CN116749949A - Pedal response control method and device, electronic equipment and vehicle - Google Patents

Abstract

The application provides a pedal response control method, a pedal response control device, electronic equipment and a vehicle, which can inhibit response to a pedal acceleration request of an accelerator pedal when the current vehicle speed is smaller than or equal to a preset safe vehicle speed, and limit response to a brake pedal according to a parking deceleration request of an automatic parking mode; the method and the device avoid the exit of the automatic parking mode caused by the mistaken stepping of the accelerator pedal by the driver, limit the response of the brake pedal, and ensure the smooth execution of the automatic parking and the safety of the automatic parking at the same time. When the current vehicle speed is greater than a preset safe vehicle speed, exiting an automatic parking mode, and determining the effectiveness of a pedal acceleration request; and when the pedal acceleration request is valid, acceleration is performed in response to the pedal acceleration request. Through the effectiveness detection, the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited, so that the phenomenon of jerking of the vehicle is avoided, and the running safety of the vehicle is improved.

Description

Pedal response control method and device, electronic equipment and vehicle

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a pedal response control method and device, an electronic device, and a vehicle.

Background

The driver may intentionally or unintentionally depress the brake pedal or the accelerator pedal while the vehicle is traveling in the automatic parking mode, which may cause a safety problem for the vehicle, and also may cause a risk of runaway if the response to the request of the brake pedal or the accelerator pedal is completely prohibited, and the safety response control method may be lacking when the driver depresses the brake pedal or the accelerator pedal to intervene in the control while the vehicle is performing the automatic parking function.

Disclosure of Invention

In view of the above, the present application aims to provide a pedal response control method, a device, an electronic apparatus, and a vehicle, for ensuring the safety of the whole vehicle when a user performs pedal intervention.

In view of the above object, a first aspect of the present application provides a pedal response control method including:

determining a current vehicle speed in an automatic parking mode;

if the current vehicle speed is smaller than or equal to a preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on a brake pedal according to a parking deceleration request of the automatic parking mode;

if the current vehicle speed is greater than a preset safe vehicle speed, exiting the automatic parking mode, and determining the effectiveness of the pedal acceleration request;

and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

A second aspect of the present application provides a pedal response control device including:

a vehicle speed detection module configured to: determining a current vehicle speed in an automatic parking mode;

a first response control module configured to: if the current vehicle speed is smaller than or equal to a preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on a brake pedal according to a parking deceleration request of the automatic parking mode;

a second response control module configured to: if the current vehicle speed is greater than a preset safe vehicle speed, exiting the automatic parking mode, and determining the effectiveness of the pedal acceleration request;

a response execution module configured to: and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

A third aspect of the application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method as provided in the first aspect of the application when executing the program.

A fourth aspect of the application provides a vehicle comprising the apparatus provided in the second aspect of the application.

From the above, the pedal response control method, the pedal response control device, the electronic equipment and the vehicle provided by the application can determine the current vehicle speed in an automatic parking mode; when the current vehicle speed is smaller than or equal to the preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on the brake pedal according to a parking deceleration request of an automatic parking mode; the method and the device avoid the exit of the automatic parking mode caused by the mistaken stepping of the accelerator pedal by the driver, limit the response of the brake pedal, and ensure the smooth execution of the automatic parking and the safety of the automatic parking at the same time. When the current vehicle speed is greater than a preset safe vehicle speed, exiting an automatic parking mode, and determining the effectiveness of a pedal acceleration request; and when the pedal acceleration request is valid, acceleration is performed in response to the pedal acceleration request. The method has the advantages that the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited through the effectiveness detection, the phenomenon that the vehicle is rushed is avoided, the running safety of the vehicle is improved, the pedal acceleration request is responded normally after the pedal acceleration request is effective, and the normal driving of the vehicle can not be influenced. The method and the device realize that when a driver steps on the pedal to control the medium, the driving experience of the driver is improved while the safety of the whole vehicle is improved.

