CN111516491B - Vehicle accelerator control device and control method - Google Patents

Vehicle accelerator control device and control method Download PDF

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CN111516491B
CN111516491B CN201911425649.7A CN201911425649A CN111516491B CN 111516491 B CN111516491 B CN 111516491B CN 201911425649 A CN201911425649 A CN 201911425649A CN 111516491 B CN111516491 B CN 111516491B
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collision
accelerator pedal
accelerator
vehicle
main controller
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CN111516491A (en
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乔双梁
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Shenzhen Ruiwei Intelligent Technology Co ltd
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Shenzhen Ruiwei Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0025—Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B60K2031/0033—Detecting longitudinal speed or acceleration of target vehicle

Abstract

The invention discloses a vehicle accelerator control device and an accelerator control method, which comprise the following steps: the system comprises a main controller, an image acquisition module and an accelerator control unit; the collision time threshold is prestored in the main controller, the image acquisition module is connected with the main controller through a first input interface, and the accelerator control unit is connected with the main controller through a first output interface; the invention can effectively solve the problem that a driver mistakenly steps on the accelerator under the condition that dangerous collision is likely to happen.

Description

Vehicle accelerator control device and control method
Technical Field
The invention relates to the technical field of automobile safety, in particular to a vehicle accelerator control device and a control method.
Background
At present, with the rapid development of Chinese economy, automobiles become more and more popular, and the frequent occurrence of traffic accidents follows.
However, in the daily driving of an automobile, a traffic accident may occur due to mistaken accelerator pedal stepping, and generally occurs in many driving novices, for example, when a driver is about to collide with a front vehicle, a pedestrian, a building or other obstacles, the first reaction of a general person is braking, but for a driving novice who is not familiar with the positions of the pedals, particularly in an emergency, the position of the brake pedal is easily judged by mistake, so that the operation which should be braking is changed into acceleration, further the collision injury which should be avoided occurs or is aggravated, and if the driver directly brakes, due to the existence of inertia and a lot of vehicles on the road, the rear vehicle and the front vehicle are easily collided due to sudden stop.
Therefore, how to provide an accelerator control device and a control method capable of solving the above problems is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a vehicle accelerator control device and a control method, which can effectively solve the problem that a driver mistakenly steps on an accelerator in a situation where a dangerous collision is about to occur.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle throttle control apparatus comprising:
the device comprises a main controller, a vehicle body and a vehicle body, wherein a collision time threshold value and an accelerator pedal opening threshold value are pre-stored in the main controller;
the image acquisition module is connected with the main controller through a first input interface and is used for acquiring images of a front vehicle;
the accelerator control unit is connected with the main controller through a first output interface and used for controlling the action of an accelerator pedal.
The beneficial effect who adopts above-mentioned device does:
preferably, the method further comprises the following steps: and the alarm module is connected with the main controller through a second output interface.
A method of controlling throttle actuation using the vehicle throttle control apparatus of any one of the above, comprising:
s1: acquiring an image of a front vehicle by using the image acquisition module to obtain continuous image information P and P ' and timestamps T and T ' corresponding to the image information P and P ' respectively;
s2: the main controller processes the P and the P 'by utilizing a visual analysis algorithm to obtain the distances S and S' between the vehicle and the front vehicle and obtain the relative speed V between the vehicle and the front vehicleRelative to each other；
S3: judgment VRelative to each otherValue of (a) if VRelative to each otherIf the value of (V) is zero, no operation is performed, if V isRelative to each otherIf the value of (D) is greater than zero, the collision time T is obtainedCollision of vehicles；
S4: will collide with time TCollision of vehiclesComparing with a time-to-collision threshold if said time-to-collision TCollision of vehiclesAnd if the collision time is less than or equal to the collision time threshold, sending a control signal to the accelerator control unit to control the opening of the accelerator pedal.
Preferably, the step S4 further includes:
s41: after receiving the control signal, the accelerator control unit acquires the current opening degree of the accelerator pedal and adjusts the opening degree value of the accelerator pedal to be half of the current value;
s42: and if the action that the driver continues stepping on the accelerator is monitored, continuously adjusting the opening of the accelerator pedal to be half of the current value until the opening of the accelerator pedal is reduced to the threshold value of the opening of the accelerator pedal.
Preferably, in step S42, when the relative distance during the adjustment process meets the requirement, the opening degree of the accelerator pedal is gradually restored to the original recorded value.
Compared with the prior art, the invention discloses a vehicle accelerator control device and a vehicle accelerator control method, which can prevent a driver from mistakenly stepping on an accelerator pedal due to tension when the driver almost collides with a front obstacle, so that the possible collision speed is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic block diagram of a structure provided in embodiment 1 of the present invention;
FIG. 2 is a flow chart of the method of embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1, an embodiment 1 of the present invention discloses a vehicle throttle control device, including:
the device comprises a main controller 1, wherein a collision time threshold value and an accelerator pedal opening degree threshold value are stored in the main controller 1 in advance;
the image acquisition module 2 is connected with the main controller 1 through a first input interface, and the image acquisition module 2 is used for acquiring images of a front vehicle;
the accelerator control unit 3 is connected with the main controller 1 through a first output interface, and the accelerator control unit 3 is used for controlling the action of an accelerator pedal.
In a specific embodiment, the method further comprises the following steps: and the alarm module 4 is connected with the main controller 1 through a second output interface.
In a specific embodiment, a distance measuring sensor can be further arranged, and multi-sensor data fusion is carried out on data of the distance measuring sensor and data of image processing, so that the measurement precision is improved.
Example 2
Referring to fig. 2, an embodiment 1 of the present invention discloses a method for controlling a throttle action using a throttle control apparatus for a vehicle according to any one of embodiments 1, including:
s1: acquiring images of a front vehicle by using the image acquisition module 2 to obtain continuous image information P and P ' and timestamps T and T ' corresponding to the image information P and P ' respectively;
s2: the main controller 1 processes P and P 'by using a visual analysis algorithm to obtain the distances S and S' between the main vehicle and the front vehicle and obtain the relative speed V between the main vehicle and the front vehicleRelative to each other；
Wherein the relative velocity VRelative to each otherThe expression of (a) is:
Figure BDA0002349536290000041
s3: judgment VRelative to each otherValue of (a) if VRelative to each otherIf the value of (V) is zero, no operation is performed, if V isRelative to each otherIf the value of (D) is greater than zero, the collision time T is obtainedCollision of vehicles；
Wherein the time of collision TCollision of vehiclesThe expression is as follows:
Figure BDA0002349536290000042
s4: will collide with time TCollision of vehiclesComparing with a time-to-collision threshold if the time-to-collision TCollision of vehiclesAnd if the collision time is less than or equal to the collision time threshold, sending a control signal to the accelerator control unit 3 to control the opening of the accelerator pedal.
In a specific embodiment, step S4 further includes:
s41: after receiving the control signal, the accelerator control unit 3 acquires the current opening degree of the accelerator pedal and adjusts the opening degree value of the accelerator pedal to be half of the current value;
s42: and if the action that the driver continues stepping on the accelerator is monitored, continuously adjusting the opening of the accelerator pedal to be half of the current value until the opening of the accelerator pedal is reduced to the threshold value of the opening of the accelerator pedal.
In a specific embodiment, in step S42, when the relative distance during the adjustment process meets the requirement, the opening degree of the accelerator pedal is gradually restored to the original recorded value.
Specifically, the accelerator control unit receives a control signal of the main controller, and restores and adjusts the pedal opening degree level of the accelerator to 2 times until the accelerator pedal opening degree value recorded before is restored.
In a specific embodiment, the visual analysis algorithm may adopt a monocular vision method, and according to the internal parameters of the camera and the geometric relationship of the perspective projection, the camera parameters of the mobile device are utilized, and the estimated value of the distance between the vehicle and the vehicle in front can be obtained only by providing the height of the camera.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (3)

