CN114056090A - Method and system for preventing accelerator pedal from being stepped on by mistake and vehicle - Google Patents

Method and system for preventing accelerator pedal from being stepped on by mistake and vehicle Download PDF

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Publication number
CN114056090A
CN114056090A CN202010778603.XA CN202010778603A CN114056090A CN 114056090 A CN114056090 A CN 114056090A CN 202010778603 A CN202010778603 A CN 202010778603A CN 114056090 A CN114056090 A CN 114056090A
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accelerator pedal
speed
detection target
vehicle
limiting
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CN202010778603.XA
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CN114056090B (en
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王鹏鹏
雷杰
武云龙
马爱国
张顺
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BYD Co Ltd
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BYD 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
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)

Abstract

The application discloses accelerator pedal mistaken stepping prevention method, system and vehicle, and the method comprises the following steps: when the detection target is determined not to be placed on an accelerator pedal, acquiring the movement speed of the detection target; and limiting the torque output of the accelerator pedal if the movement speed of the detected target is greater than the first speed threshold. The method can avoid the condition of mistakenly stepping on the accelerator pedal in advance, so that the driver is safer when driving.

Description

Method and system for preventing accelerator pedal from being stepped on by mistake and vehicle
Technical Field
The invention relates to the technical field of automobiles, in particular to a method and a system for preventing an accelerator pedal from being stepped on by mistake and a vehicle.
Background
In recent years, when a driver drives a vehicle, the driver frequently takes the accelerator as a brake and steps on the brake, and traffic accidents are caused in most cases. If the driver mistakenly steps on the accelerator, the vehicle is out of control at a large acceleration, and the safety of surrounding vehicles, pedestrians and self lives and properties is seriously threatened.
In the prior art, whether the accelerator pedal is mistakenly stepped or not is judged through various acceleration sensors, displacement sensors, speed sensors and the like. The method for judging whether the accelerator pedal is mistakenly stepped can be judged only after the driver mistakenly steps on the accelerator pedal, and the mistaken stepping of the accelerator pedal cannot be prevented.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a method, a system and a vehicle for preventing an accelerator pedal from being stepped on by mistake.
In a first aspect, the present invention provides a method for preventing an accelerator pedal from being stepped on by mistake, the method comprising:
when the detection target is not placed on an accelerator pedal, acquiring the movement speed of the detection target;
if the speed of movement of the detection target is greater than the first speed threshold, the torque output of the accelerator pedal is limited.
In one embodiment, limiting the torque output of the accelerator pedal if the speed of movement of the detection target is greater than the first speed threshold comprises:
acquiring the speed of a vehicle;
if the vehicle speed is less than the second speed threshold, limiting the torque output of the accelerator pedal according to a first torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a second torque limiting coefficient.
In one embodiment, after limiting the torque output of the accelerator pedal, the method further comprises:
judging whether the detection target moves to an accelerator pedal or not, and placing the detection target on the accelerator pedal;
if the detected target moves to an accelerator pedal and is placed on the accelerator pedal;
acquiring the movement speed of an accelerator pedal;
and if the movement speed of the accelerator pedal is greater than the third speed threshold, inhibiting the torque output of the accelerator pedal.
In one embodiment, the method further comprises:
if the detection target is placed on an accelerator pedal, acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than the third speed threshold, limiting the torque output of the accelerator pedal.
In one embodiment, the method further comprises:
if the movement speed of the detection target is smaller than or equal to the first speed threshold, judging whether the detection target moves to an accelerator pedal and placing the detection target on the accelerator pedal;
if the detected target moves to an accelerator pedal and is placed on the accelerator pedal, acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than the third speed threshold, limiting the torque output of the accelerator pedal.
In one embodiment, limiting the torque output of the accelerator pedal if the speed of movement of the accelerator pedal is greater than a third speed threshold comprises:
acquiring the speed of a vehicle;
if the vehicle speed is less than the second speed threshold, limiting the torque output of the accelerator pedal according to a third torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a fourth torque limiting coefficient.
In one embodiment, the acquisition of the movement speed of the detection target and the movement speed of the accelerator pedal is determined by:
acquiring image data, wherein the image data comprises a detection target and an accelerator pedal;
acquiring first position information contained in two adjacent frames in image data, wherein the first position information is position information of a detection target;
determining the movement speed of the detection target according to the first position information;
acquiring second position information contained in two adjacent frames in the image data, wherein the second position information is position information of an accelerator pedal;
and determining the movement speed of the accelerator pedal according to the second position information.
In one embodiment, image data corresponding to limiting the torque output of the accelerator pedal is stored.
In a second aspect, the present application provides an accelerator pedal mis-stepping prevention system, comprising:
the whole vehicle control circuit is used for acquiring the movement speed of a detection target when the detection target is not placed on an accelerator pedal;
if the speed of movement of the detection target is greater than the first speed threshold, the torque output of the accelerator pedal is limited.
In one embodiment, the system further comprises:
the image sensing equipment is used for acquiring image data, and the image data comprises a detection target and an accelerator pedal;
and the vehicle control circuit is also used for receiving image data from the image sensing device and determining the movement speed of the detection target and the movement speed of the accelerator pedal based on the image data.
In one embodiment, the system further comprises:
a memory for storing image data corresponding to a torque output of the accelerator pedal being limited.
In a third aspect, the present application provides a vehicle comprising an accelerator pedal mis-tip prevention system as in any one of the above.
