figure 8 is a schematic block diagram of the pedal status monitoring device provided in an embodiment of this application. Detailed Implementation
[0062] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B; "and / or" in this document is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. "At least one" refers to one or more. For example, "at least one of A and B," similar to "A and / or B," describes the association relationship between related objects, indicating that three relationships can exist. For example, at least one of A and B can represent: A existing alone, A and B existing simultaneously, and B existing alone.
[0063] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.
[0064] Figure 1 is a functional block diagram of a vehicle 100 provided in an embodiment of this application. The vehicle 100 may include a perception system 110 and a computing platform 120. The perception system 110 may include one or more sensors for sensing information about the environment surrounding the vehicle 100. For example, the perception system 110 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou Navigation Satellite System, or another positioning system. As another example, the perception system 110 may include one or more of the following: an inertial measurement unit (IMU), an accelerometer, a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.
[0065] In this embodiment, the sensing system 110 may include a detection device located within the vehicle cabin, which can be used to monitor the state of the accelerator pedal and / or brake pedal. For example, the detection device may be located in the driver's area of the cabin. For example, the detection device may be a millimeter-wave radar or a lidar.
[0066] Some or all of the functions of vehicle 100 can be controlled by computing platform 120. Computing platform 120 may include one or more processors, such as processors 121 to 12n (n being a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In reconfigurable hardware circuits, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement some or all of the functions of the aforementioned units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. In addition, the computing platform 120 may also include a memory for storing instructions. Some or all of the processors 121 to 12n can call the instructions in the memory to implement the corresponding functions.
[0067] Vehicle 100 may include an advanced driving assistance system (ADAS). ADAS utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera devices, ultrasonic sensors, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring / alert, and accelerator pedal and / or brake pedal status monitoring, thereby improving the safety, automation, and comfort of driving the vehicle.
[0068] For example, Figure 2 shows a schematic block diagram of an ADAS provided in an embodiment of this application. Logically, the ADAS may include three main functional modules: a perception module 210, a decision module 220, and an execution module 230. The perception module 210 senses the environment around the vehicle through sensors and inputs corresponding real-time data to the decision module 220. The decision module 220 makes corresponding decisions based on the information obtained by the perception module 210. The execution module 230 takes corresponding actions after receiving the decision signal from the decision module 220, such as driving, changing lanes, steering, braking, and issuing warnings. In this embodiment, the perception module 210 can obtain first data from a detection device in the cockpit and send the first data to the decision module 220. The decision module 220 can determine the state of the accelerator pedal and / or brake pedal based on the first data. For example, the first data includes raw data or point cloud data.
[0069] For example, the perception module 210 can also acquire data from sensors outside the cockpit and send the data to the decision module 220. The decision module 220 can determine information such as the distance and relative speed between the vehicle and surrounding obstacles based on this data. The decision module 220 can also control the vehicle based on information such as the distance, relative speed, and time to collision (TTC) between the vehicle and surrounding obstacles, as well as the state of the accelerator pedal and / or brake pedal. For example, if the TTC between the vehicle and surrounding obstacles is less than or equal to a preset TTC and the current brake pedal state determines that the driver has not pressed the brake pedal, the vehicle can activate active safety functions, such as automatic emergency braking (AEB).
[0070] The perception module 210, decision-making module 220 and execution module 230 can be located in the computing platform 120.
[0071] At different levels of autonomous driving (L0-L5), ADAS can achieve different levels of automated driving assistance based on artificial intelligence algorithms and information acquired by multiple sensors. The aforementioned levels of autonomous driving (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE). Specifically, L0 is no automation; L1 is driver assistance; L2 is partial automation; L3 is conditional automation; L4 is high automation; and L5 is full automation. At levels L1 to L3, the tasks of monitoring road conditions and reacting are jointly performed by the driver and the system, requiring the driver to take over dynamic driving tasks. At levels L4 and L5, the driver can completely transform into a passenger.
[0072] As mentioned earlier, monitoring the status of the brake and accelerator pedals during vehicle operation is crucial. Traditional methods of detecting pedal status using mechanical sensors (e.g., resistive thin-film pressure sensors) are susceptible to the influence of external humidity. This can affect the accuracy of pedal status monitoring results.
