CN111252045A - Vehicle control method and device, computer readable storage medium and vehicle - Google Patents
Vehicle control method and device, computer readable storage medium and vehicle Download PDFInfo
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- CN111252045A CN111252045A CN201811459589.6A CN201811459589A CN111252045A CN 111252045 A CN111252045 A CN 111252045A CN 201811459589 A CN201811459589 A CN 201811459589A CN 111252045 A CN111252045 A CN 111252045A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
Abstract
The disclosure relates to a vehicle control method, a vehicle control device, a computer-readable storage medium and a vehicle. The method comprises the following steps: acquiring pedaling information of a pedal of a vehicle when the vehicle is in an automatic driving mode; judging whether the treading operation of the pedal is an emergency treading operation or not according to the treading information; and if the stepping operation on the pedal is the emergency stepping operation, controlling the vehicle to brake according to the stepping information. Through the technical scheme disclosed by the invention, traffic accidents caused by mistakenly stepping on the accelerator pedal when the vehicle is in an automatic driving mode can be avoided.
Description
Technical Field
The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle control method and apparatus, a computer-readable storage medium, and a vehicle.
Background
When the vehicle is in the automatic driving mode, a driver's erroneous operation of the vehicle pedal inevitably occurs. For example, when a driver finds that an emergency situation is about to occur in front of a vehicle, the driver often mistakenly uses an accelerator pedal as a brake pedal, and further serious traffic accidents are caused.
Therefore, how to deal with the situation that the pedal is mistakenly stepped when the vehicle is in the automatic driving mode becomes a problem to be solved urgently at present.
Disclosure of Invention
The invention aims to provide a vehicle control method, a vehicle control device, a computer readable storage medium and a vehicle, so as to avoid accidents caused by mistakenly using an accelerator pedal as a brake pedal when the vehicle is in an automatic driving mode.
In order to achieve the above object, the present disclosure provides a vehicle control method including:
acquiring pedaling information of a pedal of a vehicle when the vehicle is in an automatic driving mode;
judging whether the treading operation of the pedal is an emergency treading operation or not according to the treading information;
and if the stepping operation on the pedal is the emergency stepping operation, controlling the vehicle to brake according to the stepping information.
Optionally, the stepping information includes a stepping time length of an accelerator pedal and a stroke amount of the accelerator pedal, and the determining whether the stepping operation on the pedal is an emergency stepping operation according to the stepping information includes: determining the stroke change rate of the accelerator pedal according to the stepping time length and the stroke amount of the accelerator pedal, and if the stroke change rate of the accelerator pedal is greater than or equal to a first preset value, determining that the stepping operation on the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a step duration of a brake pedal and a stroke amount of the brake pedal, and then it is determined whether a step operation on the pedal is an emergency step operation according to the step information, including: and determining the stroke change rate of the brake pedal according to the stepping time length and the stroke amount of the brake pedal, and if the stroke change rate of the brake pedal is greater than or equal to a second preset value, determining that the stepping operation on the pedal is the emergency stepping operation.
Optionally, if the stepping information includes a stroke amount of an accelerator pedal, the determining whether the stepping operation on the pedal is an emergency stepping operation according to the stepping information includes: if the stroke amount of the accelerator pedal is greater than or equal to a third preset value, determining that the stepping operation on the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a stroke amount of a brake pedal, and the step information is used for judging whether the step operation on the pedal is an emergency step operation or not, and the step information includes: and if the stroke quantity of the brake pedal is greater than or equal to a fourth preset value, determining that the stepping operation on the pedal is the emergency stepping operation.
Alternatively, the step information includes a stepping rate of an accelerator pedal, and the determining whether the stepping operation on the pedal is an emergency stepping operation according to the step information includes: if the stepping rate of the accelerator pedal is greater than or equal to a fifth preset value, determining that the stepping operation of the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a stepping rate of a brake pedal, and the step of determining whether or not the stepping operation on the pedal is an emergency stepping operation based on the stepping information includes: and if the stepping rate of the brake pedal is greater than or equal to a sixth preset value, determining that the stepping operation of the pedal is the emergency stepping operation.
