CN115366676A - Accelerator mistaken-stepping identification method, vehicle and storage medium - Google Patents
Accelerator mistaken-stepping identification method, vehicle and storage medium Download PDFInfo
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- CN115366676A CN115366676A CN202210969819.3A CN202210969819A CN115366676A CN 115366676 A CN115366676 A CN 115366676A CN 202210969819 A CN202210969819 A CN 202210969819A CN 115366676 A CN115366676 A CN 115366676A
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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
- B60K28/10—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 vehicle
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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
- B60K28/10—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 vehicle
- B60K28/14—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 vehicle responsive to accident or emergency, e.g. deceleration, tilt of vehicle
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Abstract
The invention discloses an accelerator mistaken-stepping identification method, a vehicle and a storage medium. Wherein, the method comprises the following steps: acquiring the distance between a vehicle and an obstacle and the corresponding time distance thereof, and acquiring the opening change rate of an accelerator pedal of the vehicle; determining an identification result according to the distance, the time interval and the opening change rate, wherein the identification result comprises whether the accelerator pedal is in a mistaken stepping state or not; and when the recognition result is that the accelerator pedal is in a mistaken stepping state, controlling the vehicle to execute safe operation. The invention aims to improve the accuracy of identifying the mistaken stepping of the accelerator and improve the driving feeling of a vehicle driver.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an accelerator mistaken-stepping identification method, a vehicle and a storage medium.
Background
In the driving process of the vehicle, some drivers possibly step on the accelerator mistakenly due to driving experience and other reasons, so that the vehicle is accelerated and rushed out, and traffic accidents are caused.
At present, whether an obstacle exists within a certain distance in the vehicle running direction is generally detected, when the distance between the obstacle and the vehicle is smaller than a certain value, the vehicle running safety is ensured in a mode of limiting the accelerator acceleration performance and the like, and the vehicle is singly identified by mistaken stepping through the distance between the obstacle and the vehicle, so that the identification error is very large, the vehicle safety protection function is easily triggered by mistake, and the driving feeling of a driver is influenced.
Disclosure of Invention
The invention mainly aims to provide an accelerator mistaken-stepping identification method, a vehicle and a storage medium, aiming at improving the accuracy of accelerator mistaken-stepping identification and improving the driving feeling of a vehicle driver.
In order to achieve the purpose, the invention provides an accelerator mistaken-stepping identification method, which comprises the following steps of:
acquiring the distance between a vehicle and an obstacle and the corresponding time distance thereof, and acquiring the opening change rate of an accelerator pedal of the vehicle;
determining an identification result according to the distance, the time interval and the opening change rate, wherein the identification result comprises whether the accelerator pedal is in a mistaken stepping state or not;
and when the recognition result is that the accelerator pedal is in a mistaken stepping state, controlling the vehicle to execute safe operation.
Optionally, the step of determining a recognition result according to the distance, the time distance, and the opening change rate includes:
when the distance is smaller than a preset distance and/or when the time interval is smaller than a preset time interval, if the opening change rate is larger than a preset change rate, determining that the accelerator pedal is in a mistaken stepping state according to the identification result; if the opening change rate is smaller than or equal to a preset change rate, determining that the identification result is that the accelerator pedal is in a non-treading state;
and when the distance is greater than or equal to the preset distance and the time interval is greater than or equal to the preset time interval, determining that the identification result is that the accelerator pedal is not in a mistaken stepping state.
Optionally, before the step of determining the recognition result according to the distance, the time distance and the opening change rate, the method further includes
Acquiring the type of the obstacle;
determining the preset distance and/or the preset time distance according to the type;
wherein the different types correspond to the different preset distances and/or the preset time distances.
Optionally, the step of determining the preset distance according to the type includes:
acquiring a first distance between a braking position corresponding to the current running state of the vehicle and the vehicle, and determining a safety distance required to be reserved between the braking position and the obstacle according to the type;
and determining the preset distance according to the first distance and the safety distance.