[0073] This application provides a pedal status monitoring method, device, and vehicle. The status of the accelerator pedal and / or brake pedal can be monitored by a detection device. Since the detection device has the advantages of high precision and low latency, and is not affected by humidity, it helps to improve the accuracy of pedal status monitoring results and also helps to reduce the latency of pedal status monitoring.
[0074] Figure 3 shows a schematic flowchart of the pedal state monitoring method 300 provided in an embodiment of this application. This method can be executed by the vehicle 100, or by the computing platform 120; or by a processor, circuit, or chip in the computing platform 120; or by the ADAS; or by a detection device. The method 300 includes:
[0075] S310, Acquire first data from a detection device used to monitor the state of the accelerator pedal and / or brake pedal.
[0076] In one design, the first data includes the raw data.
[0077] For example, the first data can be raw data collected by the detection device, which can be a voltage signal or a current signal. For instance, the raw data can be a voltage signal or a current signal collected by the ADC in the detection device.
[0078] In another design, the first data includes detection data processed by the detection device. For example, the detection data may be point cloud data obtained by processing the raw data collected by the detection device, or information data obtained by further processing the point cloud data. This information data may be obtained by the detection device based on requirements. In this embodiment, the specific type of information data is not limited, but is determined by actual requirements. For example, it may be detection-level information or target-level information.
[0079] For example, the point cloud data includes information about three-dimensional coordinates.
[0080] Alternatively, the detection device may be a millimeter-wave radar or a lidar.
[0081] Optionally, the detection device is located in the driver's area of the cockpit. For example, the detection device may be located to the side, above, or below the area where the accelerator pedal and brake pedal are located.
[0082] Furthermore, the method 300 also includes: S320, sending the first data, or processing the first data.
[0083] In one design, sending the first data includes: sending the first data to an autonomous driving data recording system, or sending the first data to the vehicle's control module.
[0084] For example, sending first data, or processing the first data, includes: sending the first data to an autonomous driving data recording system when the vehicle is in an intelligent driving state; or sending processed data to the autonomous driving data recording system after processing the first data.
[0085] The above intelligent driving states can include assisted driving state or autonomous driving state.
[0086] For example, when lane keeping assist (LKA) is detected to be activated by a user, initial data from the detection device can be sent to the autonomous driving data recording system. This initial data can be acquired by the autonomous driving data recording system while the vehicle is in assisted driving mode. In this way, after an accident, the initial data stored in the autonomous driving data recording system can be used to reconstruct the accident scene, thereby helping to determine the responsibility between the user and the OEM.
[0087] For example, sending first data, or processing the first data, includes: sending the first data to the vehicle's control module when the vehicle is in a manual driving state, or sending processed data to the control module after processing the first data.
[0088] For example, when the vehicle is in manual driving mode, first data from the detection device can be sent to the vehicle's control module. The vehicle's control module can acquire this first data. If the control module determines, based on data collected by sensors outside the cockpit, that the time-to-travel distance (TTC) between the vehicle and surrounding obstacles is less than or equal to a preset TTC, and the control module determines, based on this first data, that the driver has not applied the brake pedal, the control module can activate active safety functions, such as the automatic emergency braking (AEB) function.
[0089] Optionally, the control module can be an autonomous driving controller. For example, the autonomous driving controller can be the ADAS described above.
[0090] Furthermore, the method 300 can be executed by a detection device, which includes a first interface and transmits first data, including: transmitting the first data through the first interface.
[0091] Specifically, sending first data through the first interface includes sending first data to the autonomous driving data recording system through the first interface. This allows for the reconstruction of the accident scene using the first data stored in the autonomous driving data recording system after a vehicle accident, thereby helping to determine the responsibility between the user and the OEM.
[0092] Specifically, sending first data through the first interface includes sending first data to the vehicle's control module through the first interface. This allows the vehicle's control module to control the vehicle based on the first data, which helps improve the user's driving safety.