According to the method, the system and the vehicle for preventing the accelerator pedal from being stepped on mistakenly, if the fact that the detection target is not placed on the accelerator pedal and the movement speed of the detection target is larger than the first speed threshold value is detected by the control circuit of the whole vehicle, the torque of the accelerator pedal is limited, and therefore when a driver possibly steps on the accelerator pedal mistakenly, due to the fact that the torque of the accelerator pedal is limited in advance, namely the driver steps on the accelerator pedal suddenly, a corresponding acceleration effect cannot be obtained, therefore, the situation that the accelerator pedal is stepped on mistakenly is avoided in advance, and the driver is enabled to be safer to drive.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a system for preventing an accelerator pedal from being stepped on by mistake according to an embodiment of the present invention;
FIG. 2 is a front view of the position relationship between the image sensing device and the detection target and the accelerator pedal provided by the embodiment of the invention;
FIG. 3 is a left side view of the image sensing device in relation to the position of a detection target and an accelerator pedal provided in an embodiment of the present invention;
FIG. 4 is a schematic diagram of the calculation of the movement velocity of a detection target;
FIG. 5 is a schematic diagram of a calculation of the speed of movement of the accelerator pedal;
FIG. 6 is a schematic structural diagram of a system for preventing an accelerator pedal from being stepped on by mistake according to an embodiment of the present invention;
FIG. 7 is a schematic flow chart illustrating a method for preventing an accelerator pedal from being stepped on by mistake according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating a method for preventing accelerator from being stepped on by mistake according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In the prior art, whether the accelerator pedal is mistakenly stepped or not is judged through various acceleration sensors, displacement sensors, speed sensors and the like. The method for judging whether the accelerator pedal is mistakenly stepped can judge only after the driver mistakenly steps on the accelerator pedal, cannot prevent the accelerator pedal from being mistakenly stepped, and possibly threatens the personal safety of the driver and surrounding people.
Therefore, the embodiment of the application provides a method for preventing an accelerator pedal from being stepped on by mistake, which can judge that the accelerator pedal is likely to be stepped on by mistake before a driver steps on the accelerator pedal by mistake, namely, the condition that the accelerator pedal is mistakenly stepped on is avoided in advance.
The method for preventing the accelerator pedal from being stepped on by mistake can be suitable for pure electric vehicles and automatic speed changing vehicles, such as pure electric passenger cars, pure electric buses, pure electric cars and the like.
In one embodiment, referring to fig. 1, a schematic structural diagram of an accelerator pedal mis-stepping prevention system according to an embodiment of the present application is shown.
As shown in fig. 1, the accelerator pedal mis-stepping prevention system may include:
the whole vehicle control circuit 130 is used for acquiring the movement speed of a detection target when the detection target is not placed on an accelerator pedal;
if the speed of movement of the detection target is greater than the first speed threshold, the torque output of the accelerator pedal is limited.
It should be noted that the function realized by the vehicle control circuit 130 may be completed by one integrated circuit, or may be completed by division of multiple circuits.
For example, referring to fig. 1, the overall vehicle control circuit 130 may include an image processing sub-circuit 1310 and an overall vehicle control sub-circuit 1320. The image processing sub-circuit 1310 finishes judging whether the detection target is not placed on an accelerator pedal or not and determines the movement speed of the detection target; the vehicle control sub-circuit 1320 performs a determination based on the moving speed of the detection target determined by the image processing sub-circuit 1310 that the torque output of the accelerator pedal is limited if the moving speed of the detection target is greater than the first speed threshold. It should be noted that, in the following embodiments, the entire vehicle control circuit 130 is illustrated by taking two parts, namely, an image processing sub-circuit 1310 and an entire vehicle control sub-circuit 1320.
Referring to fig. 1, the accelerator pedal mis-stepping prevention system may further include:
the image sensing device 110 is configured to acquire image data, where the image data includes a detection target and an accelerator pedal, and specifically, the image data includes position information of the detection target and position information of the accelerator pedal;
the vehicle control circuit 130 is further configured to receive image data from the image sensing device, and determine a movement speed of the detection target and a movement speed of the accelerator pedal based on the image data.
Specifically, the image sensing device 110 is mainly configured to collect image data, where the image data mainly includes position information of a detection target and position information of an accelerator pedal. It is understood that the position information of the detection target or the position information of the accelerator pedal may include coordinate information of any one feature point of the detection target or the accelerator pedal, where the detection target is an object that can change a stroke of the accelerator pedal, for example, the detection target may be a human foot, or may be another object such as a cup or a mobile phone (an object that may hit the accelerator pedal and is accidentally dropped by the driver), and the detection target in the following embodiments is exemplified by the human foot.
The image sensing device 110 may be a device with a shooting function, such as a camera, a video camera, a scanner, a mobile phone, a tablet computer, and the like, which is not limited herein. It should be noted that the range of the angle of view captured by the image sensing device 110 needs to satisfy: the image sensing device 110 can photograph the detection target and the accelerator pedal. Fig. 2 and 3 are diagrams illustrating a positional relationship between the image sensing device 110 and the detection target and the accelerator pedal, where fig. 2 is a front view of the positional relationship, and fig. 3 is a left view of the positional relationship. It should be noted that fig. 2 and 3 also show the installation position of the image sensing device 110, and fig. 2 and 3 show the example of the image sensing device 110 being installed on a steering column, wherein the steering column is fixed at the floor leather of the vehicle.
The image processing sub-circuit 1310 is mainly configured to acquire image data acquired by the image sensing device 110 and process the acquired image data. An image processing sub-circuit 1310 that determines whether the detection target is not placed on the accelerator pedal from the acquired image data, and determines the movement speed of the detection target.