Drawings

In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a flow chart of a pedal response control method according to an embodiment of the present application;

FIG. 2 is a flow chart of response control when a pedal acceleration request is invalid, according to an embodiment of the present application;

FIG. 3 is a flow chart of response control when a user actively exits an auto park mode in accordance with an embodiment of the present application;

FIG. 4 is a flow chart illustrating a limitation of response to a brake pedal according to an embodiment of the present application;

FIG. 5 is a flow chart of determining the validity of a pedal acceleration request according to an embodiment of the present application;

FIG. 6 is a schematic diagram of a pedal response control device according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the application.

Detailed Description

The present application will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present application more apparent.

It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

In this document, it should be understood that any number of elements in the drawings is for illustration and not limitation, and that any naming is used only for distinction and not for any limitation.

Based on the above description of the background art, there are also the following cases in the related art:

the vehicle with the automatic parking function can realize automatic parking space identification without manual intervention by aid of the vehicle-mounted sensor, the processor and the control system, and automatically complete the parking process. The automatic parking system can greatly simplify the parking process, especially in extremely narrow places, or can bring more intelligent and convenient experience to novice. The automatic parking system mainly utilizes sensors distributed in the vehicle and surrounding environment to measure the relative distance, speed and angle between the vehicle and surrounding objects, then calculates the operation flow through a vehicle-mounted computing platform or a cloud computing platform, and controls the steering and acceleration and deceleration of the vehicle so as to realize the functions of automatic parking in, parking out and partial running. The whole parking process can approximately comprise the following five links: environmental perception, parking space detection and identification, parking path planning, parking path following control and simulation display.

According to the degree of automation, automatic parking may be classified into: semi-automatic parking and full-automatic parking. The semi-automatic parking system controls the speed of a driver, and the computing platform determines and executes steering according to the speed and the surrounding environment; full-automatic parking is that a computing platform determines and executes all operations such as steering, acceleration and deceleration according to surrounding environment, and a driver can monitor in or out of a vehicle. Semi-automatic/full-automatic parking can be classified into: ultrasonic automatic parking and automatic parking based on fusion of ultrasonic and cameras.

Parking path planning during automatic parking generally meets the following requirements as much as possible: a. the actions required to complete the parking path must be as few as possible. Because the accuracy error of each action is transferred to the next action, the more actions, the worse the accuracy. b. The angle of the steering wheel (mostly the front wheel) of the vehicle needs to be kept consistent during the implementation of each motion. Because the system is realized by an embedded system, and the performance of the embedded system is limited, the steering wheel angle keeps consistent, so that the calculation of the motion trail can be classified as a geometric problem, and the complex integration problem is required to be related, which is a challenge to the performance of the embedded system.

The following control process of the parking path is to continuously detect the environment through the vehicle-mounted sensor, estimate the vehicle position in real time, compare the actual running path with the ideal path, and make local correction if necessary. The simulated display is fed back by a sensor to construct a parking simulated environment, and has prompt and interaction. The user is prompted for processor intent and does the necessary operations. In addition, in order to know the processor location and calculate the path running condition when parking after path planning, the processor information needs to be fed back to the user. If the processor acquires the environment information or a major error occurs in the processing process, the user can know and stop automatic parking in time.

It can be seen that the automatic parking process is a process with high precision, and the implementation of automatic parking requires little intervention of a driver, so when the driver intervenes in the automatic parking process by stepping on a brake pedal or an accelerator pedal, if the automatic parking process is responded to all pedal requests, the automatic parking process may be forced to be terminated, and even vehicle safety problems may be caused; a risk of runaway is also incurred if responding to a request for a brake pedal or an accelerator pedal is completely disabled. Therefore, the requirements of the driver are needed to be known, and the situation that the driver touches the pedal by mistake is separated from the situation that the driver performs emergency treatment and the like, so that the automatic parking is smoothly performed on the premise of ensuring the safety of the vehicle.