Optionally, the step information includes a step pressure value of an accelerator pedal, and the determining whether the step operation on the pedal is an emergency step operation according to the step information includes: if the stepping pressure value of the accelerator pedal is greater than or equal to a seventh preset value, determining that the stepping operation of the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a step pressure value of a brake pedal, and the step information is used to determine whether a step operation on the pedal is an emergency step operation, including: and if the trampling pressure value of the brake pedal is greater than or equal to an eighth preset value, determining that the trampling operation of the pedal is the emergency trampling operation.
Optionally, the method further comprises:
and if the pedal treading operation does not belong to the emergency treading operation, controlling the vehicle to keep the automatic driving mode.
The present disclosure also provides a vehicle control apparatus including:
the acquisition module is used for acquiring treading information of a vehicle pedal when the vehicle is in an automatic driving mode;
the judgment module is used for judging whether the treading operation of the pedal is emergent treading operation according to the treading information;
and the first control module is used for controlling the vehicle to brake according to the stepping information when the stepping operation on the pedal is the emergency stepping operation.
Optionally, the pedaling information includes a pedaling duration of an accelerator pedal and a stroke amount of the accelerator pedal, and the determining module includes: the first determining submodule is used for determining the stroke change rate of the accelerator pedal according to the stepping time length and the stroke amount of the accelerator pedal; a second determination submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stroke change rate of the accelerator pedal is greater than or equal to a first preset value; alternatively, the first and second electrodes may be,
trample information include to the trample duration of brake pedal with the stroke volume of brake pedal, then the judgement module includes: a third determining submodule for determining a stroke rate of the brake pedal according to the stepping time length and the stroke amount of the brake pedal; and the fourth determining submodule is used for determining that the stepping operation of the pedal is the emergency stepping operation when the stroke change rate of the brake pedal is greater than or equal to a second preset value.
Optionally, the stepping information includes a stroke amount of an accelerator pedal, and the determining module includes: a fifth determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stroke amount of the accelerator pedal is greater than or equal to a third preset value; alternatively, the first and second electrodes may be,
the stepping information includes a stroke amount of a brake pedal, and the determination module includes: a sixth determining submodule for determining a stepping operation on the pedal as the emergency stepping operation when the stroke amount of the brake pedal is greater than or equal to a fourth preset value.
Optionally, the pedaling information includes a pedaling rate of an accelerator pedal, and the determining module includes: a seventh determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stepping rate on the accelerator pedal is greater than or equal to a fifth preset value; alternatively, the first and second electrodes may be,
the pedaling information includes a pedaling rate of a brake pedal, and the determining module includes: an eighth determining submodule for determining a depressing operation of the pedal to be the emergency depressing operation when the depressing rate of the brake pedal is greater than or equal to a sixth preset value.
Optionally, the pedaling information includes a pedaling pressure value of the accelerator pedal, and the determining module includes: a ninth determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stepping pressure value on the accelerator pedal is greater than or equal to a seventh preset value; alternatively, the first and second electrodes may be,
trample the information and include the pressure value of trampling to brake pedal, then the judgement module includes: a tenth determining submodule for determining a stepping operation on the pedal as the emergency stepping operation when the stepping pressure value on the brake pedal is greater than or equal to an eighth preset value.
Optionally, the apparatus further comprises:
a second control module for controlling the vehicle to maintain the automatic driving mode when a pedaling operation on the pedal does not belong to the emergency pedaling operation.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.
The present disclosure also provides a vehicle including the vehicle control apparatus provided by the present disclosure.
Through the technical scheme, the following effects can be at least achieved:
when the vehicle is in the automatic driving mode, whether the stepping operation on the pedal is the emergency stepping operation or not is judged according to the acquired stepping information of the vehicle pedal, if the stepping operation on the pedal is the emergency driving operation, the vehicle is controlled to brake according to the stepping information, and traffic accidents caused by mistakenly using the accelerator pedal as the brake pedal when the vehicle is in the automatic driving mode can be avoided.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart illustrating a vehicle control method according to an exemplary embodiment of the present disclosure;
FIG. 2 is a block diagram of a vehicle control apparatus shown in accordance with an exemplary embodiment of the present disclosure;
FIG. 3 is a block diagram illustrating a vehicle control apparatus according to another exemplary embodiment of the present disclosure;
fig. 4 is a block diagram illustrating a vehicle control apparatus according to another exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the terms "first," "second," and the like in the description and claims of the present disclosure and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a view illustrating a vehicle control method according to an exemplary embodiment of the present disclosure, as shown in fig. 1, the method including the steps of:
in step S101, when the vehicle is in the automatic driving mode, depression information on a pedal of the vehicle is acquired.
