CN115091948A - Device and method for timely finding and correcting mistaken stepping of accelerator pedal - Google Patents
Device and method for timely finding and correcting mistaken stepping of accelerator pedal Download PDFInfo
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- CN115091948A CN115091948A CN202210725283.0A CN202210725283A CN115091948A CN 115091948 A CN115091948 A CN 115091948A CN 202210725283 A CN202210725283 A CN 202210725283A CN 115091948 A CN115091948 A CN 115091948A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 59
- 230000004044 response Effects 0.000 claims description 39
- 230000003993 interaction Effects 0.000 claims description 27
- 230000002401 inhibitory effect Effects 0.000 claims description 6
- 230000001629 suppression Effects 0.000 claims description 2
- 230000002829 reductive effect Effects 0.000 abstract description 10
- 230000000694 effects Effects 0.000 description 5
- 230000002411 adverse Effects 0.000 description 3
- 230000005764 inhibitory process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- 230000001681 protective effect Effects 0.000 description 1
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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
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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Abstract
The invention discloses a device and a method for timely finding and correcting mistaken stepping of an accelerator pedal, wherein the device comprises an accelerator pedal mistaken stepping judgment module, the input of the accelerator pedal mistaken stepping judgment module is respectively connected with the outputs of an accelerator pedal monitoring module, a driver state monitoring module and a collision risk monitoring module, and the output of the accelerator pedal mistaken stepping judgment module is connected with the input of an accelerator pedal mistaken stepping decision module; the accelerator pedal monitoring module is used for monitoring the state of an accelerator pedal; the driver state monitoring module is used for monitoring the state of a driver; the collision risk monitoring module is used for monitoring the collision risk of the vehicle; and the accelerator pedal misstep judgment module is used for judging whether the driver missteps on the accelerator pedal according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle. Therefore, the risk of vehicle collision caused by mistakenly stepping on the accelerator pedal can be reduced, the probability of missed judgment and misjudgment is reduced and corrected in time, and the safety of driving the vehicle by mistakenly stepping on the accelerator pedal by a driver is improved.
Description
Technical Field
The invention relates to the technical field of intelligent driving of automobiles, in particular to a device and a method for timely finding and correcting mistaken stepping of an accelerator pedal.
Background
The accident that the accelerator pedal is mistakenly stepped to cause the vehicle to be accelerated happens occasionally, the accident usually causes more serious scratching or rolling accidents, and the intelligent driving technology field needs to solve the important problem urgently.
In the method, the system and the storage medium for controlling the accelerator pedal to be stepped on by mistake in the Chinese patent CN112109544A, when the opening increment of the accelerator pedal reaches a preset threshold value, an obstacle exists in the moving direction of the automobile and the speed of the automobile meets the preset speed requirement, the adjustment of the power output of the engine is stopped. Whether the barrier is in risk or not is not distinguished, meanwhile, the mistaken stepping judgment only depends on the opening increment of the accelerator pedal, and comprehensive judgment is not carried out by fully referring to the opening of the accelerator pedal, the state of a driver and the like; in addition, the processing logic and the man-machine interaction design during acceleration suppression are not involved, and the influence caused by misjudgment cannot be effectively reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a device and a method for timely finding and correcting mistaken stepping on an accelerator pedal, and solve the problems of how to reduce the vehicle collision risk caused by mistaken stepping on the accelerator pedal, reduce the probability of missed judgment and misjudgment, correct in time and improve the safety of a driver driving a vehicle by mistakenly stepping on the accelerator pedal.