[0093] In another design, the method 300 can be executed by a detection device, which includes a first interface. After the detection device processes the first data, the method 300 further includes: sending the processed data through the first interface.
[0094] In another design, the method 300 can be executed by a pedal state monitoring device, the detection device including a first interface, the pedal state monitoring device including a second interface and a third interface, acquiring first data from the detection device, including: acquiring first data sent by the detection device through the first interface through the second interface.
[0095] The pedal status monitoring device can be located in the aforementioned computing platform 120 or ADAS.
[0096] Furthermore, after processing the first data, the method 300 also includes: sending the processed data through a third interface.
[0097] Specifically, processed data is sent via a third interface, including sending processed data to the autonomous driving data recording system. This allows for the reconstruction of the accident scene using the processed data stored in the autonomous driving data recording system after a vehicle accident, thus helping to determine responsibility between the user and the OEM.
[0098] Specifically, the processed data is sent through the third interface, including sending the processed data to the vehicle's control module. This allows the vehicle's control module to control the vehicle based on the processed data, which helps improve the user's driving safety.
[0099] In another design, the first data is processed, including: performing signal processing on the first data from the detection device to obtain detection-level information.
[0100] For example, the detection level information includes one or more of the following: distance, velocity, angle, acceleration, and corresponding confidence level.
[0101] Specifically, taking method 300 executed by the detection device as an example, method 300 further includes: sending detection level information through the first interface.
[0102] Specifically, taking method 300 executed by the pedal state monitoring device as an example, method 300 further includes: sending detection level information through a third interface.
[0103] In another design, the first data is processed, including: performing signal processing on the first data collected by the detection device to obtain detection-level information; and performing data processing on the detection-level information to obtain target-level information.
[0104] For example, the target-level information includes one or more of the following: target location, target state (velocity, acceleration, etc.), and corresponding confidence level.
[0105] Specifically, taking method 300 executed by the detection device as an example, method 300 further includes: sending target-level information through a first interface.
[0106] Specifically, taking method 300 executed by the pedal state monitoring device as an example, method 300 further includes: sending target-level information through a third interface.
[0107] In another design, processing the first data includes: determining the state information of the pedal whose state has changed based on the first data, the state information including first indication information and second indication information, the first indication information being used to indicate that the type of the pedal whose state has changed is an accelerator pedal and / or a brake pedal, and the second indication information being used to indicate the opening information of the pedal whose state has changed; wherein, sending the processed data includes: sending the state information to the autonomous driving data recording system, or sending the state information to the vehicle's control module.
[0108] Specifically, taking method 300 executed by the detection device as an example, method 300 further includes: sending status information through the first interface.
[0109] Specifically, taking method 300 executed by the pedal status monitoring device as an example, method 300 further includes: sending status information through a third interface.
[0110] This allows the autonomous driving data recording system to save this state information. After an accident, this saved information can be used to reconstruct the accident scene, helping to determine responsibility between the user and the OEM. Alternatively, it allows the vehicle's control module to use this state information to control the vehicle, improving user safety.
[0111] Optionally, the opening information includes the degree of pedaling and / or the motion state, whereby the motion state indicates the speed of movement of the pedal when the state changes.
[0112] For example, the second indication information includes a first field and / or a second field, wherein the first field is used to indicate the degree of stepping and the second field is used to indicate the state of movement.
[0113] Optionally, if the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
[0114] For example, if the second indication information includes a second field, the second indication information also includes a third field, which is used to indicate the confidence level of the motion state.
[0115] For example, Table 1 shows the status information, fields, and their corresponding meanings provided in the embodiments of this application.
[0116] Table 1
[0117] The above fields and their corresponding meanings are merely illustrative, and the embodiments of this application do not specifically limit the fields and their meanings.
[0118] In another design, the detection device includes an antenna array, which determines the state information of a pedal whose state has changed based on first data, including: determining the opening information of the pedal whose state has changed based on a first signal received by at least one antenna in the antenna array; and determining the type of pedal whose state has changed based on a second signal received by the antenna array.