In an embodiment of the present disclosure, the pedals of the vehicle include an accelerator pedal and a brake pedal, and the pedaling information on the vehicle pedal includes one or more of the following information: a stepping time period of the pedal, a stepping rate, a stepping pressure value, a stroke amount of the pedal, and the like.
Alternatively, the stepping information on the pedal may be acquired by a sensor assembly provided on the vehicle, for example, the stroke amount of the pedal may be acquired by a stroke sensor, the stepping rate on the pedal may be acquired by a speed sensor, the stepping pressure value on the pedal may be acquired by a pressure sensor, and the like. In step S102, it is determined whether the pedal depressing operation is an emergency depressing operation based on the depressing information.
In step S103, if the step-on operation of the pedal is an emergency step-on operation, the vehicle is controlled to brake according to the step-on information.
If the pedal is pedaled in an emergency, the current front of the vehicle is considered to have an emergency, and at the moment, whether the accelerator pedal or the brake pedal is pedaled, the vehicle is controlled to brake according to the pedaled information, so that the traffic accident caused by mistakenly using the accelerator pedal as the brake pedal when the vehicle is in the automatic driving mode can be avoided.
In the embodiment of the present disclosure, the acquired stepping information may be used to determine whether the stepping operation on the pedal is an emergency stepping operation and to control the vehicle to brake in different ways. Next, each step of the vehicle control method will be described in detail with specific embodiments.
In one possible implementation, the acquired depressing information includes a depressing duration of the pedal and a stroke amount of the pedal.
In step S102, if the driver steps on the accelerator, the obtained stepping information includes a stepping time period of the accelerator pedal and a stroke amount of the accelerator pedal. Correspondingly, the stroke change rate of the accelerator pedal can be determined according to the stepping time of the accelerator pedal and the stroke amount of the accelerator pedal, and if the stroke change rate of the accelerator pedal is greater than or equal to a first preset value, the stepping operation of the accelerator pedal is determined to be the emergency stepping operation; otherwise, the stepping operation on the pedal may be regarded as a non-emergency stepping operation. Specifically, the stroke rate of the accelerator pedal may be obtained by differentiating the stroke amount of the accelerator pedal with respect to the depression time.
If the driver steps on the brake pedal, the obtained stepping information includes a stepping time period of the brake pedal and a stroke amount of the brake pedal. Correspondingly, the stroke change rate of the brake pedal can be determined according to the stepping time of the brake pedal and the stroke amount of the brake pedal, and if the stroke change rate of the brake pedal is greater than or equal to a second preset value, the stepping operation of the brake pedal is determined to be an emergency stepping operation; otherwise, the depressing operation of the brake pedal may be regarded as a non-emergency depressing operation. Specifically, the stroke rate of change of the brake pedal may be obtained by differentiating the stroke amount of the brake pedal with respect to the depressing time.
Accordingly, in step S103, if the step-on operation of the accelerator pedal/brake pedal is an emergency step-on operation, the braking amount of the vehicle can be determined based on the stroke amount of the accelerator pedal/brake pedal, and the vehicle can be braked based on the braking amount. For example, the braking amount may be equal to the stroke amount of the accelerator pedal/brake pedal, or a correspondence relationship between the braking amount and the pedal stroke amount may be calibrated in advance, and the currently required braking amount is determined according to the correspondence relationship and the acquired stroke amount.
In another possible implementation, the acquired depressing information includes a stroke amount of the pedal.
In step S102, if the driver steps on the accelerator, the obtained stepping information includes the stroke amount of the accelerator pedal. Correspondingly, if the stroke amount of the accelerator pedal is greater than or equal to a third preset value, determining that the stepping operation on the pedal is an emergency stepping operation; otherwise, the stepping operation on the pedal may be regarded as a non-emergency stepping operation.
When the driver steps on the brake pedal, the obtained stepping information includes the stroke amount of the brake pedal. Correspondingly, if the stroke amount of the brake pedal is greater than or equal to a fourth preset value, determining that the stepping operation on the pedal is an emergency stepping operation; otherwise, the depressing operation of the brake pedal may be regarded as a non-emergency depressing operation.