It is understood that the image sensing device 110 needs to send image data to the image processing sub-circuit 1310 via the first communication module 120. As shown in fig. 1, the first communication module 120 is an example of the awareness information communication module 120, and the awareness information communication module 120 may be a wired communication module or a wireless communication module, which is not limited herein.
The image processing sub-circuit 1310 may identify the position information of the human foot from the received image data sent by the image sensing device 110, and calculate the movement velocity of the human foot according to the position information of the human foot.
Specifically, as shown in fig. 4, in the schematic diagram of the motion speed calculation of the human foot, the image processing sub-circuit 1310 obtains the position coordinates of the human foot at the same feature point in each frame of image data in the image data, and the motion speed of the human foot can be calculated according to the position coordinates of the human foot corresponding to the same feature point of the human foot included in two adjacent frames of the obtained image data. It should be noted that two adjacent frames in the image data may be two frames of image data without an interval therebetween, or two frames of image data with an interval therebetween of 3 frames or 5 frames, and the specific interval of several frames may be set according to actual needs, which is not limited herein.
Suppose that the coordinates of the specified characteristic points of the human foot in the nth frame image are (X)1,Y1) The coordinate of the corresponding human foot feature point in the n +3 th frame image with the middle interval of 3 frames is (X)2,Y2) And the interval time between the images at intervals of 3 frames is delta t, the corresponding human foot motion speed VDetection ofComprises the following steps:
Figure BDA0002619387620000071
k is a correction factor of the image position and the actual position, and can be set according to requirements.
Similarly, the image processing sub-circuit 1310 may identify position information of the accelerator pedal from the received image data transmitted from the image sensing device 110, and calculate a movement speed of the accelerator pedal according to the position information of the accelerator pedal.
Specifically, as shown in fig. 5, in the schematic diagram for calculating the movement velocity of the accelerator pedal, the image processing sub-circuit 1310 acquires the position coordinates of the accelerator pedal at the same feature point in each frame of image data in the image data, and the movement velocity of the accelerator pedal can be calculated according to the position coordinates of the accelerator pedal corresponding to the same feature point of the accelerator pedal in two adjacent frames of the acquired image data. It should be noted that two adjacent frames in the image data may be two frames of image data without an interval therebetween, or two frames of image data with an interval therebetween of 3 frames or 5 frames, and the specific interval of several frames may be set according to actual needs, which is not limited herein.
Suppose that the acceleration pedal in the n-th frame image is assigned with a characteristic point coordinate of (X)3,Y3) The corresponding accelerator pedal characteristic point coordinate in the n +3 th frame image of the middle interval 3 frames is (X)4,Y4) And the interval time between the images at intervals of 3 frames is delta t, the corresponding human foot motion speed VPedalComprises the following steps:
Figure BDA0002619387620000072
k is a correction factor of the image position and the actual position, and can be set according to requirements.
The image processing sub-circuit 1310 may also determine whether the detection target is not placed on the accelerator pedal based on the position information of the detection target and the position information of the accelerator pedal. Each frame of image acquired by the image sensing device 110 includes position information of a detection target and position information of an accelerator pedal (except the situation that the detection target cannot be detected when no person is feet, such as a special driver, and the like), and whether the coordinate of a feature point of the detection target closest to the accelerator pedal is in the range of the feature point of the accelerator pedal is compared, and if the coordinate of the feature point of the detection target closest to the accelerator pedal is not in the range of the feature point of the accelerator pedal, the detection target is not placed on the accelerator pedal; if so, then:
let d be the distance between the accelerator pedal and the image sensing device 110 (which may be the distance between the side of the accelerator pedal close to the image sensing device 110 and the image sensing device 110)1Detecting the distance between the target and the image sensing device 110 (which may be the side of the target near the image sensing device 110 to the image sensing device 110)Knowing the distance between the devices 110) is d2Width of accelerator pedal is d3Width of the detection target is d4。
If d is1+d3＜d2If the target is not placed on the accelerator pedal, detecting that the target is not placed on the accelerator pedal;
if d is1+d3≥d2Or d1－d4≤d2If so, placing the detection target on an accelerator pedal;
if d is1－d4＞d2Then the detection target is not placed on the accelerator pedal.
The overall control sub-circuit 1320 may be configured to receive the moving speed of the detection target, the moving speed of the accelerator pedal, and whether the detection target is not placed on the accelerator pedal, which are determined by the image processing sub-circuit 1310. It CAN be understood that, when the data obtained after the processing by the image processing sub-circuit 1310 is sent to the vehicle control sub-circuit 1320, the data needs to be sent to the first communication module 120 first, and then the first communication module 120 sends the data to the vehicle control sub-circuit 1320 through the second communication module 140, as shown in fig. 1, the second communication module 140 is exemplified by the vehicle communication module 140, for example, the vehicle communication module is a CAN network or a hard wire. Similarly, the entire vehicle communication module 140 may be a wired communication module or a wireless communication module, which is not limited herein.
When the vehicle control sub-circuit 1320 receives the information sent by the image processing sub-circuit 1310 that the detection target is not placed on the accelerator pedal, and the movement speed of the detection target is compared with the first speed threshold: if the moving speed of the detected target is greater than the first speed threshold, the vehicle control sub-circuit 1320 sends a control signal to limit the torque output of the accelerator pedal. The torque output of the accelerator pedal is limited to a partial limit at this time. The first speed threshold is used for judging whether the accelerator pedal is likely to be mistakenly stepped, and the first speed threshold can be set according to actual requirements, and is set to be 0.33m/s for example.