[0119] Optionally, determining the type of pedal whose state has changed based on the second signal received by the antenna array includes: performing angle estimation based on the second signal received by the antenna array to obtain an angle estimation result; and determining the type of pedal whose state has changed based on the angle estimation result.
[0120] Optionally, determining the opening information of the pedal whose state has changed based on the first signal received by at least one antenna in the antenna array includes: determining the distance and speed between the pedal whose state has changed and the detection device based on the first signal received by at least one antenna in the antenna array; and determining the opening information of the pedal whose state has changed based on the distance and speed between the pedal whose state has changed and the detection device, as well as the angle estimation result.
[0121] In this embodiment, the type of pedal whose state has changed can be determined by the signal received by the antenna array, and the opening information of the pedal whose state has changed can be determined by combining the signal received by at least one antenna in the antenna array.
[0122] In another design, the detection device includes a first antenna and a second antenna. Based on first data, it determines the state information of a pedal whose state has changed, including: determining first distance information based on a third signal received by the first antenna, the first distance information including the distance between the first antenna and the pedal whose state has changed; determining second distance information based on a fourth signal received by the second antenna, the second distance information including the distance between the second antenna and the pedal whose state has changed; determining the type of pedal whose state has changed based on the first and second distance information; and determining the opening degree information of the pedal whose state has changed based on the third and / or fourth signals.
[0123] In this embodiment, the type of pedal whose state has changed can be determined by the distance between the first antenna and the pedal whose state has changed, and the distance between the second antenna and the pedal whose state has changed. Therefore, the opening information of the pedal whose state has changed can be further determined by combining the signals received by the first antenna and / or the second antenna.
[0124] Figure 4 shows a schematic block diagram of a pedal state monitoring system 400 provided in an embodiment of this application. The pedal state monitoring system 400 may include an instruction module 410, a detection device 420, a digital processing module 430, a clock synchronization module 440, and an internal storage module 450. The detection device 420 is used to monitor the state of the accelerator pedal and / or brake pedal. The instruction module 410 is used to receive configuration information issued by a user through a host computer. This configuration information includes information on the device type and information output method. For example, the device type indicates the antenna structure in the detection device 420 (e.g., the detection device 420 includes an antenna array, or the detection device 420 includes a first antenna and a second antenna), and the information output method indicates that the information output by the pedal state monitoring system 400 is first data or processed data (e.g., any one of the aforementioned detection-level information, target-level information, or state information). The detection device 420 is used to acquire the first data. The digital processing module 430 is used to process the first data. For example, it can perform signal processing on the first data to obtain the detection level information; or it can perform signal processing and data processing on the first data to obtain the target level information; or it can determine the state information based on the first data.
[0125] The digital processing module 430 can be located in the pedal status monitoring device.
[0126] For example, the detection device 420 includes an interface 1 through which the detection device 420 can send first data. For instance, the detection device 420 can send the first data to an autonomous driving data recording system through interface 1. Or, for another example, the detection device 420 can send the first data to a vehicle control module (e.g., ADAS) through interface 1.
[0127] Interface 1 above can be the first interface mentioned above.
[0128] For example, the digital processing module 430 may include interface 2 and interface 3. The digital processing module 430 can receive first data sent by the detection device 420 through interface 2, process the first data to obtain processed data, and send the processed data through interface 3.
[0129] Interface 2 can be the second interface mentioned above, and interface 3 can be the third interface mentioned above.
[0130] For example, the digital processing module 430 can send the processed data to the autonomous driving data recording system via interface 3.
[0131] For example, the digital processing module 430 can send the processed data to the vehicle's control module (e.g., the ADAS shown in Figure 2) via interface 3.
[0132] Figure 5 shows a schematic flowchart of a pedal state monitoring method 500 provided in an embodiment of this application. The method 500 includes:
[0133] S510, the detection device 420 receives the signal.
[0134] For example, the detection device can transmit and receive echo signals within a preset time period and perform detection processing to obtain the original time domain information.
[0135] The raw data above may include the raw time-domain signal.
[0136] S520, the detection device 420 preprocesses the received signal to obtain preprocessed point cloud data.
[0137] For example, the detection device 420 preprocesses the received signal, including filtering out static clutter and DC interference from the original time-domain information.