Accordingly, in step S103, if the step-on operation of the accelerator pedal/brake pedal is an emergency step-on operation, the braking amount of the vehicle can be determined based on the stroke amount of the accelerator pedal/brake pedal, and the vehicle can be braked based on the braking amount. For example, the braking amount may be equal to the stroke amount of the accelerator pedal/brake pedal, or a correspondence relationship between the braking amount and the pedal stroke amount may be calibrated in advance, and the currently required braking amount is determined according to the correspondence relationship and the acquired stroke amount.
In another possible implementation, the acquired pedaling information includes a pedaling rate of the pedal.
In step S102, if the driver steps on the accelerator, the acquired stepping information includes a stepping rate of the accelerator pedal. Correspondingly, if the stepping rate of the accelerator pedal is greater than or equal to a fifth preset value, determining that the stepping operation of the pedal is an emergency stepping operation; otherwise, the stepping operation on the pedal may be regarded as a non-emergency stepping operation.
If the driver steps on the brake pedal, the obtained stepping information includes a stepping rate on the brake pedal. Correspondingly, if the stepping rate of the brake pedal is greater than or equal to a sixth preset value, the stepping operation of the brake pedal is determined to be an emergency stepping operation; otherwise, the depressing operation of the brake pedal may be regarded as a non-emergency depressing operation.
Accordingly, in step S103, if the operation of depressing the accelerator pedal/brake pedal is an emergency depressing operation, the braking amount of the vehicle may be determined according to the depressing rate of the accelerator pedal/brake pedal, and the vehicle may be controlled to brake according to the braking amount. For example, a correspondence relationship between the braking amount and the stepping rate on the pedal may be calibrated in advance, and the currently required braking amount may be determined according to the correspondence relationship and the acquired stepping rate on the pedal.
In another possible implementation, the acquired depression information includes a depression pressure value of the pedal.
In step S102, when the driver steps on the accelerator, the acquired stepping information includes a stepping pressure value on the accelerator pedal. Correspondingly, if the stepping pressure value of the accelerator pedal is greater than or equal to a seventh preset value, determining that the stepping operation of the pedal is an emergency stepping operation; otherwise, the stepping operation on the pedal may be regarded as a non-emergency stepping operation.
If the driver steps on the brake pedal, the obtained stepping information includes a stepping pressure value on the brake pedal. Correspondingly, if the stepping pressure value of the brake pedal is greater than or equal to the eighth preset value, the stepping operation of the brake pedal is determined to be an emergency stepping operation; otherwise, the depressing operation of the brake pedal may be regarded as a non-emergency depressing operation.
Accordingly, in step S103, if the stepping operation on the accelerator pedal/brake pedal is an emergency stepping operation, the braking amount of the vehicle may be determined based on the stepping pressure value on the accelerator pedal/brake pedal, and the vehicle may be controlled to brake based on the braking amount. For example, a corresponding relationship between the braking force and the stepping pressure value of the pedal may be calibrated in advance, and the currently required braking force may be determined according to the corresponding relationship and the obtained stepping pressure value of the pedal.
It should be noted that, in the above embodiments of the present disclosure, the first to eighth preset values may be default values when the vehicle leaves a factory, or may be values set as needed.
In addition, for the step S103, the calculated braking amount may be sent to a controller of the vehicle, and a message carrying the braking amount may be sent to a braking system of the vehicle by the controller of the vehicle, so that the braking system controls the vehicle to brake.
In another embodiment of the present disclosure, the vehicle control method may further include:
and if the pedal is not subjected to the emergency pedal operation, controlling the vehicle to keep the automatic driving mode. For example, when the pedal is not subjected to an emergency pedaling operation, it can be considered that an emergency situation does not exist at present, the pedal is subjected to a mistaken pedaling operation by the driver, and therefore the obtained pedaling information is not responded, the vehicle keeps the automatic driving mode to continue driving, so that the situation that the vehicle exits the automatic driving mode due to the fact that the accelerator pedal or the brake pedal is touched by mistake by people can be avoided, and user experience is improved.
The present disclosure also provides a vehicle control apparatus, as shown in fig. 2, the vehicle control apparatus 200 includes an obtaining module 201, a determining module 202, and a first control module 203.