Optionally, the step of determining the safety distance required to be reserved between the parking position and the obstacle according to the type includes:
when the type is a static obstacle, determining a first safe distance as the safe distance;
when the type is a first moving obstacle, determining a second safe distance as the safe distance;
when the type is a second moving obstacle, determining a third safe distance as the safe distance;
the first safety distance is smaller than the second safety distance, the second safety distance is smaller than the third safety distance, and the probability of the change of the motion state of the first moving obstacle is smaller than the probability of the change of the motion state of the second moving obstacle.
Optionally, the step of determining the preset time interval according to the type includes:
acquiring a first time length required for the vehicle to reach a state of collision with the obstacle in the current running state, and determining a reserved safety time length required for the vehicle not to collide with the obstacle according to the type;
and determining the preset time interval according to the first time length and the safety time length.
Optionally, the step of determining the reserved safe time period required for the vehicle not to collide with the obstacle according to the type includes:
when the type is a static obstacle, determining a first safety duration as the safety duration;
when the type is the first movement obstacle, determining a second safety duration as the safety duration;
when the type is a second movement obstacle, determining a third safe time length as the safe time length;
the first safety duration is less than the second safety duration, the second safety duration is less than the third safety duration, and the probability of the change of the motion state of the first moving obstacle is less than the probability of the change of the motion state of the second moving obstacle.
Optionally, the step of obtaining the type of the obstacle includes:
acquiring scene image data of an area where the vehicle is located;
determining a type of the obstacle from the scene image data, the type comprising one of a stationary obstacle, a first moving obstacle, and a second moving obstacle;
wherein the probability of the motion state change of the first motion obstacle is smaller than the probability of the motion state change of the second motion obstacle.
Further, in order to achieve the above object, the present application also proposes a vehicle including: the accelerator mistaken-stepping recognition method comprises a memory, a processor and an accelerator mistaken-stepping recognition program which is stored on the memory and can run on the processor, wherein the accelerator mistaken-stepping recognition program is executed by the processor to realize the steps of the accelerator mistaken-stepping recognition method.
In order to achieve the above object, the present application also provides a storage medium having an accelerator mis-pressing recognition program stored thereon, wherein the accelerator mis-pressing recognition program, when executed by a processor, implements the steps of the accelerator mis-pressing recognition method as described in any one of the above.
The invention provides an accelerator mistaken-stepping identification method, which is used for identifying whether an accelerator pedal is in a mistaken-stepping state or not by combining the distance between a vehicle and an obstacle, the corresponding time distance of the vehicle and the opening change rate of the accelerator pedal, wherein the combination of the distance between the vehicle and the obstacle, the time distance and the opening change rate can accurately reflect the collision risk of the vehicle with the obstacle in the current driving state and the driving requirement of a driver in the current state, and compared with the independent result obtained by identifying the accelerator mistaken stepping through the distance between the vehicle and the obstacle, the obtained accelerator mistaken-stepping identification result can be more accurately matched with the requirement of the current vehicle for accelerating and decelerating, so that the accuracy of the accelerator mistaken-stepping identification result is effectively improved, the accuracy of safety operation execution of the vehicle when the accelerator is determined, and the driving experience of the driver of the vehicle is effectively improved.
Drawings
FIG. 1 is a schematic diagram of the hardware involved in the operation of one embodiment of the vehicle of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of the method for identifying the mistaken stepping on the accelerator according to the invention;
FIG. 3 is a schematic flow chart illustrating another embodiment of the method for identifying an accelerator step error according to the present invention;
FIG. 4 is a schematic flow chart illustrating a method for identifying an accelerator step-on mistake according to another embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating a further embodiment of the method for identifying an accelerator step-on miss;
fig. 6 is a flowchart illustrating a method for identifying an accelerator step-on error according to still another embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a vehicle. The vehicle can be a vehicle with traditional energy sources or a vehicle with new energy sources. In addition, the vehicle can be a car, a van or an automobile with any accelerator.
In the embodiment of the invention, referring to fig. 1, the vehicle comprises an accelerator false stepping recognition device 1, an accelerator pedal 2 and a vehicle-mounted detection module 3.
The accelerator pedal 2 is moved by manual driving of the driver, and the vehicle accelerates when the accelerator pedal 2 is depressed.