The pedal response control method, the pedal response control device, the electronic equipment and the vehicle can determine the current vehicle speed in an automatic parking mode; when the current vehicle speed is smaller than or equal to the preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on the brake pedal according to a parking deceleration request of an automatic parking mode; the method and the device avoid the exit of the automatic parking mode caused by the mistaken stepping of the accelerator pedal by the driver, limit the response of the brake pedal, and ensure the smooth execution of the automatic parking and the safety of the automatic parking at the same time. When the current vehicle speed is greater than a preset safe vehicle speed, exiting an automatic parking mode, and determining the effectiveness of a pedal acceleration request; and when the pedal acceleration request is valid, acceleration is performed in response to the pedal acceleration request. The method has the advantages that the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited through the effectiveness detection, the phenomenon that the vehicle is rushed is avoided, the running safety of the vehicle is improved, the pedal acceleration request is responded normally after the pedal acceleration request is effective, and the normal driving of the vehicle can not be influenced. The method and the device realize that when a driver steps on the pedal to control the medium, the driving experience of the driver is improved while the safety of the whole vehicle is improved. It should be noted that the pedal response control method provided by the implementation of the present application is mainly applied to a vehicle equipped with a full-automatic parking system. The description is made with reference to the accompanying drawings and examples.

In some embodiments, as shown in FIG. 1, a pedal response control method includes:

step 101: the current vehicle speed is determined in the auto-park mode.

In specific implementation, the automatic parking mode is a process with higher precision, so that the speed of the vehicle is generally limited in a low speed range during automatic parking, and a safe vehicle speed capable of safely conducting automatic parking is generally calibrated in advance, so that the vehicle can conduct automatic parking below the safe vehicle speed, if the safe vehicle speed is exceeded, potential safety hazards can occur, a certain danger is caused, and therefore the current vehicle speed in the automatic parking mode needs to be monitored in real time to determine whether the working condition of the current vehicle can continue to conduct smooth automatic parking.

Step 102: and if the current vehicle speed is less than or equal to the preset safe vehicle speed, prohibiting a pedal acceleration request of the response accelerator pedal, and carrying out response limitation on the brake pedal according to a parking deceleration request of an automatic parking mode.

In specific implementation, if the current vehicle speed is less than or equal to the preset safe vehicle speed, the automatic parking process can be smoothly performed, and at the moment, the vehicle speed needs to be prevented from being increased, because the vehicle speed is increased, the automatic parking process can be disturbed, and because the final goal of the automatic parking is to park the vehicle into the corresponding parking space, the vehicle is integrally a deceleration process, even if the driver steps on an accelerator pedal to a small extent, the actual running path of the vehicle is deviated from the planned path of the automatic parking in response to the pedal acceleration request, and the normal operation of the automatic parking is disturbed. If the driver steps on the accelerator pedal to a large extent, the large accelerator request may quickly raise the current vehicle speed above the safe speed, so that the automatic parking is stopped, so that in the automatic parking mode, in order to ensure smooth automatic parking, when the automatic parking mode is not stopped, the accelerator request of the accelerator pedal needs to be forbidden, and the vehicle speed is prevented from being raised to interfere with smooth automatic parking.

For a pedal deceleration request of the brake pedal, a response limitation is required to be performed on the brake pedal according to a parking deceleration request of an automatic parking mode, wherein the response limitation means that only if the pedal deceleration request meets a preset limitation condition, the pedal deceleration request of the brake pedal can be responded. Since the automatic parking process is a deceleration process as a whole, different parking deceleration requests are automatically issued to the vehicle at different moments, and the pedal deceleration request of the brake pedal can be limited according to the parking deceleration requests, and if the pedal braking request (pedal deceleration value) issued by the user by stepping on the brake pedal is smaller than or equal to the parking deceleration request (parking deceleration value), the deceleration value required by the automatic parking is larger than the deceleration value required by the driver, which means that the driver does not have the need of emergency parking, and at the moment, if the response to the pedal deceleration request corresponds to indirect acceleration, the actual running path of the vehicle is also caused to deviate from the planned path of the automatic parking, and the normal running of the automatic parking is disturbed, so that the pedal deceleration request of the brake pedal is not responded at the moment.