In order to solve the technical problems, the invention adopts the following technical scheme:
a device for timely finding and correcting mistaken stepping of an accelerator pedal comprises an accelerator pedal mistaken stepping judgment module, wherein the input of the accelerator pedal mistaken stepping judgment module is respectively connected with the outputs of an accelerator pedal monitoring module, a driver state monitoring module and a collision risk monitoring module, and the output of the accelerator pedal mistaken stepping judgment module is connected with the input of an accelerator pedal mistaken stepping decision module; wherein,
the accelerator pedal monitoring module is used for monitoring the state of an accelerator pedal, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
the driver state monitoring module is used for monitoring the state of a driver and identifying the attention state of the driver according to the sight of the driver, wherein the attention state of the driver comprises an attention concentration state and an attention distraction state;
the collision risk monitoring module is used for monitoring the collision risk of the vehicle and judging whether an obstacle exists and the collision risk exists in a vehicle running area;
the accelerator pedal misstep judgment module is used for judging whether the driver missteps on the accelerator pedal according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle, and sending a misstep accelerator pedal signal to the accelerator pedal misstep decision module;
and the accelerator pedal mistaken-stepping decision module is used for inhibiting the vehicle power response or carrying out human-computer interaction prompting while inhibiting the vehicle power response according to the mistaken-stepping signal of the accelerator pedal.
Further, the output of the accelerator pedal mistaken-stepping decision module is respectively connected with the input of the power response execution module and the input of the human-computer interaction module; wherein,
the dynamic response execution module is used for executing vehicle dynamic response inhibition;
and the human-computer interaction module is used for executing human-computer interaction prompt.
The invention also provides a method for timely finding and correcting the mistaken stepping of the accelerator pedal, which comprises the following steps of:
s1, monitoring the state of an accelerator pedal in real time, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
s2, monitoring the state of the driver in real time, and identifying the state of the driver attention according to the sight of the driver, wherein the state of the driver attention comprises an attention focusing state and an attention distracting state;
s3, monitoring the collision risk of the vehicle in real time, and judging whether an obstacle exists and the collision risk exists in the driving area of the vehicle;
and S4, judging whether the driver steps on the accelerator pedal by mistake according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle.
Further, in step S2, the driver attentiveness state is acquired by the driver monitoring sensor, and the driver' S sight line is analyzed to identify the driver attentiveness state.
Further, the driver line of sight is analyzed to identify the attention state of the driver, and the specific steps comprise:
s21, acquiring the sight line moving range of the driver during normal driving;
s22, acquiring the sight of the driver through the driver monitoring sensor, and comparing the sight with the sight moving range during normal driving;
s23, when the sight line of the driver is not in the sight line moving range during normal driving, judging that the attention state of the driver is the attention distraction state; otherwise, the state is attention-focused.
Further, in step S3, determining whether there is an obstacle and a collision risk in the vehicle driving area includes:
monitoring whether an obstacle exists in a vehicle running area in real time through an obstacle monitoring sensor, and judging that a collision risk exists when the obstacle exists in the vehicle running area; otherwise there is no risk of collision.
Further, in step S4, determining whether the driver mistakenly steps on the accelerator pedal includes:
when the stepping opening of the accelerator pedal exceeds a preset stepping opening threshold value, the stepping speed of the accelerator pedal exceeds a preset stepping speed threshold value, the attention state of a driver is a distraction state, and the vehicle has a collision risk, judging that the driver mistakenly steps on the accelerator pedal; otherwise, the driver is judged not to step on the accelerator pedal by mistake.
Further, if it is determined that the driver mistakenly steps on the accelerator pedal, the vehicle power response is suppressed or human-computer interaction prompt is performed while suppressing the vehicle power response.
Further, step S5 is included, and a determination is made as to whether to resume the vehicle power response based on the accelerator pedal state and the driver state.
Further, determining whether to resume the vehicle dynamic response includes:
when the stepping opening of the accelerator pedal does not exceed the preset stepping opening threshold, the attention state of the driver is an attention focusing state, and the driver continuously steps the accelerator pedal twice, recovering the vehicle power response or executing the human-computer interaction prompt while recovering the vehicle power response; otherwise, the vehicle power response is not restored.