The vehicle-mounted detection module 3 is used for detecting scene parameters of an environment where the vehicle is located and/or running parameters of the vehicle, such as obstacle information, vehicle motion parameters and/or road surface information, during the running process of the vehicle. The vehicle-mounted detection module 3 is connected with the accelerator mistaken-stepping recognition device 1, and the accelerator mistaken-stepping recognition device 1 can be used for acquiring data detected by the vehicle-mounted detection module 3. The vehicle-mounted detection module 3 may include a radar 31, a camera 32, a vehicle speed sensor 33, an acceleration sensor 34, and a pedal sensor 35, where the radar 31 is used to detect distance information between the vehicle and an obstacle, the camera 32 is used to collect an image of the obstacle, the vehicle speed sensor 33 is used to detect a vehicle speed, the acceleration sensor 34 is used to detect an acceleration of the vehicle, the pedal sensor 35 is used to detect an opening degree of the accelerator pedal 2, and so on.
The accelerator mis-stepping recognition device 1 can be integrally installed on a vehicle body controller of a vehicle, and can also be arranged independently of the vehicle body controller of the vehicle.
In the embodiment of the present invention, referring to fig. 1, the accelerator stepping error recognition apparatus 1 includes: a processor 1001 (e.g., a CPU), a memory 1002, a timer 1003, and the like. All parts in the accelerator mistaken-stepping recognition device 1 are connected through a communication bus. The memory 1002 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). The memory 1002 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the device shown in fig. 1 is not intended to be limiting of the device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1002 as a storage medium may include therein a throttle miss recognition program. In the device shown in fig. 1, the processor 1001 may be configured to call a throttle miss recognition program stored in the memory 1002 and execute the operations of the relevant steps of the throttle miss recognition method in the following embodiments.
The embodiment of the invention also provides an accelerator mistaken-stepping identification method which is applied to the vehicle.
Referring to fig. 2, an embodiment of the method for identifying the accelerator stepping by mistake is provided. In this embodiment, the method for identifying an accelerator step error includes:
step S10, acquiring the distance between a vehicle and an obstacle and the corresponding time distance, and acquiring the opening change rate of an accelerator pedal of the vehicle;
in the present embodiment, the obstacle is an obstacle ahead and/or behind in the vehicle traveling direction.
The time interval specifically refers to an interval period when the vehicle and the obstacle reach the same position. When the obstacle is a static obstacle, the same position refers to the position of the obstacle; when the obstacle is a moving obstacle, the same position is a position other than the position of the obstacle.
The opening degree change rate is specifically characterized by the stepping speed of the accelerator pedal, and is the opening degree change amount of the accelerator pedal in unit time.
The distance, the time interval and the opening change rate are all data detected by the vehicle-mounted detection module in real time.
Step S20, determining an identification result according to the distance, the time interval and the opening change rate, wherein the identification result comprises whether the accelerator pedal is in a mistaken stepping state or not;
different distances, different time intervals and different opening change rates correspond to different recognition results of mistaken stepping of the accelerator pedal.
Specifically, preset conditions (for example, a target numerical value range, a target size relationship, a target quantity relationship, or the like) to be reached by the distance, the time interval, and the opening change rate in the accelerator pedal misstep state may be preset, and when the current distance, the time interval, and the opening change rate reach the preset conditions, it is determined that the accelerator pedal is in the misstep state; and when the current distance, time interval and opening change rate do not reach preset conditions, determining that the accelerator pedal is not in a mistaken stepping state.
Further, in this embodiment, the type of the obstacle may also be obtained, and the recognition result may be determined according to the type of the obstacle, the distance, the time interval, and the rate of change of the opening degree. The different obstacle types can correspond to different preset conditions (such as a target numerical range, a target size relationship or a target quantity relationship) required to be reached by different distances, time distances and an opening change rate, the preset conditions can be determined according to the obstacle types, and when the current distance, time distance and opening change rate reach the preset conditions, the accelerator pedal is determined to be in a mistaken stepping state; and when the current distance, time interval and opening change rate do not reach the preset conditions, determining that the accelerator pedal is not in a mistaken stepping state.
And S30, controlling the vehicle to execute safe operation when the identification result is that the accelerator pedal is in the mistaken stepping state.
In this embodiment, the safety operation includes outputting safety prompt information, such as an alarm sound and/or a warning light.