The obtaining module 201 is used for obtaining the treading information of a vehicle pedal when the vehicle is in an automatic driving mode;
the judging module 202 is configured to judge whether the pedaling operation on the pedal is an emergency pedaling operation according to the pedaling information;
the first control module 203 is configured to control the vehicle to brake according to the stepping information when the stepping operation on the pedal is an emergency stepping operation.
In one embodiment of the present disclosure, the stepping information includes a stepping time period of the accelerator pedal and a stroke amount of the accelerator pedal, and the determination module 202 includes a first determination submodule 221 and a second determination submodule 222. As shown in fig. 3, the first determination submodule 221 is configured to determine a stroke rate of the accelerator pedal based on the depression time period and the stroke amount of the accelerator pedal; the second determining submodule 222 is configured to determine that the stepping operation on the pedal is an emergency stepping operation when the stroke change rate of the accelerator pedal is greater than or equal to a first preset value; alternatively, the first and second electrodes may be,
the depressing information includes a depressing time period of the brake pedal and a stroke amount of the brake pedal, and the judgment module 202 includes a third determination submodule 223 and a fourth determination submodule 224. As shown in fig. 3, the third determination submodule 223 is configured to determine a stroke rate of the brake pedal based on the depression time period and the stroke amount of the brake pedal; the fourth determining submodule 224 is configured to determine that the depressing operation on the pedal is an emergency depressing operation when the stroke change rate of the brake pedal is greater than or equal to a second preset value.
In another embodiment of the present disclosure, the pedaling information includes a stroke amount of an accelerator pedal, and the determination module 202 includes a fifth determination submodule 225. As shown in fig. 3, the fifth determination submodule 225 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the stroke amount of the accelerator pedal is greater than or equal to a third preset value; alternatively, the first and second electrodes may be,
the depression information includes a stroke amount of the brake pedal, and the determination module 202 includes a sixth determination submodule 226. As shown in fig. 3, the sixth determining submodule 226 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the stroke amount of the brake pedal is greater than or equal to the fourth preset value.
In another embodiment of the present disclosure, the depression information includes a rate of depression of the accelerator pedal, and the determination module 202 includes a seventh determination submodule 227. As shown in fig. 3, the seventh determining submodule 227 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the depressing rate on the accelerator pedal is greater than or equal to a fifth preset value; alternatively, the first and second electrodes may be,
the depression information includes a rate of depression of the brake pedal, and the determination module 202 includes an eighth determination submodule 228. As shown in fig. 3, the eighth determining submodule 228 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the depressing rate on the brake pedal is greater than or equal to a sixth preset value.
In another embodiment of the present disclosure, the depression information includes a depression pressure value of the accelerator pedal, and the determination module 202 includes a ninth determination submodule 229. As shown in fig. 3, the ninth determination submodule 229 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the depressing pressure value on the accelerator pedal is greater than or equal to a seventh preset value; alternatively, the first and second electrodes may be,
the depression information includes a depression pressure value of the brake pedal, and the determination module 202 includes a tenth determination sub-module 210. As shown in fig. 3, the tenth determination submodule 210 is configured to determine that the depressing operation on the pedal is the emergency depressing operation when the depressing pressure value on the brake pedal is greater than or equal to the eighth preset value.
In one embodiment of the present disclosure, as shown in FIG. 4, the apparatus 200 further includes a second control module 204.
The second control module 204 is configured to control the vehicle to maintain the autonomous driving mode when the pedaling operation of the pedal is not an emergency pedaling operation.
With regard to the apparatus in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each module may be physically included alone, or two or more modules may be integrated into one module. The integrated module can be realized in a hardware form, a software form, or a hardware and software functional module form. Moreover, various implementations of the above functional modules may be realized physically.
By adopting the device provided by the disclosure, when the vehicle is in the automatic driving mode, whether the stepping operation on the pedal is the emergency stepping operation or not is judged through the obtained stepping information of the vehicle pedal, if the stepping operation on the pedal is the emergency driving operation, the vehicle is controlled to brake according to the stepping information no matter whether the accelerator pedal or the brake pedal is stepped, and traffic accidents caused by mistaken stepping on the accelerator pedal when the vehicle is in the automatic driving mode can be avoided.