The vehicle control sub-circuit 1320 then determines a torque limit factor that limits the torque output of the accelerator pedal according to the current vehicle driving state. The torque limit coefficient for limiting the torque output of the accelerator pedal is a percentage (i.e., torque limit coefficient) of the torque to be output when the torque of the accelerator pedal is set to be equal to the pedal depth. When the vehicle speed is high, the torque limit coefficient when the vehicle speed is high can be set to be larger than the torque limit coefficient when the vehicle speed is low, assuming that the vehicle speed after the accelerator pedal is erroneously stepped on is higher than the vehicle speed when the vehicle speed is low. The vehicle speed of the vehicle can be obtained through a vehicle speed sensor installed on the vehicle, and details are not repeated here. If the vehicle speed of the vehicle is smaller than the second speed threshold value, the vehicle is in a starting state at the moment, the movement speed of the detection target is larger than the first speed threshold value, and the torque output of the accelerator pedal can be limited according to the first torque limiting coefficient. If the vehicle speed of the vehicle is greater than or equal to the second speed threshold value, the vehicle is in a normal driving state or a coasting state, the moving speed of the detection target is greater than the first speed threshold value, and the torque output of the accelerator pedal can be limited according to the second torque limiting coefficient. The second speed threshold, the first torque limiting coefficient and the second torque limiting coefficient can be set according to actual requirements, for example, the second speed threshold can be set to 10km/h, the first torque limiting coefficient can be set to 20%, and the second torque limiting coefficient can be set to 25%. The torque output of the accelerator pedal is limited by the first torque limit factor to be 20% of the torque to be output at the same pedal depth, and the torque output of the accelerator pedal is limited by the second torque limit factor to be 25% of the torque to be output at the same pedal depth.
After the torque output of the accelerator pedal is limited, even if the driver steps on the accelerator pedal with a large force after moving the foot to the accelerator pedal, the speed of the vehicle can be output at the speed after the torque is limited, and the speed corresponding to the force of stepping on the accelerator pedal by the foot cannot be reached, so that the vehicle can be driven more safely.
After the torque limitation is performed on the accelerator pedal of the vehicle, the image processing sub-circuit 1310 determines again whether the detection target moves to the accelerator pedal and is placed on the accelerator pedal, and sends the determination result to the vehicle control sub-circuit 1320, and when the detection target moves to the accelerator pedal and is placed on the accelerator pedal, the vehicle control sub-circuit 1320 obtains the movement speed of the accelerator pedal from the image processing sub-circuit 1310 (the movement speed of the accelerator pedal is calculated in the image processing sub-circuit 1310 and is transmitted to the vehicle control sub-circuit 1320 through the first communication module 120 and the second communication module 140, which has been stated above, and is not described herein again in detail), compares the movement speed of the accelerator pedal with the third speed threshold, and if the movement speed of the accelerator pedal is greater than the third speed threshold, and the movement speed of the detection target is greater than the first speed threshold, When the detected target moves to the accelerator pedal and is placed on the accelerator pedal, the vehicle control sub-circuit 1320 sends out a control signal at this time, and the torque output of the accelerator pedal is prohibited, that is, the accelerator pedal is completely torque-limited. The third speed threshold may be set according to actual requirements, and is set to 0.25m/s for example.
When the vehicle control sub-circuit 1320 receives the information sent by the image processing sub-circuit 1310 and places the information on the accelerator pedal as a detection target, the vehicle control sub-circuit 1320 obtains the movement speed of the accelerator pedal from the image processing sub-circuit 1310, the vehicle control sub-circuit 1320 compares the received movement speed of the accelerator pedal with a third speed threshold, and if the movement speed of the accelerator pedal is greater than the third speed threshold, the torque output of the accelerator pedal is limited. The third speed threshold may be set according to actual requirements, and is set to 0.25km/s for example.
When the vehicle control sub-circuit 1320 determines that the movement speed of the detection target is less than or equal to the first speed threshold, the image processing sub-circuit 1310 judges whether the detection target moves to the accelerator pedal and is placed on the accelerator pedal again, the judgment result is sent to the vehicle control sub-circuit 1320, when the detection target is obtained to move to the accelerator pedal and is placed on the accelerator pedal, the vehicle control sub-circuit 1320 obtains the movement speed of the accelerator pedal from the image processing sub-circuit 1310, the vehicle control sub-circuit 1320 compares the received movement speed of the accelerator pedal with a third speed threshold, and if the movement speed of the accelerator pedal is greater than the third speed threshold, torque output of the accelerator pedal is limited. The third speed threshold may be set according to actual requirements, and is set to 0.25km/s for example.