When the accelerator pedal is not in the false depression state, the vehicle may be controlled to maintain running in response to the driver' S current operation, and return to execution of step S10.
The method for identifying the mistaken stepping of the accelerator provided by the embodiment of the invention identifies whether the accelerator pedal is in a mistaken stepping state or not by combining the distance between the vehicle and the obstacle, the corresponding time interval of the distance and the corresponding opening change rate of the accelerator pedal, wherein the combination of the distance between the vehicle and the obstacle, the time interval and the opening change rate can accurately reflect the risk of collision with the obstacle in the current driving state of the vehicle and the driving requirement of a driver in the current state, and compared with the result obtained by identifying the mistaken stepping of the accelerator by the distance between the vehicle and the obstacle, the obtained mistaken stepping identification result of the accelerator can be more accurately fit with the requirement of acceleration and deceleration of the current vehicle, so that the accuracy of the mistaken stepping identification result of the accelerator is effectively improved, the accuracy of the safe operation executed by the vehicle when the mistaken stepping is determined is improved, and the driving experience of the driver of the vehicle is effectively improved.
Further, based on the above embodiment, another embodiment of the method for identifying the mistaken stepping on the accelerator is provided. In the present embodiment, referring to fig. 3, step S20 includes:
step S21, when the distance is smaller than a preset distance and/or when the time interval is smaller than a preset time interval, if the opening change rate is larger than a preset change rate, determining that the identification result is that the accelerator pedal is in a mistaken stepping state; if the opening change rate is smaller than or equal to a preset change rate, determining that the identification result is that the accelerator pedal is in a non-treading state;
the preset distance and the preset time distance are specifically preset critical values for identifying whether the accelerator pedal has the requirement of identifying whether the accelerator is stepped on by mistake.
And when the distance is smaller than the preset distance and/or the distance is smaller than the preset time distance, determining that the accelerator is in the mistaken stepping recognition requirement in the current scene, and further determining whether the accelerator pedal is in the mistaken stepping state or not through the opening change rate.
The preset change rate is a critical value of the opening change rate for representing whether the user has the behavior of stepping on the accelerator suddenly. The opening change rate is larger than the preset change rate, which indicates that the user has the behavior of stepping on the accelerator suddenly; the opening change rate is smaller than or equal to the preset change rate, and the fact that the user does not have the behavior of stepping on the accelerator suddenly is shown.
And S22, when the distance is greater than or equal to the preset distance and the time interval is greater than or equal to the preset time interval, determining that the accelerator pedal is not in a mistaken stepping state.
When the distance is greater than or equal to the preset distance and the time interval is greater than or equal to the preset time interval, the vehicle can be considered to be in a normal driving state at the moment, even if the user steps on the accelerator suddenly, the user can still perform normal driving, and the situation that the accelerator is stepped on by mistake does not exist.
In the embodiment, according to the above manner, when the distance and/or the time interval are too small, the risk of collision between the vehicle and the obstacle is high, and the situation of high opening change rate should not occur during normal driving, so that when the opening change rate is higher than the preset change rate, it can be considered that the condition is caused by mistakenly stepping on the accelerator by the user, and at this time, it is determined that the identification result is that the accelerator pedal is in a mistaken stepping state; and if the opening change rate is less than or equal to the preset change rate, the user can think that the user intends to make the vehicle slowly accelerate and move forward, but does not think that the user wants to step on the brake but mistakenly steps on the accelerator, the vehicle can be regarded as being in a normal driving state at the moment, and the recognition result is determined that the accelerator pedal is not in a mistaken stepping state at the moment. In addition, when the distance and the time interval are both large, the risk of collision between the vehicle and the obstacle is small, the driving safety of the vehicle cannot be influenced no matter how the accelerator pedal is operated at the moment, the vehicle can be considered as a normal driving behavior of a user, and the recognition result is determined to be that the accelerator pedal is not in a mistaken stepping state at the moment. Therefore, whether the accelerator pedal is in the mistaken stepping state or not can be accurately identified.