Accordingly, the present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the vehicle control method provided by the present disclosure.
The present disclosure also provides a vehicle including the vehicle control device provided by the present disclosure, which is not described herein again. Wherein the vehicle control device may be a microcontroller ECU implementing the vehicle by software, hardware or a combination of both.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (14)
1. A vehicle control method characterized by comprising:
acquiring pedaling information of a pedal of a vehicle when the vehicle is in an automatic driving mode;
judging whether the treading operation of the pedal is an emergency treading operation or not according to the treading information;
and if the stepping operation on the pedal is the emergency stepping operation, controlling the vehicle to brake according to the stepping information.
2. The method according to claim 1, wherein the depressing information includes a depressing time period of an accelerator pedal and a stroke amount of the accelerator pedal, and the determining whether the depressing operation of the pedal is an urgent depressing operation according to the depressing information includes: determining the stroke change rate of the accelerator pedal according to the stepping time length and the stroke amount of the accelerator pedal, and if the stroke change rate of the accelerator pedal is greater than or equal to a first preset value, determining that the stepping operation on the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a step duration of a brake pedal and a stroke amount of the brake pedal, and then it is determined whether a step operation on the pedal is an emergency step operation according to the step information, including: and determining the stroke change rate of the brake pedal according to the stepping time length and the stroke amount of the brake pedal, and if the stroke change rate of the brake pedal is greater than or equal to a second preset value, determining that the stepping operation on the pedal is the emergency stepping operation.
3. The method according to claim 1, wherein the depression information includes a stroke amount of an accelerator pedal, and the determining whether the depression operation of the pedal is an emergency depression operation based on the depression information includes: if the stroke amount of the accelerator pedal is greater than or equal to a third preset value, determining that the stepping operation on the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a stroke amount of a brake pedal, and the step information is used for judging whether the step operation on the pedal is an emergency step operation or not, and the step information includes: and if the stroke quantity of the brake pedal is greater than or equal to a fourth preset value, determining that the stepping operation on the pedal is the emergency stepping operation.
4. The method according to claim 1, wherein the depressing information includes a depressing rate of an accelerator pedal, and the determining whether the depressing operation of the pedal is an emergency depressing operation according to the depressing information includes: if the stepping rate of the accelerator pedal is greater than or equal to a fifth preset value, determining that the stepping operation of the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a stepping rate of a brake pedal, and the step of determining whether or not the stepping operation on the pedal is an emergency stepping operation based on the stepping information includes: and if the stepping rate of the brake pedal is greater than or equal to a sixth preset value, determining that the stepping operation of the pedal is the emergency stepping operation.
5. The method according to claim 1, wherein the depression information includes a depression pressure value of an accelerator pedal, and the determining whether the depression operation of the pedal is an emergency depression operation based on the depression information includes: if the stepping pressure value of the accelerator pedal is greater than or equal to a seventh preset value, determining that the stepping operation of the pedal is the emergency stepping operation; alternatively, the first and second electrodes may be,
the step information includes a step pressure value of a brake pedal, and the step information is used to determine whether a step operation on the pedal is an emergency step operation, including: and if the trampling pressure value of the brake pedal is greater than or equal to an eighth preset value, determining that the trampling operation of the pedal is the emergency trampling operation.
6. The method according to any one of claims 1 to 5, further comprising:
and if the pedal treading operation does not belong to the emergency treading operation, controlling the vehicle to keep the automatic driving mode.
7. A vehicle control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring treading information of a vehicle pedal when the vehicle is in an automatic driving mode;
the judgment module is used for judging whether the treading operation of the pedal is emergent treading operation according to the treading information;
and the first control module is used for controlling the vehicle to brake according to the stepping information when the stepping operation on the pedal is the emergency stepping operation.
8. The apparatus according to claim 7, wherein the depression information includes a depression time period of an accelerator pedal and a stroke amount of the accelerator pedal, and the determination module includes: the first determining submodule is used for determining the stroke change rate of the accelerator pedal according to the stepping time length and the stroke amount of the accelerator pedal; a second determination submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stroke change rate of the accelerator pedal is greater than or equal to a first preset value; alternatively, the first and second electrodes may be,
trample information include to the trample duration of brake pedal with the stroke volume of brake pedal, then the judgement module includes: a third determining submodule for determining a stroke rate of the brake pedal according to the stepping time length and the stroke amount of the brake pedal; and the fourth determining submodule is used for determining that the stepping operation of the pedal is the emergency stepping operation when the stroke change rate of the brake pedal is greater than or equal to a second preset value.