The vehicle control sub-circuit 1320 then determines a torque limit factor that limits the torque output of the accelerator pedal according to the current vehicle driving state. The torque limit coefficient for limiting the torque output of the accelerator pedal is a percentage (i.e., torque limit coefficient) of the torque to be output when the torque of the accelerator pedal is set to be equal to the pedal depth. When the vehicle speed is high, the torque limit coefficient when the vehicle speed is high can be set to be larger than the torque limit coefficient when the vehicle speed is low, assuming that the vehicle speed after the accelerator pedal is erroneously stepped on is higher than the vehicle speed when the vehicle speed is low. The vehicle speed of the vehicle can be obtained through a vehicle speed sensor installed on the vehicle, and details are not repeated here. If the vehicle speed of the vehicle is less than the second speed threshold value, the vehicle is in a starting state at the moment, the movement speed of the accelerator pedal is greater than the third speed threshold value, and the torque output of the accelerator pedal can be limited according to the third torque limiting coefficient. If the vehicle speed of the vehicle is greater than or equal to the second speed threshold value, the vehicle is in a normal driving state or a coasting state at the moment, the movement speed of the accelerator pedal is greater than the third speed threshold value, and the torque output of the accelerator pedal can be limited according to a fourth torque limiting coefficient. The second speed threshold, the third torque limiting coefficient and the fourth torque limiting coefficient can be set according to actual requirements, for example, the second speed threshold can be set to 10km/h, the third torque limiting coefficient can be set to 35%, and the fourth torque limiting coefficient can be set to 40%. The torque output of the accelerator pedal limited by the third torque limiting coefficient is 35% of the torque to be output at the same pedal depth, and the torque output of the accelerator pedal limited by the fourth torque limiting coefficient is 40% of the torque to be output at the same pedal depth.
Optionally, referring to fig. 6, another schematic structural diagram of the accelerator pedal mis-stepping prevention system described in an embodiment of the present application is shown.
As shown in fig. 6, the accelerator pedal mis-stepping prevention system may further include:
a memory 150 for storing image data corresponding to a torque output of the accelerator pedal being limited.
Specifically, the memory 150 may store image data corresponding to a torque output of the accelerator pedal being limited. The memory 150 may also store image data corresponding to a period of time (e.g., 5 minutes before and after) before and after determining to limit the accelerator pedal torque output. The memory 150 may also store all image data acquired by the image sensing device 110. And are not intended to be limiting herein.
The memory 150 may further store vehicle speed information before the accelerator pedal is stepped on by mistake, position and speed information of the human foot, position and speed information of the accelerator pedal, and the like, the stored vehicle speed information before the accelerator pedal is stepped on by mistake may be used for setting a vehicle speed threshold more accurately, the stored position and speed information of the human foot may be used as an experience value for subsequently judging the influence of the position and speed of the human foot on the pedal stepped on by mistake, and it is convenient to set a corresponding relationship between the information of the speed threshold of the human foot, the position and speed of the human foot, and the like, and the pedal stepped on by mistake more accurately. The driving habits and the driving speeds of all drivers are different, and the information that the accelerator pedal is mistakenly stepped on by the drivers may be determined according to the stored information such as the positions and the speeds of the feet of the drivers when the accelerator pedal is mistakenly stepped on by the drivers, namely, the information that the accelerator pedal is mistakenly stepped on by the drivers is determined, namely, different vehicle speed thresholds, foot speed thresholds and the like are set for the drivers. The position and speed information of the accelerator pedal can be stored as an experience value of the influence of the position and speed of the subsequent accelerator pedal on the mistaken stepping, so that the corresponding relation between the information such as the accelerator pedal threshold value and the position and speed of the accelerator pedal and the mistaken stepping is set more accurately.
The memory 150 may be a module having a storage function, and for example, the memory 150 may be a module that stores video and/or data that needs to be stored in the accelerator pedal mis-stepping prevention system by using a vehicle data recorder.
The memory 150 is used to store the image data collected by the image sensing device 110, which can be used as a basis for knowing whether the accelerator pedal is mistakenly stepped or not when an accident occurs.
The embodiment of the application also provides a vehicle which comprises the accelerator pedal mistaken-stepping prevention system provided by the embodiment.
Referring to fig. 7, a flowchart of an accelerator pedal mis-stepping prevention method according to an embodiment of the present application is shown. The accelerator pedal mis-stepping prevention method in this embodiment may be implemented in the vehicle control circuit 130.
As shown in fig. 7, a method for preventing an accelerator pedal from being stepped on by mistake includes:
s710, when the detection target is not placed on an accelerator pedal, acquiring the movement speed of the detection target;
and S720, limiting the torque output of the accelerator pedal if the movement speed of the detection target is greater than the first speed threshold.
Specifically, the entire vehicle control sub-circuit 1320 receives whether the detection target sent by the image processing sub-circuit 1310 is placed on the accelerator pedal, and detects the movement speed of the target. If the information received by the vehicle control sub-circuit 1320 indicates that the detection target is not placed on the accelerator pedal, the vehicle control sub-circuit 1320 compares the movement speed of the received detection target with a first speed threshold, and if the comparison result indicates that the movement speed of the detection target is greater than the first speed threshold, the vehicle control sub-circuit 1320 issues a control instruction to limit the torque output of the accelerator pedal.
The image processing sub-circuit 1310 determines whether the detected object is placed on the accelerator pedal, and the movement speed of the detected object is stated in the above embodiments, which are not described herein. It will be appreciated that the image processing sub-circuit 1310 determines whether a detection target is placed on the accelerator pedal, and calculates the speed of movement of the detection target may also be calculated according to the prior art.
In this embodiment, if the vehicle control circuit detects that the detection target is not placed on the accelerator pedal and the movement speed of the detection target is greater than the first speed threshold, the torque output of the accelerator pedal is limited, so that when the driver possibly steps on the accelerator pedal by mistake, the torque output of the accelerator pedal is limited in advance, namely, the driver steps on the accelerator pedal by violence, and a corresponding acceleration effect cannot be obtained, so that the situation that the accelerator pedal is stepped on by mistake is avoided in advance, and the driver is safer to drive.
In the above embodiment, the entire vehicle control circuit 130 may determine the torque limit coefficient for limiting the torque of the accelerator pedal by combining the comparison result between the vehicle speed and the second speed threshold.