[0138] For example, the point cloud data includes information about three-dimensional coordinates.
[0139] Optionally, if the information output mode in the configuration information indicates that the information output by the pedal state monitoring system 400 is preprocessed point cloud data, the detection device 420 can send the preprocessed point cloud data through interface 1. For example, the detection device can send the preprocessed point cloud data to the autonomous driving data recording system through interface 1. Or, for another example, the detection device can send the preprocessed point cloud data to ADAS through interface 1.
[0140] S530, the digital processing module 430 processes the preprocessed point cloud data according to the configuration information to obtain the processed data.
[0141] For example, the digital processing module 430 can receive preprocessed point cloud data sent by the detection device 420 through interface 2.
[0142] Optionally, if the information output mode in the configuration information is used to indicate that the information output by the pedal state monitoring system 400 is detection-level information, then the detection device 420 can obtain the detection-level information after performing signal processing on the preprocessed point cloud data.
[0143] For example, the digital processing module 430 can select different measurement modes for signal processing based on the configuration information.
[0144] For example, the antenna structure in the configuration information indicates that the antenna structure includes an antenna array. The digital processing module 430 can use the multi-channel accumulated information to filter out the detection points that need to be estimated in terms of state, and use the estimation algorithm to obtain the detection level information. The detection level information includes, but is not limited to, one or more of the following: distance, speed, angle, acceleration, and confidence level.
[0145] For example, the antenna structure in the configuration information indicates that the antenna structure includes a first antenna and a second antenna. The digital processing module 430 can use different antennas to filter out the detection points that need to be estimated in state, and merge and filter the estimation results to obtain the detection level information.
[0146] Optionally, if the information output mode in the configuration information is used to indicate that the information output by the pedal status monitoring system 400 is target-level information, then the digital processing module 430 can continue to process the detection-level information to obtain target-level information.
[0147] For example, the target-level information includes, but is not limited to, one or more of the following: target position, target state (e.g., velocity, acceleration, angular velocity, etc.), and confidence level.
[0148] Optionally, if the information output mode in the configuration information is used to indicate that the information output by the pedal status monitoring system 400 is status information, then the digital processing module 430 can continue to perform information fusion on the target-level information to obtain status information.
[0149] For example, the digital processing module 430 can perform information fusion on the target-level information according to the antenna structure indicated in the configuration information to obtain the status information.
[0150] For example, Figure 6 shows a schematic diagram of the antenna structure in the detection device provided in an embodiment of this application. The antenna structure includes an antenna array. The digital processing module 430 can determine the distance and speed between the pedal whose state has changed and the detection device based on the signal 1 received by at least one antenna in the antenna array. The digital processing module 430 can perform angle estimation based on the signal 2 received by the antenna array, obtain an angle estimation result, and determine the type of pedal whose state has changed based on the angle estimation result. The digital processing module 430 can determine the opening information of the pedal whose state has changed based on the distance and speed between the pedal whose state has changed and the detection device, as well as the aforementioned angle estimation result.
[0151] For example, the digital processing module 430 can preprocess the signal 2 received by the antenna array (e.g., filtering, amplification) to obtain a processed signal and calculate the direction of arrival of the signal based on the processed signal using a preset algorithm. The digital processing module 430 can determine the type of pedal whose state has changed based on the direction of arrival of the signal. For example, the preset algorithm includes, but is not limited to, maximum likelihood estimation (MLE) algorithm, signal subspace algorithm, cross-correlation algorithm, and Bayesian theory-based algorithms.
[0152] Signal 1 can be the first signal mentioned above, and signal 2 can be the second signal mentioned above.
[0153] For example, Figure 7 shows another schematic diagram of the antenna structure in the detection device provided in this application embodiment. This antenna structure includes antenna 1 and antenna 2. The digital processing module 430 can determine the distance between antenna 1 and the pedal whose state has changed based on signal 3 received by antenna 1; the digital processing module 430 can determine the distance between antenna 2 and the pedal whose state has changed based on signal 4 received by antenna 2; the digital processing module 430 can determine the type of pedal whose state has changed based on the distances between antenna 1 and the pedal whose state has changed and the distances between antenna 2 and the pedal whose state has changed; and determine the opening information of the pedal whose state has changed based on signal 3 and / or signal 4.