9. The apparatus according to claim 7, wherein the depressing information includes a stroke amount of an accelerator pedal, and the determining module includes: a fifth determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stroke amount of the accelerator pedal is greater than or equal to a third preset value; alternatively, the first and second electrodes may be,
the stepping information includes a stroke amount of a brake pedal, and the determination module includes: a sixth determining submodule for determining a stepping operation on the pedal as the emergency stepping operation when the stroke amount of the brake pedal is greater than or equal to a fourth preset value.
10. The apparatus of claim 7, wherein the depression information includes a depression rate of an accelerator pedal, and the determination module includes: a seventh determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stepping rate on the accelerator pedal is greater than or equal to a fifth preset value; alternatively, the first and second electrodes may be,
the pedaling information includes a pedaling rate of a brake pedal, and the determining module includes: an eighth determining submodule for determining a depressing operation of the pedal to be the emergency depressing operation when the depressing rate of the brake pedal is greater than or equal to a sixth preset value.
11. The apparatus according to claim 7, wherein the depression information includes a depression pressure value of an accelerator pedal, and the determination module includes: a ninth determining submodule for determining that the stepping operation on the pedal is the emergency stepping operation when the stepping pressure value on the accelerator pedal is greater than or equal to a seventh preset value; alternatively, the first and second electrodes may be,
trample the information and include the pressure value of trampling to brake pedal, then the judgement module includes: a tenth determining submodule for determining a stepping operation on the pedal as the emergency stepping operation when the stepping pressure value on the brake pedal is greater than or equal to an eighth preset value.
12. The apparatus of claim 7, further comprising:
a second control module for controlling the vehicle to maintain the automatic driving mode when a pedaling operation on the pedal does not belong to the emergency pedaling operation.
13. A computer-readable storage medium, on which instructions of a computer program are stored, characterized in that the program instructions, when executed, implement the steps of the method of any one of claims 1 to 6.
14. A vehicle characterized by comprising the vehicle control apparatus of any one of claims 7 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811459589.6A CN111252045A (en) | 2018-11-30 | 2018-11-30 | Vehicle control method and device, computer readable storage medium and vehicle |
Applications Claiming Priority (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111959271A (en) * | 2020-08-24 | 2020-11-20 | 孙超林 | Device for preventing accelerator from being stepped on by mistake for automatic-stop vehicle and using method |
| CN114715092A (en) * | 2022-03-31 | 2022-07-08 | 合众新能源汽车有限公司 | Vehicle brake control system, method, device, electronic device, and storage medium |
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| CN105564240A (en) * | 2016-01-05 | 2016-05-11 | 袁芳 | Throttle control system |
| CN106042924A (en) * | 2016-05-27 | 2016-10-26 | 樊美平 | Automobile mistaken tread preventing accelerator pedal control system and control method |
| JP2017200811A (en) * | 2016-05-08 | 2017-11-09 | 住江 久寿 | Pedal device |
| CN108297877A (en) * | 2017-10-10 | 2018-07-20 | 腾讯科技（深圳）有限公司 | Control method for vehicle, system and device |
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| CN101073987A (en) * | 2007-06-28 | 2007-11-21 | 上海交通大学 | Method for controlling emergent brake fault |
| CN105564240A (en) * | 2016-01-05 | 2016-05-11 | 袁芳 | Throttle control system |
| JP2017200811A (en) * | 2016-05-08 | 2017-11-09 | 住江 久寿 | Pedal device |
| CN106042924A (en) * | 2016-05-27 | 2016-10-26 | 樊美平 | Automobile mistaken tread preventing accelerator pedal control system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111959271A (en) * | 2020-08-24 | 2020-11-20 | 孙超林 | Device for preventing accelerator from being stepped on by mistake for automatic-stop vehicle and using method |
| CN114715092A (en) * | 2022-03-31 | 2022-07-08 | 合众新能源汽车有限公司 | Vehicle brake control system, method, device, electronic device, and storage medium |
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