Further, based on any one of the above embodiments, a further embodiment of the method for identifying the accelerator stepping error is provided. In this embodiment, referring to fig. 4, before the step S20, the method further includes:
step S01, acquiring the type of the obstacle;
specifically, in this embodiment, scene image data of an area where the vehicle is located is acquired; determining a type of the obstacle from the scene image data. The scene image data is real-time scene through the vehicle-mounted camera. The scene image data comprises an image frame sequence continuous at the acquisition moment, each image frame in the image frame sequence is subjected to target identification tracking to obtain the motion state information of each obstacle, and the type of the obstacle is determined according to the motion state information.
In this embodiment, the types of the obstacles are divided based on the motion characteristics of the obstacles, and different motion characteristics correspond to different types. Specifically, the type of the obstacle includes one of a stationary obstacle, a first moving obstacle, and a second moving obstacle, where a probability of a change in a motion state (for example, a change in a motion direction and/or a change in a motion speed, etc.) of the first moving obstacle is smaller than a probability of a change in a motion state of the second moving obstacle. Stationary obstacles may include walls, stone piers, stationary vehicles, etc. The first type of moving obstacle is an obstacle with small moving randomness, and can comprise a vehicle normally running on a lane. The second type of moving obstacle is an obstacle with high motion randomness, and can comprise a pedestrian, a moving bicycle, a moving motorcycle and the like.
In other embodiments, the types of the obstacles may be divided based on the size and/or material of the obstacles, and the different sizes and/or materials correspond to different types.
S02, determining the preset distance and/or the preset time distance according to the type; the different types correspond to different preset distances and/or preset time distances.
The probability that the motion state corresponding to the type of the obstacle changes is in positive correlation with the preset distance and/or the preset time distance, that is, the larger the change probability is, the larger the preset distance is, and the larger the change probability is, the larger the preset time distance is.
In this embodiment, the preset distance and/or the preset time interval are/is determined according to the type of the obstacle, so that the accuracy of the preset distance and/or the preset time interval can be improved, and the matching degree between the accelerator mistaken-stepping recognition result determined based on the preset distance and/or the preset time interval and the current vehicle driving scene is further improved, so that the accuracy of the accelerator mistaken-stepping recognition result is further improved.
In other embodiments, map data of the area where the vehicle is located may also be obtained, and the type of obstacle may be determined from the map data. Or, the type of the obstacle can be determined according to the detection data of the vehicle-mounted radar.
In other embodiments, the preset change rate may also be determined according to the type of the obstacle, and different obstacle types correspond to different preset change rates.
Further, based on the above embodiment, a further embodiment of the method for identifying the mistaken stepping on the accelerator is provided. In this embodiment, referring to fig. 5, the step of determining the preset distance according to the type includes:
step S021, acquiring a first distance between a braking position corresponding to the current running state of the vehicle and the vehicle, and determining a safety distance required to be reserved between the braking position and the obstacle according to the type;
specifically, the brake-off position is a position that the vehicle reaches when braking and decelerating to 0 from the current motion state. The current vehicle speed and the target deceleration of the vehicle may be acquired, and the first distance may be calculated based on the vehicle speed and the target deceleration. The target deceleration is a deceleration under the maximum deceleration capacity of the vehicle, and may be a preset fixed value or a value determined according to scene information (e.g., road surface information and/or obstacle information) in a scene where the vehicle is currently located.
Different types correspond to different safety distances. In this embodiment, when the type is a stationary obstacle, determining that the first safe distance is the safe distance; when the type is the first moving obstacle, determining a second safe distance as the safe distance; when the type is a second moving obstacle, determining a third safe distance as the safe distance; the first safety distance is smaller than the second safety distance, the second safety distance is smaller than the third safety distance, and the probability of the change of the motion state of the first moving obstacle is smaller than the probability of the change of the motion state of the second moving obstacle.
And S022, determining the preset distance according to the first distance and the safety distance.
In this embodiment, the sum of the first distance and the safety distance is taken as the preset distance. In other embodiments, the result of adjusting the combination of the first distance and the safety distance according to the preset adjustment value may be used as the preset distance.