[0154] For example, the distance between antenna 1 and antenna 2 is 40cm. When the state of the accelerator pedal remains unchanged, the distance between antenna 1 and the accelerator pedal is 30cm, and the distance between antenna 2 and the accelerator pedal is 50cm. When the state of the brake pedal remains unchanged, the distance between antenna 1 and the brake pedal is 50cm, and the distance between antenna 2 and the brake pedal is 30cm.
[0155] For example, Table 2 shows the correspondence between the distance between the pedal whose state changes and antenna 1, the distance between the pedal whose state changes and antenna 2, and the type of pedal whose state changes.
[0156] Table 2
[0157] For example, when the signal collected by antenna 1 determines that the distance between antenna 1 and the pedal whose state has changed is 25cm and the signal collected by antenna 2 determines that the distance between antenna 2 and the pedal whose state has changed is 47cm, the type of the pedal whose state has changed can be determined to be an accelerator pedal based on the correspondence shown in Table 2 above.
[0158] The example in Table 2 above illustrates this by assuming that the distance ranges between the pedal whose state has changed and antenna 1, and between the pedal whose state has changed and antenna 2, do not overlap. In this case, the type of pedal whose state has changed can be determined solely by the distance between the pedal whose state has changed and antenna 1, or vice versa. In some scenarios, the distance ranges between the pedal whose state has changed and antenna 1, and between the pedal whose state has changed and antenna 2, may overlap. In such cases, the type of pedal whose state has changed can be determined by combining the distances between both the pedal whose state has changed and antenna 1, and between the pedal whose state has changed and antenna 2.
[0159] Optionally, if the field of view (FOV) of antenna 1 is small, and its FOV includes the accelerator pedal but excludes the brake pedal, the accelerator pedal opening information can be determined by the signal received by antenna 1. For example, when the state of the accelerator pedal remains unchanged, the distance between antenna 1 and the accelerator pedal is 30 cm. If the signal received by antenna 1 indicates that the distance between antenna 1 and the accelerator pedal is less than 30 cm, it can be determined that the state of the accelerator pedal has changed, and thus the accelerator pedal opening information can be determined by the signal received by antenna 1.
[0160] Antenna 1 can be the first antenna mentioned above, antenna 2 can be the second antenna mentioned above, signal 3 can be the third signal mentioned above, and signal 4 can be the fourth signal mentioned above.
[0161] For example, antenna 1 includes an antenna element, and antenna 2 includes an antenna element.
[0162] S540, digital processing module 430 sends the processed data.
[0163] For example, the digital processing module 430 can send the detection-level information, target-level information, or status information through interface 3 based on the information output by the pedal status monitoring system 400 as indicated in the configuration information.
[0164] Figure 8 shows a schematic block diagram of a pedal state monitoring device 800 provided in an embodiment of this application. The device 800 includes: an acquisition unit 810, used to acquire first data from a detection device, the first data including raw data or point cloud data, the detection device being used to monitor the state of the accelerator pedal and / or brake pedal; a transmission unit 820, used to transmit the first data; or a data processing unit 830, used to process the first data.
[0165] Alternatively, the detection device is located in the driver's area inside the cockpit.
[0166] Optionally, the sending unit 820 is used to: send first data to the autonomous driving data recording system, or send first data to the vehicle's control module.
[0167] Optionally, the data processing unit 830 is used to process the first data; the sending unit 820 is used to send the processed data.
[0168] Optionally, the data processing unit 830 is used to determine the status information of the pedal whose status has changed based on the first data. The status information includes first indication information and second indication information. The first indication information is used to indicate that the type of the pedal whose status has changed is an accelerator pedal and / or a brake pedal, and the second indication information is used to indicate the opening information of the pedal whose status has changed. The sending unit 820 is used to send the status information to the autonomous driving data recording system or to the vehicle's control module.