In one embodiment, limiting the torque output of the accelerator pedal if the speed of movement of the detection target is greater than the first speed threshold comprises:
acquiring the speed of a vehicle;
if the vehicle speed is less than the second speed threshold, limiting the torque output of the accelerator pedal according to a first torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a second torque limiting coefficient.
Specifically, the vehicle speed of the vehicle may be collected by a speed sensor mounted on the vehicle and then sent to the vehicle control circuit 130.
The entire vehicle control circuit 130 determines the driving state of the vehicle by comparing the acquired vehicle speed with the second speed threshold.
When the vehicle speed is less than the second speed threshold value, the vehicle is in a starting state, and when the vehicle speed is greater than or equal to the second speed threshold value, the vehicle belongs to a normal running or deceleration sliding state.
When the vehicle is in a starting state and a foot of a person is not placed on the accelerator pedal, the movement speed of the foot of the person is greater than the first speed threshold, and the accelerator pedal may be mistakenly stepped on at this time, but the mistaken stepping probability of the accelerator pedal is not particularly high, so the vehicle control circuit 130 sends a control instruction to limit the torque of the accelerator pedal according to the first torque limit coefficient (for example, the torque limit is 20%), and then continuously determines the mistaken stepping probability of the accelerator pedal according to a comparison result of the accelerator pedal and the third speed threshold, and then determines the torque limit coefficient of the torque limit of the accelerator pedal.
When the vehicle is in a normal driving or deceleration sliding state and the foot of the person is not placed on the accelerator pedal, the movement speed of the foot of the person is greater than the first speed threshold, and the accelerator pedal may be mistakenly stepped on at this time, and the probability of the mistaken stepping on the accelerator pedal is greater than the probability of the mistaken stepping on the accelerator pedal when the vehicle is in a starting state, so that the vehicle control circuit 130 sends a control instruction to limit the torque of the accelerator pedal according to the second torque limit coefficient (for example, the torque limit is 35%), and then continuously determines the probability of the mistaken stepping on the accelerator pedal according to the comparison result of the accelerator pedal and the third speed threshold, and then determines the torque limit coefficient of the torque limit of the accelerator pedal.
On the basis of the above embodiment, it is determined whether a human foot moves to be placed on the accelerator pedal, if it is determined that the detection target moves to the accelerator pedal and is placed on the accelerator pedal, the vehicle control sub-circuit 1320 compares the movement speed of the accelerator pedal sent by the image processing sub-circuit 1310 with the third speed threshold, and if the movement speed of the accelerator pedal is greater than the third speed threshold, the probability that the accelerator pedal is mistakenly stepped on is very high, so the vehicle control sub-circuit 1320 sends a control instruction to prohibit torque output of the accelerator pedal, even if the accelerator pedal enters the full-torque-limited mode. If the speed of the movement of the accelerator pedal is less than the third speed threshold, the process returns to S710 to continue the execution.
In one embodiment, if the detection target is placed on an accelerator pedal, the movement speed of the accelerator pedal is obtained; and if the movement speed of the accelerator pedal is greater than the third speed threshold, limiting the torque output of the accelerator pedal.
In one embodiment, if the movement speed of the detection target is less than or equal to a first speed threshold, whether the detection target moves to an accelerator pedal is judged, and the detection target is placed on the accelerator pedal;
if the detected target moves to an accelerator pedal and is placed on the accelerator pedal, acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than the third speed threshold, limiting the torque output of the accelerator pedal.
Specifically, if the vehicle control sub-circuit 1320 determines that the detection target is placed on the accelerator pedal according to the detection result sent by the image processing sub-circuit 1310, the vehicle control sub-circuit 1320 compares the movement speed of the accelerator pedal sent by the image processing sub-circuit 1310 with the third speed threshold, and if the movement speed of the accelerator pedal is greater than the third speed threshold, there is a probability that the accelerator pedal is mistakenly stepped on at this time, so the vehicle control sub-circuit 1320 sends a control instruction to limit the torque output of the accelerator pedal. If the speed of movement of the accelerator pedal is less than or equal to the third speed threshold, return to S710 and continue execution.
If the movement speed of the detection target is smaller than or equal to a first speed threshold value, judging whether the detection target moves to an accelerator pedal and is placed on the accelerator pedal, and if the detection target moves to the accelerator pedal and is placed on the accelerator pedal, acquiring the movement speed of the accelerator pedal; if the movement speed of the accelerator pedal is greater than the third speed threshold, there is a probability that the accelerator pedal is mistakenly stepped on at this time, and therefore, the entire vehicle control sub-circuit 1320 sends a control command to limit the torque output of the accelerator pedal. If the speed of movement of the accelerator pedal is less than or equal to the third speed threshold, return to S710 and continue execution.
On the basis of the above two embodiments, if the movement speed of the accelerator pedal is greater than the third speed threshold, limiting the torque output of the accelerator pedal includes: acquiring the speed of a vehicle; if the vehicle speed is less than the second speed threshold, limiting the torque output of the accelerator pedal according to a third torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a fourth torque limiting coefficient.
Specifically, the speed of the vehicle may be collected by a speed sensor mounted on the vehicle and then sent to the vehicle control sub-circuit 1320.
The vehicle control sub-circuit 1320 determines the running state of the vehicle by comparing the acquired vehicle speed with the second speed threshold.
When the vehicle speed is less than the second speed threshold value, the vehicle is in a starting state, and when the vehicle speed is greater than or equal to the second speed threshold value, the vehicle belongs to a normal running or deceleration sliding state.