In the embodiment, the preset distance is determined by combining the first distance and the safety distance corresponding to the type of the obstacle, so that the accuracy of the preset distance is further improved, the matching degree of the accelerator mistaken-stepping recognition process and the current driving scene of the vehicle is further improved, and the accuracy of the accelerator mistaken-stepping recognition result is further improved. Especially, the greater the safe distance that the bigger barrier of motion randomness corresponds is, the greater the corresponding preset distance is to guarantee that the accelerator is stepped on the recognition process by mistake and can be matched with the size accuracy of the actual collision risk of the vehicle, so as to further improve the accuracy that the recognition result is stepped on by mistake to the accelerator, further reduce the influence that safe operation triggers to user's driving experience when guaranteeing the vehicle safety of traveling, thereby further improve the driving experience of vehicle.
In other embodiments, the mapping relationship between the type of the obstacle and the preset distance may be directly established without considering the actual driving state of the vehicle, and the distance mapped by the current type may be determined as the preset distance currently used for determining the recognition result based on the mapping relationship.
Further, based on the above embodiment, another embodiment of the method for identifying the accelerator stepping by mistake is provided. In this embodiment, referring to fig. 6, the step of determining the preset time interval according to the type includes:
step S023, acquiring a first time length required for the vehicle to reach a state of collision with the obstacle in the current running state of the vehicle, and determining a reserved safe time length required for the vehicle not to collide with the obstacle according to the type;
specifically, the first period of time here may be calculated from the distance between the vehicle and the obstacle, the vehicle speed of the vehicle, and the acceleration of the vehicle.
The safe time length is the minimum time length which needs to be reserved and is used for preventing the vehicle from colliding with the obstacle. Different types correspond to different security durations. In this embodiment, when the type is a stationary obstacle, determining a first safe duration as the safe duration; when the type is the first movement obstacle, determining a second safety duration as the safety duration; when the type is a second movement obstacle, determining a third safe time length as the safe time length; the first safety duration is less than the second safety duration, the second safety duration is less than the third safety duration, and the probability of the change of the motion state of the first moving obstacle is less than the probability of the change of the motion state of the second moving obstacle.
And S024, determining the preset time interval according to the first time length and the safety time length.
In this embodiment, the sum of the first time length and the safe time length is used as the preset time interval. In other embodiments, the result obtained by correcting the sum of the first duration and the safe duration according to the preset correction value may be used as the preset time interval.
In the embodiment, the preset time interval is determined by combining the first time interval and the safety time interval corresponding to the type of the obstacle, so that the accuracy of the preset time interval is favorably improved, the matching degree of the process of identifying the mistaken stepping on the accelerator and the current driving scene of the vehicle is further improved, and the accuracy of the result of identifying the mistaken stepping on the accelerator is further improved. Especially, the larger the safety duration that the barrier that the motion randomness is, corresponds is, the larger the corresponding preset time interval is, thereby ensuring that the accelerator is stepped on by mistake and the identification process can be accurately matched with the actual collision risk of the vehicle, further improving the accuracy of the accelerator is stepped on by mistake and the identification result, further reducing the influence of the false triggering of the safety operation on the driving experience of the user while ensuring the driving safety of the vehicle, and further improving the driving experience of the vehicle.
In other embodiments, the mapping relationship between the type of the obstacle and the preset time span may be directly established without considering the actual driving state of the vehicle, and the time span mapped by the current type may be determined as the preset time span currently used for determining the recognition result based on the mapping relationship.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with an accelerator mistaken-stepping identification program, and the accelerator mistaken-stepping identification program is executed by a processor to realize the relevant steps of any embodiment of the above accelerator mistaken-stepping identification method.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.
First, it is stated that the term "and/or" appearing herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the Chinese character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The method for identifying the mistaken stepping of the accelerator is characterized by comprising the following steps of:
acquiring the distance between a vehicle and an obstacle and the corresponding time distance thereof, and acquiring the opening change rate of an accelerator pedal of the vehicle;
determining an identification result according to the distance, the time interval and the opening change rate, wherein the identification result comprises whether the accelerator pedal is in a mistaken stepping state or not;
and when the recognition result is that the accelerator pedal is in a mistaken stepping state, controlling the vehicle to execute safe operation.