[0169] Optionally, the opening information includes the degree of pedaling and / or the motion state, whereby the motion state indicates the speed of movement of the pedal when the state changes.
[0170] Optionally, if the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
[0171] Optionally, the detection device includes an antenna array and a data processing unit 830, configured to: determine the opening information of the pedal whose state has changed based on a first signal received by at least one antenna in the antenna array; and determine the type of the pedal whose state has changed based on a second signal received by the antenna array.
[0172] Optionally, the detection device includes a first antenna and a second antenna, and a data processing unit 830, configured to: determine first distance information based on a third signal received by the first antenna, the first distance information including the distance between the first antenna and the pedal whose state has changed; determine second distance information based on a fourth signal received by the second antenna, the second distance information including the distance between the second antenna and the pedal whose state has changed; determine the type of the pedal whose state has changed based on the first distance information and the second distance information; and determine the opening degree information of the pedal whose state has changed based on the third signal and / or the fourth signal.
[0173] Alternatively, the detection device may be a millimeter-wave radar or a lidar.
[0174] The functions implemented by the data processing unit 830 can be implemented by the digital processing module 430.
[0175] It should be understood that the division of units in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to memory, which stores instructions. The processor calls the instructions stored in memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a CPU or microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functions of some or all units can be implemented through the design of the hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all units are implemented through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a PLD, such as an FPGA, which can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby implementing the functions of some or all units. All units of the above devices can be implemented entirely through processor calling software, or entirely through hardware circuits, or partially through processor calling software with the remaining parts implemented through hardware circuits.
[0176] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a CPU, microprocessor, GPU, or DSP. In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented as an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, or DPU.
[0177] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.
[0178] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together and implemented as a System-on-Chip (SoC). The SoC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and AI processor, CPU and GPU, etc.
[0179] This application also provides a pedal state monitoring device, which includes a processing unit and a storage unit. The storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the device to perform the methods or steps described in the above embodiments.
[0180] Alternatively, if the device is located in a vehicle, the processing unit may be the processor 121-12n shown in FIG1.
[0181] This application also provides a pedal status monitoring system, which may include a computing platform and a detection device, and the computing platform may include the aforementioned device 800.
[0182] This application also provides a detection device, which includes the aforementioned device 800.
[0183] Optionally, the detection device includes a first interface through which the detection device transmits the first data.
[0184] This application also provides a vehicle that may include the above-mentioned detection device, pedal status monitoring device 800, or pedal status monitoring system.
[0185] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.
[0186] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the above embodiments.
[0187] This application also provides a chip, which includes a circuit for performing the methods described in the above embodiments.
[0188] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, power-on erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.
[0189] It should be understood that in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.
[0190] It should also be understood that, in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.
[0191] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0192] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0193] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0194] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0195] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0196] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0197] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for monitoring pedal status, characterized in that, include: Acquire first data from a detection device, the first data including raw data or point cloud data, the detection device being used to monitor the state of the accelerator pedal and / or brake pedal; Send the first data, or process the first data.
2. The method according to claim 1, characterized in that, The detection device is located in the driver's area inside the cockpit.
3. The method according to claim 1 or 2, characterized in that, Sending the first data includes: The first data is sent to the autonomous driving data recording system, or to the vehicle's control module.
4. The method according to claim 1 or 2, characterized in that, The processing of the first data includes: The first data is processed, and the processed data is sent.
5. The method according to claim 4, characterized in that, The processing of the first data includes: Based on the first data, the state information of the pedal whose state has changed is determined. The state information includes first indication information and second indication information. The first indication information is used to indicate that the type of the pedal whose state has changed is the accelerator pedal and / or the brake pedal. The second indication information is used to indicate the opening information of the pedal whose state has changed. The sending of the processed data includes: The status information is sent to the autonomous driving data recording system, or to the vehicle's control module.
6. The method according to claim 5, characterized in that, The opening information includes the degree of pedaling and / or the motion state, wherein the motion state is used to indicate the speed of the pedal when the state changes.