Compared with the prior art, the invention has the beneficial effects that:
1. comprehensively judging the vehicle collision risk, the driver state and the accelerator pedal state, and judging that the driver mistakenly steps on the accelerator pedal when the stepping opening degree of the accelerator pedal exceeds the threshold value of the preset stepping opening degree, the stepping speed of the accelerator pedal exceeds the threshold value of the preset stepping speed, the attention state of the driver is the attention distraction state, and the vehicle has the collision risk; otherwise, the driver is judged not to step on the accelerator pedal by mistake. The method reduces the probability of missed judgment and misjudgment and corrects in time, thereby reducing the risk of vehicle collision caused by misstepping on the accelerator pedal and improving the safety of driving the vehicle by misstepping on the accelerator pedal by a driver.
2. When the driver mistakenly steps on the accelerator pedal, the reminding driving is confirmed again to reduce the misjudgment probability, and the logic during the misjudgment is remedied and corrected through the human-computer interaction prompt to remind the driver to control the vehicle, so that the adverse effect during the misjudgment is reduced, and the safety of driving the vehicle by mistakenly stepping on the accelerator pedal by the driver is further improved.
Drawings
For a better understanding of the objects, solutions and advantages of the present invention, reference will now be made in detail to the present invention, which is illustrated in the accompanying drawings, in which:
FIG. 1 is a schematic structural diagram of a device for timely detecting and correcting an accidental stepping on an accelerator pedal according to the present invention;
FIG. 2 is a flow chart of a method for timely detecting and correcting an accidental stepping on an accelerator pedal according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment provides a device for timely detecting and correcting an accelerator pedal misstep, which includes an accelerator pedal misstep determining module, wherein an input of the accelerator pedal misstep determining module is respectively connected to outputs of an accelerator pedal monitoring module, a driver state monitoring module and a collision risk monitoring module, and an output of the accelerator pedal misstep determining module is connected to an input of an accelerator pedal misstep deciding module; wherein,
the accelerator pedal monitoring module is used for monitoring the state of an accelerator pedal, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
the driver state monitoring module is used for monitoring the state of a driver and identifying the attention state of the driver according to the sight of the driver, wherein the attention state of the driver comprises an attention concentration state and an attention distraction state;
the collision risk monitoring module is used for monitoring the collision risk of the vehicle and judging whether an obstacle exists and the collision risk exists in a vehicle running area;
the accelerator pedal mistaken-stepping judgment module is used for judging whether the driver mistakenly steps on the accelerator pedal according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle, if the driver mistakenly steps on the accelerator pedal, sending a mistaken-stepping signal to the accelerator pedal mistaken-stepping decision module, and if not, returning to the next period to continue the judgment;
and the accelerator pedal mistaken-stepping decision module is used for inhibiting the vehicle power response or carrying out human-computer interaction prompting while inhibiting the vehicle power response according to the mistaken-stepping signal of the accelerator pedal.
According to the method, through comprehensive judgment of the vehicle collision risk, the driver state and the accelerator pedal state, when the stepping opening degree of the accelerator pedal exceeds the threshold value of the preset stepping opening degree, the stepping speed of the accelerator pedal exceeds the threshold value of the preset stepping speed, the attention state of the driver is the attention distraction state, and the vehicle has the collision risk, the driver is judged to mistakenly step on the accelerator pedal; otherwise, the driver is judged not to step on the accelerator pedal by mistake. Therefore, the risk of vehicle collision caused by mistakenly stepping on the accelerator pedal is reduced, the probability of missed judgment and misjudgment is reduced and corrected in time, and the safety of driving the vehicle by mistakenly stepping on the accelerator pedal by a driver is improved.
In specific implementation, the output of the accelerator pedal mistaken-stepping decision module is respectively connected with the inputs of the power response execution module and the human-computer interaction module; wherein,
the dynamic response execution module is used for executing vehicle dynamic response inhibition;
and the human-computer interaction module is used for executing human-computer interaction prompt. The human-computer interaction prompt can play prompt tones such as 'please release the accelerator pedal' and the like to remind the driver of correctly operating the vehicle.
Further, the power response execution module is also used for executing vehicle power response recovery and prompting the human-computer interaction to 'please release the accelerator pedal and then tread again'.