When the vehicle is in a starting state and a human foot is placed on the accelerator pedal, or the vehicle is in the starting state and the human foot is not placed on the accelerator pedal, the motion speed of the human foot is smaller than or equal to the first speed threshold value, it is determined that the human foot moves to be placed on the accelerator pedal, and the motion speed of the accelerator pedal is greater than the third speed threshold value at the moment, so that the probability of the situation that the accelerator pedal is mistakenly stepped on is slightly greater, therefore, the whole vehicle control circuit 130 sends out a control instruction, and the torque output (for example, 35%) of the accelerator pedal is limited according to the third torque limiting coefficient.
When the vehicle is in a normal driving or deceleration sliding state and the human foot is placed on the accelerator pedal, or the vehicle is in a normal driving or deceleration sliding state and the human foot is not placed on the accelerator pedal, the motion speed of the human foot is smaller than or equal to the first speed threshold value, and then the human foot is determined to move to be placed on the accelerator pedal, and at this time, the motion speed of the accelerator pedal is greater than the third speed threshold value, then the probability of the accelerator pedal being mistakenly stepped on is higher, so the entire vehicle control circuit 130 sends a control instruction and limits the torque output (for example, 40%) of the accelerator pedal according to the fourth torque limiting coefficient.
On the basis of any of the embodiments described above, the movement speed of the detection target and the movement speed of the accelerator pedal are determined by:
acquiring image data, wherein the image data comprises a detection target and an accelerator pedal;
acquiring first position information contained in two adjacent frames in image data, wherein the first position information is position information of a detection target;
determining the movement speed of the detection target according to the first position information;
acquiring second position information contained in two adjacent frames in the image data, wherein the second position information is position information of an accelerator pedal;
and determining the movement speed of the accelerator pedal according to the second position information. Specifically, the method for calculating the movement speed of the detection target and the movement speed of the accelerator pedal by the image processing sub-circuit 1310 is described in detail in the above embodiments, and will not be described herein again. It should be noted that the image processing sub-circuit 1310 may calculate the movement speed of the detection object and the movement speed of the accelerator pedal by other methods in the prior art.
In order to more clearly understand the present application, the following describes the control of the entire vehicle control circuit 130 for preventing the accelerator pedal from being stepped on by mistake, taking an electric bus as an example, with reference to fig. 6. Assuming that the accelerator pedal and the vehicle control circuit 130 (wherein the vehicle control circuit 130 includes the vehicle control sub-circuit 1320 and the image processing sub-circuit 1310) are installed in the electric motor coach, the driver is driving the electric motor coach.
As shown in fig. 8, in S810, the vehicle control sub-circuit 1320 obtains the running speed of the electric motor coach from the vehicle speed sensor.
S820, the whole vehicle control sub-circuit 1320 judges whether the running speed of the electric motor coach is less than 10km/h, if the running speed of the electric motor coach is less than 10km/h, the step is shifted to S830 for execution; otherwise, the process proceeds to S8120.
S830, the image processing sub-circuit 1310 judges whether the human foot is not placed on the accelerator pedal, and if the whole vehicle control sub-circuit 1320 receives that the human foot is not placed on the accelerator pedal, the operation goes to S840 for execution; otherwise, the execution is shifted to S8100.
S840, the vehicle control sub-circuit 1320 obtains the motion speed of the human foot from the image processing sub-circuit 1310. The whole vehicle control sub-circuit 1320 judges whether the motion speed of the human foot is greater than 0.33m/S, if the motion speed of the human foot is greater than 0.33m/S, the step goes to S850; otherwise, execution proceeds to S890.
And S850, sending a control instruction by the whole vehicle control sub-circuit 1320, and controlling the accelerator pedal to be limited in torsion by 20%.
S860, the image processing sub-circuit 1310 judges whether the human foot moves to be placed on the accelerator pedal, and if the whole vehicle control sub-circuit 1320 receives that the human foot moves to be placed on the accelerator pedal, the S870 is executed; otherwise, the process proceeds to S810.
S870, the vehicle control sub-circuit 1320 acquires the movement speed of the accelerator pedal from the image processing sub-circuit 1310. The vehicle control sub-circuit 1320 judges whether the movement speed of the accelerator pedal is greater than 0.25m/S, and if the movement speed of the accelerator pedal is greater than 0.25m/S, the process proceeds to S880; otherwise, the process proceeds to S810.
And S880, the whole vehicle control sub-circuit 1320 forbids torque output of an accelerator pedal.
And S890, judging whether the human foot moves to be placed on the accelerator pedal, if so, turning to S8100 for execution, and otherwise, turning to S810 for execution.
S8100, the entire vehicle control sub-circuit 1320 acquires the movement speed of the accelerator pedal from the image processing sub-circuit 1310. The whole vehicle control sub-circuit 1320 judges whether the movement speed of the accelerator pedal is greater than 0.25m/S, and if the movement speed of the accelerator pedal is greater than 0.25m/S, the execution is switched to S8110; otherwise, the process proceeds to S810.
S8110, the whole vehicle control sub-circuit 1320 sends out a control instruction to control an accelerator pedal to limit the torque by 35%.
S8120, the whole vehicle control sub-circuit 1320 judges whether the human foot is not placed on the accelerator pedal, if the human foot is not placed on the accelerator pedal, the execution is switched to S8130; otherwise, the process proceeds to S8190.
S8130, the entire vehicle control sub-circuit 1320 acquires the movement speed of the human foot from the image processing sub-circuit 1310. The whole vehicle control sub-circuit 1320 judges whether the motion speed of the human foot is greater than 0.33m/S, if the motion speed of the human foot is greater than 0.33m/S, the execution is switched to S8140; otherwise, the process proceeds to S8180.