7. The method according to claim 6, characterized in that, When the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
8. The method according to any one of claims 5 to 7, characterized in that, The detection device includes an antenna array, and determining the state information of the pedal whose state has changed based on the first data includes: Based on a first signal received by at least one antenna in the antenna array, the opening information of the pedal whose state has changed is determined; The type of pedal whose state has changed is determined based on the second signal received by the antenna array.
9. The method according to any one of claims 5 to 7, characterized in that, The detection device includes a first antenna and a second antenna. Determining the state information of the pedal whose state has changed based on the first data includes: Based on the third signal received by the first antenna, first distance information is determined, which includes the distance between the first antenna and the pedal whose state has changed. Based on the fourth signal received by the second antenna, second distance information is determined, which includes the distance between the second antenna and the pedal whose state has changed. Based on the first distance information and the second distance information, determine the type of pedal whose state has changed; Based on the third signal and / or the fourth signal, determine the opening information of the pedal whose state has changed.
10. The method according to any one of claims 1 to 9, characterized in that, The detection device is a millimeter-wave radar or a lidar.
11. A pedal status monitoring device, characterized in that, include: An acquisition unit is used to acquire first data from a detection device, the first data including raw data or point cloud data, and the detection device is used to monitor the state of the accelerator pedal and / or brake pedal. A sending unit is used to send the first data, or a data processing unit is used to process the first data.
12. The apparatus according to claim 11, characterized in that, The detection device is located in the driver's area inside the cockpit.
13. The apparatus according to claim 11 or 12, characterized in that, The transmitting unit is used for: The first data is sent to the autonomous driving data recording system, or to the vehicle's control module.
14. The apparatus according to claim 11 or 12, characterized in that, The data processing unit is used to process the first data; The sending unit is used to send the processed data.
15. The apparatus according to claim 14, characterized in that, The data processing unit is used to determine the state information of the pedal whose state has changed based on the first data. The state information includes first indication information and second indication information. The first indication information is used to indicate that the type of the pedal whose state has changed is the accelerator pedal and / or the brake pedal. The second indication information is used to indicate the opening information of the pedal whose state has changed. The sending unit is used to send the status information to the autonomous driving data recording system, or to the vehicle's control module.
16. The apparatus according to claim 15, characterized in that, The opening information includes the degree of pedaling and / or the motion state, wherein the motion state is used to indicate the speed of the pedal when the state changes.
17. The apparatus according to claim 16, characterized in that, When the opening information includes the motion state, the state information also includes third indication information, which is used to indicate the confidence level of the motion state.
18. The apparatus according to any one of claims 15 to 17, characterized in that, The detection device includes an antenna array, and the data processing unit is used for: Based on a first signal received by at least one antenna in the antenna array, the opening information of the pedal whose state has changed is determined; The type of pedal whose state has changed is determined based on the second signal received by the antenna array.
19. The apparatus according to any one of claims 15 to 17, characterized in that, The detection device includes a first antenna and a second antenna, and the data processing unit is used for: Based on the third signal received by the first antenna, first distance information is determined, which includes the distance between the first antenna and the pedal whose state has changed. Based on the fourth signal received by the second antenna, second distance information is determined, which includes the distance between the second antenna and the pedal whose state has changed. Based on the first distance information and the second distance information, determine the type of pedal whose state has changed; Based on the third signal and / or the fourth signal, determine the opening information of the pedal whose state has changed.
20. The apparatus according to any one of claims 11 to 19, characterized in that, The detection device is a millimeter-wave radar or a lidar.
21. A pedal status monitoring device, characterized in that, include: A processor for executing a computer program stored in memory to cause the apparatus to perform the method as described in any one of claims 1 to 10.
22. The apparatus according to claim 21, characterized in that, The device also includes the memory.
23. A pedal status monitoring system, characterized in that, The target detection system includes a detection device and a computing platform, wherein the computing platform includes the device as described in any one of claims 11 to 22.
24. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 11 to 22, or includes the system as described in claim 23.
25. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by a processor, cause the processor to implement the method as described in any one of claims 1 to 10.
26. A computer program product, characterized in that, The computer program product includes computer program code that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 10.
27. A chip, characterized in that, The chip includes circuitry for performing the method as described in any one of claims 1 to 10.