Therefore, when the driver steps on the accelerator pedal by mistake, the driver is reminded of driving through the human-computer interaction prompt to reduce the misjudgment probability, and the logic during misjudgment is remedied through the human-computer interaction prompt to remind the driver to control the vehicle, so that the adverse effect during misjudgment is reduced, and the safety of driving the vehicle by stepping on the accelerator pedal by mistake is further improved.
Referring to fig. 2, the invention also provides a method for timely finding and correcting the mistaken stepping of the accelerator pedal, which comprises the following steps:
s1, monitoring the state of an accelerator pedal in real time, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
s2, monitoring the state of the driver in real time, and identifying the attention state of the driver according to the sight of the driver, wherein the attention state of the driver comprises an attention focusing state and an attention distracting state;
s3, monitoring the collision risk of the vehicle in real time, and judging whether an obstacle exists and the collision risk exists in the driving area of the vehicle;
and S4, judging whether the driver steps on the accelerator pedal by mistake according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle.
According to the method, through comprehensive judgment of the vehicle collision risk, the driver state and the accelerator pedal state, when the stepping opening degree of the accelerator pedal exceeds the threshold value of the preset stepping opening degree, the stepping speed of the accelerator pedal exceeds the threshold value of the preset stepping speed, the attention state of the driver is the attention distraction state, and the vehicle has the collision risk, the driver is judged to mistakenly step on the accelerator pedal; otherwise, judging that the driver does not mistakenly step on the accelerator pedal. Therefore, the risk of vehicle collision caused by mistakenly stepping on the accelerator pedal is reduced, the probability of missed judgment and misjudgment is reduced, and the vehicle collision is corrected in time, so that the safety of driving the vehicle by mistakenly stepping on the accelerator pedal by a driver is improved.
Further, when three states of the accelerator pedal state, the driver state and the vehicle collision risk are obtained, secondary misstep on the accelerator pedal can be judged, whether the accelerator is mistakenly stepped on is judged for the first time, logic judgment is carried out according to the result whether the accelerator is mistakenly stepped on, if the accelerator is not mistakenly stepped on, judgment is continued, and otherwise, power response is restrained. This reduces false positives.
In step S2, the driver attentiveness state is analyzed by collecting the driver' S sight line through the driver monitoring sensor to identify the driver attentiveness state. The driver monitoring sensor can collect the camera, can be installed on the A column or the central control table top of the vehicle, and can just face the sight of the driver.
When the method is specifically implemented, the line sight of the driver is analyzed to identify the attention state of the driver, and the method specifically comprises the following steps:
s21, acquiring the sight line moving range of the driver during normal driving;
s22, acquiring the sight of the driver through the driver monitoring sensor, and comparing the sight with the sight moving range during normal driving;
s23, when the sight line of the driver is not in the sight line moving range during normal driving, judging that the attention state of the driver is the attention distraction state; otherwise, the state is attention-focused.
Thus, the driving attention state is determined by comparing the visual line activity range with the visual line activity range in normal driving. Meanwhile, the driver state can be monitored, and can also be a driver fatigue state or a driver tension state, and the driver fatigue state is identified through eye closure; the stress state of the driver is recognized by facial expressions.
In a specific implementation, the step S3 of determining whether there is an obstacle and a collision risk in the vehicle driving area includes:
monitoring whether an obstacle exists in a vehicle driving area in real time through an obstacle monitoring sensor, and judging that a collision risk exists when the obstacle exists in the vehicle driving area; otherwise there is no risk of collision.
The obstacle monitoring sensor may be a millimeter wave radar or a head-around camera or the like installed around the vehicle. It is determined whether an obstacle is present and there is a risk of collision within the driving area of the vehicle. If the vehicle is in the forward gear, judging the forward risk; and if the gear is in the reverse gear, judging the rear risk.