And S8140, the whole vehicle control sub-circuit 1320 sends out a control instruction to control the accelerator pedal to be limited by 25%.
S8150, the image processing sub-circuit 1310 judges whether the human foot moves to be placed on an accelerator pedal, and if the whole vehicle control sub-circuit 1320 receives that the human foot moves to be placed on the accelerator pedal, the execution is switched to S8160; otherwise, the process proceeds to S810.
S8160, the entire vehicle control sub-circuit 1320 acquires the movement speed of the accelerator pedal from the image processing sub-circuit 1310. The vehicle control sub-circuit 1320 judges whether the movement speed of the accelerator pedal is greater than 0.25m/S, and if the movement speed of the accelerator pedal is greater than 0.25m/S, the operation proceeds to S8170; otherwise, the process proceeds to S810.
S8170, the vehicle control sub-circuit 1320 prohibits the torque output of the accelerator pedal.
S8180, judging whether the human foot moves to be placed on an accelerator pedal, if so, executing the step S8190, otherwise, executing the step S810.
S8190, the entire vehicle control sub-circuit 1320 acquires the movement speed of the accelerator pedal from the image processing sub-circuit 1310. The vehicle control sub-circuit 1320 judges whether the movement speed of the accelerator pedal is greater than 0.25m/S, and if the movement speed of the accelerator pedal is greater than 0.25m/S, the operation goes to S8200; otherwise, the process proceeds to S810.
S8200, the whole vehicle control sub-circuit 1320 sends out a control instruction to control the accelerator pedal to be limited in torsion by 40%.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (12)

1. A method for preventing accelerator pedal from being stepped on by mistake, the method comprising:
when a detection target is not placed on an accelerator pedal, acquiring the movement speed of the detection target;
and if the movement speed of the detection target is greater than a first speed threshold value, limiting the torque output of the accelerator pedal.
2. The method of claim 1, wherein limiting the torque output of the accelerator pedal if the speed of movement of the detection target is greater than a first speed threshold comprises:
acquiring the speed of a vehicle;
if the vehicle speed is smaller than a second speed threshold value, limiting the torque output of the accelerator pedal according to a first torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a second torque limiting coefficient.
3. The method of claim 2, wherein after limiting the torque output of the accelerator pedal, the method further comprises:
judging whether the detection target moves to the accelerator pedal or not and placing the detection target on the accelerator pedal;
if the detection target moves to the accelerator pedal and is placed on the accelerator pedal;
acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than a third speed threshold, inhibiting the torque output of the accelerator pedal.
4. The method of claim 1, further comprising:
if the detection target is placed on an accelerator pedal, acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than a third speed threshold, limiting the torque output of the accelerator pedal.
5. The method of claim 1, further comprising:
if the movement speed of the detection target is smaller than or equal to the first speed threshold, judging whether the detection target moves to the accelerator pedal or not, and placing the detection target on the accelerator pedal;
if the detection target moves to the accelerator pedal and is placed on the accelerator pedal, acquiring the movement speed of the accelerator pedal;
and if the movement speed of the accelerator pedal is greater than a third speed threshold, limiting the torque output of the accelerator pedal.
6. The method of claim 4 or 5, wherein limiting the torque output of the accelerator pedal if the speed of movement of the accelerator pedal is greater than a third speed threshold comprises:
acquiring the speed of a vehicle;
if the vehicle speed is smaller than a second speed threshold value, limiting the torque output of the accelerator pedal according to a third torque limiting coefficient;
and if the vehicle speed is greater than or equal to the second speed threshold, limiting the torque output of the accelerator pedal according to a fourth torque limiting coefficient.
7. The method according to any one of claims 3 to 5, wherein the acquisition of the movement speed of the detection target and the movement speed of the accelerator pedal is determined by:
acquiring image data, wherein the image data comprises the detection target and the accelerator pedal;
acquiring first position information contained in two adjacent frames in the image data, wherein the first position information is position information of the detection target;
determining the movement speed of the detection target according to the first position information;
acquiring second position information contained in two adjacent frames in the image data, wherein the second position information is the position information of the accelerator pedal;
and determining the movement speed of the accelerator pedal according to the second position information.
8. The method of claim 7, further comprising:
storing image data corresponding to the limiting of the torque output of the accelerator pedal.
9. An accelerator pedal mis-stepping prevention system, comprising:
the whole vehicle control circuit is used for acquiring the movement speed of a detection target when the detection target is not placed on an accelerator pedal;
and if the movement speed of the detection target is greater than a first speed threshold value, limiting the torque output of the accelerator pedal.
10. The accelerator pedal mis-stepping prevention system as recited in claim 9, further comprising:
the image sensing equipment is used for acquiring image data, and the image data comprises a detection target and the accelerator pedal;
the vehicle control circuit is further used for receiving the image data from the image sensing device and determining the movement speed of the detection target and the movement speed of the accelerator pedal based on the image data.
11. The accelerator pedal mis-stepping prevention system according to claim 9 or 10, further comprising:
a memory for storing image data corresponding to the limiting of the torque output of the accelerator pedal.
12. A vehicle comprising an accelerator pedal mis-tip prevention system as claimed in any one of claims 9 to 11.
CN202010778603.XA 2020-08-05 2020-08-05 Method and system for preventing accelerator pedal from being stepped on by mistake and vehicle Active CN114056090B (en)

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