1. A vehicle throttle control device, characterized by comprising:
the device comprises a main controller (1), wherein a collision time threshold value and an accelerator pedal opening degree threshold value are stored in the main controller (1) in advance;
the image acquisition module (2) is connected with the main controller (1) through a first input interface, and the image acquisition module (2) is used for acquiring images of a front vehicle;
the accelerator control unit (3) is connected with the main controller (1) through a first output interface, and the accelerator control unit (3) is used for controlling the action of an accelerator pedal;
the method for controlling the action of the accelerator pedal by using the vehicle accelerator control device comprises the following steps:
s1: acquiring images of a front vehicle by using the image acquisition module (2) to obtain continuous image information P and P ' and timestamps T and T ' corresponding to the image information P and P ' respectively;
s2: the main controller (1) processes the P and the P 'by utilizing a visual analysis algorithm to obtain the distances S and S' between the vehicle and the front vehicle and obtain the relative speed V between the vehicle and the front vehicleRelative to each other；
S3: judgment VRelative to each otherValue of (a) if VRelative to each otherIf the value of V is greater than zero, the collision time T is obtainedCollision of vehicles；
S4: will collide with time TCollision of vehiclesComparing with a time-to-collision threshold if said time-to-collision TCollision of vehiclesIf the collision time is less than or equal to the collision time threshold, a control signal is sent to the accelerator control unit (3) to control the opening of an accelerator pedal;
time of collision TCollision of vehiclesThe expression is as follows:
Figure FDA0003211802370000011
relative velocity VRelative to each otherThe expression of (a) is:
Figure FDA0003211802370000012
and when the relative distance meets the requirement in the adjusting process, gradually restoring the opening degree of the accelerator pedal to the original recorded value.
2. The throttle control device for a vehicle according to claim 1, further comprising: the alarm module (4) is connected with the main controller (1) through a second output interface.
3. The throttle control device for a vehicle according to claim 1, wherein the step S4 further includes:
s41: after receiving the control signal, the accelerator control unit (3) acquires the current opening degree of the accelerator pedal and adjusts the opening degree value of the accelerator pedal to be half of the current value;
s42: and if the action that the driver continues stepping on the accelerator is monitored, continuously adjusting the opening of the accelerator pedal to be half of the current value until the opening of the accelerator pedal is reduced to the threshold value of the opening of the accelerator pedal.
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