In a specific implementation, the step S4 of determining whether the driver mistakenly steps on the accelerator pedal includes:
when the stepping opening of the accelerator pedal exceeds a preset stepping opening threshold value, the stepping speed of the accelerator pedal exceeds a preset stepping speed threshold value, the attention state of a driver is a distraction state, and the vehicle has a collision risk, judging that the driver mistakenly steps on the accelerator pedal; otherwise, judging that the driver does not mistakenly step on the accelerator pedal, not executing subsequent operation, returning to the next period and continuously judging whether the driver mistakenly steps on the accelerator pedal or not.
In specific implementation, if the driver is judged to step on the accelerator pedal by mistake, the vehicle dynamic response is restrained or human-computer interaction prompt is carried out while the vehicle dynamic response is restrained.
In a specific implementation, the method further comprises a step S5 of judging whether to recover the vehicle power response according to the accelerator pedal state and the driver state.
When the specific implementation is carried out, the step of judging whether the vehicle power response is recovered comprises the following steps:
when the stepping opening of the accelerator pedal does not exceed the preset stepping opening threshold, the attention state of the driver is an attention focusing state, and the driver continuously steps the accelerator pedal twice, recovering the vehicle power response or executing the human-computer interaction prompt while recovering the vehicle power response; otherwise, the vehicle power response is not recovered, and the human-computer interaction prompt can be executed to remind the driver to control the vehicle.
Therefore, when the driver steps on the accelerator pedal by mistake, the driver is reminded of driving through the human-computer interaction prompt to reduce the misjudgment probability, and the logic during misjudgment is remedied through the human-computer interaction prompt to remind the driver to control the vehicle, so that the adverse effect during misjudgment is reduced, and the safety of driving the vehicle by stepping on the accelerator pedal by mistake is further improved.
The invention also provides a system for timely finding and correcting the mistaken stepping of the accelerator pedal, which comprises a memory, a processor and an accelerator pedal mistaken stepping program which is stored in the memory and can run on the processor, wherein: when the accelerator pedal misstep program is executed by the processor, the steps of the method for timely finding and correcting the misstep of the accelerator pedal are realized.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with an accelerator pedal misstep program, and the steps of the method for timely finding and correcting the misstep of the accelerator pedal are realized when the accelerator pedal misstep program is processed and executed. The readable storage medium can be at least one of a ROM, a RAM, a magnetic disk and an optical disk, and the computer readable storage medium comprises a plurality of instructions for enabling a terminal device with a processor to execute the method for timely finding and correcting the mistaken stepping of the accelerator pedal.
Finally, it is noted that the above embodiments are merely intended to illustrate the technical solution of the present invention and not to limit the same, and although the present invention has been described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein. All obvious changes which are introduced by the technical solution of the invention are still within the protective scope of the invention.
Claims (10)
1. A device for finding and correcting mistaken stepping of an accelerator pedal in time is characterized by comprising an accelerator pedal mistaken stepping judgment module, wherein the input of the accelerator pedal mistaken stepping judgment module is respectively connected with the outputs of an accelerator pedal monitoring module, a driver state monitoring module and a collision risk monitoring module, and the output of the accelerator pedal mistaken stepping judgment module is connected with the input of an accelerator pedal mistaken stepping decision module; wherein,
the accelerator pedal monitoring module is used for monitoring the state of an accelerator pedal, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
the driver state monitoring module is used for monitoring the state of a driver and identifying the attention state of the driver according to the sight of the driver, wherein the attention state of the driver comprises an attention concentration state and an attention distraction state;
the collision risk monitoring module is used for monitoring the collision risk of the vehicle and judging whether obstacles exist in a vehicle driving area and the collision risk exists;
the accelerator pedal misstep judgment module is used for judging whether the driver missteps on the accelerator pedal according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle, and sending a misstep accelerator pedal signal to the accelerator pedal misstep decision module;
and the accelerator pedal mistaken-stepping decision module is used for inhibiting the vehicle power response or carrying out human-computer interaction prompting while inhibiting the vehicle power response according to the mistaken-stepping signal of the accelerator pedal.