2. The method for identifying an accelerator step-on mistake as claimed in claim 1, wherein the step of determining the identification result based on the distance, the time interval, and the opening change rate comprises:
when the distance is smaller than a preset distance and/or when the time interval is smaller than a preset time interval, if the opening change rate is larger than a preset change rate, determining that the accelerator pedal is in a mistaken stepping state according to the identification result; if the opening change rate is smaller than or equal to a preset change rate, determining that the identification result is that the accelerator pedal is in a non-treading state;
and when the distance is greater than or equal to the preset distance and the time interval is greater than or equal to the preset time interval, determining that the identification result is that the accelerator pedal is not in a mistaken stepping state.
3. The method for identifying a false accelerator step according to claim 2, further comprising, before the step of determining the identification result based on the distance, the time interval, and the opening change rate, a step of determining the identification result based on the distance, the time interval, and the opening change rate
Acquiring the type of the obstacle;
determining the preset distance and/or the preset time distance according to the type;
wherein the different types correspond to the different preset distances and/or the preset time distances.
4. The method for identifying accelerator step-on mistake as claimed in claim 3, wherein the step of determining the preset distance according to the type comprises:
acquiring a first distance between a braking position corresponding to the current running state of the vehicle and the vehicle, and determining a safety distance required to be reserved between the braking position and the obstacle according to the type;
and determining the preset distance according to the first distance and the safety distance.
5. The method for identifying accelerator step-on mistake as claimed in claim 4, wherein the step of determining the safety distance to be reserved between the stopping position and the obstacle according to the type comprises:
when the type is a static obstacle, determining a first safe distance as the safe distance;
when the type is a first moving obstacle, determining a second safe distance as the safe distance;
when the type is a second moving obstacle, determining a third safe distance as the safe distance;
the first safety distance is smaller than the second safety distance, the second safety distance is smaller than the third safety distance, and the probability of the change of the motion state of the first moving obstacle is smaller than the probability of the change of the motion state of the second moving obstacle.
6. The method for identifying the false accelerator step according to claim 3, wherein the step of determining the preset time interval according to the type comprises:
acquiring a first time length required for the vehicle to reach a state of collision with the obstacle in the current running state, and determining a reserved safety time length required for the vehicle not to collide with the obstacle according to the type;
and determining the preset time interval according to the first time length and the safety time length.
7. The accelerator step-on recognition method according to claim 6, wherein the step of determining a reserved safe time period required for the vehicle not to collide with the obstacle according to the type comprises:
when the type is a static obstacle, determining a first safety duration as the safety duration;
when the type is a first movement obstacle, determining a second safety duration as the safety duration;
when the type is a second movement obstacle, determining a third safe time length as the safe time length;
the first safety duration is less than the second safety duration, the second safety duration is less than the third safety duration, and the probability of the change of the motion state of the first moving obstacle is less than the probability of the change of the motion state of the second moving obstacle.
8. The accelerator step-on recognition method according to any one of claims 2 to 7, wherein the step of acquiring the type of the obstacle includes:
acquiring scene image data of an area where the vehicle is located;
determining a type of the obstacle from the scene image data, the type comprising one of a stationary obstacle, a first moving obstacle, and a second moving obstacle;
wherein the probability of the motion state change of the first motion obstacle is smaller than the probability of the motion state change of the second motion obstacle.
9. A vehicle, characterized in that the vehicle comprises: the accelerator pedal mis-stepping recognition method comprises a memory, a processor and an accelerator pedal mis-stepping recognition program which is stored on the memory and can run on the processor, wherein the steps of the accelerator pedal mis-stepping recognition method are realized according to any one of claims 1 to 8 when the accelerator pedal mis-stepping recognition program is executed by the processor.
10. A storage medium having stored thereon a throttle miss recognition program, the throttle miss recognition program when executed by a processor implementing the steps of the throttle miss recognition method according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210969819.3A CN115366676A (en) | 2022-08-12 | 2022-08-12 | Accelerator mistaken-stepping identification method, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210969819.3A CN115366676A (en) | 2022-08-12 | 2022-08-12 | Accelerator mistaken-stepping identification method, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115366676A true CN115366676A (en) | 2022-11-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210969819.3A Pending CN115366676A (en) | 2022-08-12 | 2022-08-12 | Accelerator mistaken-stepping identification method, vehicle and storage medium |
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| Country | Link |
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| CN (1) | CN115366676A (en) |
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- 2022-08-12 CN CN202210969819.3A patent/CN115366676A/en active Pending
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