2. The device for timely finding and correcting the mistaken stepping of the accelerator pedal according to claim 1, wherein the output of the mistaken stepping decision module of the accelerator pedal is respectively connected with the input of the power response execution module and the input of the human-computer interaction module; wherein,
the dynamic response execution module is used for executing suppression of vehicle dynamic response;
and the human-computer interaction module is used for executing human-computer interaction prompt.
3. A method for timely finding and correcting mistaken stepping of an accelerator pedal is characterized by comprising the following steps:
s1, monitoring the state of an accelerator pedal in real time, wherein the state of the accelerator pedal comprises the stepping opening and the stepping speed of the accelerator pedal;
s2, monitoring the state of the driver in real time, and identifying the state of the driver attention according to the sight of the driver, wherein the state of the driver attention comprises an attention focusing state and an attention distracting state;
s3, monitoring the collision risk of the vehicle in real time, and judging whether an obstacle exists in a driving area of the vehicle and the collision risk exists;
and S4, judging whether the driver steps on the accelerator pedal by mistake according to the state of the accelerator pedal, the state of the driver and the collision risk of the vehicle.
4. The method for timely detecting and correcting the mistaken stepping on the accelerator pedal according to claim 3, wherein in step S2, the driver 'S attention state is obtained by collecting the driver' S sight line through a driver monitoring sensor, and analyzing the driver 'S sight line to identify the driver' S attention state.
5. The method for timely finding and correcting the mistaken stepping on the accelerator pedal as claimed in claim 4, wherein the line view of the driver is analyzed to identify the attention state of the driver, and the specific steps comprise:
s21, acquiring the sight line moving range of the driver during normal driving;
s22, collecting the sight line of the driver through the driver monitoring sensor, and comparing the sight line with the sight line moving range during normal driving;
s23, when the sight line of the driver is not in the sight line moving range during normal driving, judging that the attention state of the driver is the attention distraction state; otherwise, the state is attention-focused.
6. The method for timely detecting and correcting the mistaken stepping on the accelerator pedal according to claim 3, wherein in step S3, the step of judging whether an obstacle exists in the driving area of the vehicle and the risk of collision exists comprises the following steps:
monitoring whether an obstacle exists in a vehicle running area in real time through an obstacle monitoring sensor, and judging that a collision risk exists when the obstacle exists in the vehicle running area; otherwise there is no risk of collision.
7. The method for timely detecting and correcting the mis-stepping on the accelerator pedal as claimed in claim 3, wherein the step S4 for determining whether the driver mis-steps on the accelerator pedal comprises:
when the stepping opening of the accelerator pedal exceeds a preset stepping opening threshold value, the stepping speed of the accelerator pedal exceeds a preset stepping speed threshold value, the attention state of a driver is a distraction state, and the vehicle has a collision risk, judging that the driver mistakenly steps on the accelerator pedal; otherwise, the driver is judged not to step on the accelerator pedal by mistake.
8. The method for timely finding and correcting the mistaken stepping on the accelerator pedal according to claim 7, wherein if the driver is determined to mistakenly step on the accelerator pedal, the vehicle dynamic response is inhibited or the human-computer interaction prompt is carried out while the vehicle dynamic response is inhibited.
9. The method for timely detecting and correcting the mis-stepping on the accelerator pedal as claimed in claim 3, further comprising a step S5 of determining whether to recover the vehicle dynamic response according to the accelerator pedal state and the driver state.
10. The method for timely detecting and correcting the mistaken stepping of the accelerator pedal according to claim 9, wherein the judging whether the vehicle power response is recovered comprises the following steps:
when the stepping opening of the accelerator pedal does not exceed the preset stepping opening threshold, the attention state of the driver is an attention focusing state, and the driver continuously steps the accelerator pedal twice, recovering the vehicle power response or executing human-computer interaction prompt while recovering the vehicle power response; otherwise, the vehicle dynamic response is not restored.
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| CN115091948B (en) | 2024-08-27 |
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