If a pedal braking request (pedal deceleration value) sent by a user through stepping on a brake pedal is larger than a parking deceleration request (parking deceleration value), the corresponding deceleration value of automatic parking is smaller than the deceleration value required by a driver, the driver is required to stop in an emergency, the driver can possibly find that the automatic parking is not recognized as an obstacle and needs to stop in an emergency, if the request of the driver for emergency deceleration cannot be responded, the vehicle can possibly collide with the obstacle to cause running danger, and the driver cannot directly respond to the pedal deceleration request at the moment but is required to respond after the driver exits from an automatic parking mode, and therefore the pedal deceleration request of the brake pedal can be directly responded when the pedal braking request is larger than the parking deceleration request.

The brake pedal is limited by the parking deceleration request, so that the automatic parking is smoothly executed, and meanwhile, the deceleration or parking requirements of a driver under emergency conditions are responded, and the safety of automatic parking and vehicle running is ensured.

Step 103: if the current vehicle speed is greater than the preset safe vehicle speed, the automatic parking mode is exited, and the effectiveness of the pedal acceleration request is determined.

In the specific implementation, if the planned path is located on a downhill road section in the automatic parking process, the vehicle may automatically slide down, and the vehicle speed increases, so that the current vehicle speed is greater than the preset safe vehicle speed, which indicates that the automatic parking process cannot be smoothly performed.

Since the pedal acceleration request of the responsive accelerator pedal is prohibited when the current vehicle speed is lower than the safe vehicle speed, the driver may have stepped on the accelerator pedal when exiting the automatic parking mode, but the vehicle may normally respond to the pedal acceleration request of the accelerator pedal when exiting the automatic parking mode, so if the pedal acceleration request at this time is directly responded, the vehicle may jerk due to sudden violent acceleration, and a driving hazard is generated, so that a validity detection of the pedal acceleration instruction is required at this time to determine the validity of the pedal response request, and if the accelerator pedal is in an untrigged state (a state when the accelerator pedal is not stepped on) when exiting the automatic parking mode, it is indicated that the pedal acceleration request by the driver occurs after exiting the automatic parking mode, the jerk phenomenon is not generated when exiting the automatic parking mode because of the influence before the automatic parking mode, and the driving hazard is not caused, so that the pedal acceleration request is valid under this condition.

If the accelerator pedal is not in an un-triggered state (the state that the accelerator pedal is stepped on) when the automatic parking mode is exited, the driver is indicated that the pedal acceleration request by the accelerator pedal occurs before the automatic parking mode is exited and is influenced by the influence of the fact that the automatic parking mode is not exited, and a jerk phenomenon is generated when the automatic parking mode is exited, so that driving danger is easily caused.

The method has the advantages that the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited through the effectiveness detection, the phenomenon that the vehicle is rushed is avoided, the running safety of the vehicle is improved, the pedal acceleration request is responded normally after the pedal acceleration request is effective, and the normal driving of the vehicle can not be influenced. The method and the device realize that when a driver steps on the pedal to control the medium, the driving experience of the driver is improved while the safety of the whole vehicle is improved.

Step 104: and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

In particular, if the pedal acceleration request is determined to be valid, it is indicated that no driving hazard is generated in response to the pedal acceleration request at this time, and acceleration can be performed in response to the pedal acceleration request to meet the driving requirement of the driver.

In some embodiments, as shown in fig. 2, the pedal response control method further includes:

step 201: and if the pedal acceleration request is invalid, resetting the accelerator pedal in real time.

In particular, if the pedal acceleration request is invalid, it indicates that the accelerator pedal is stepped on when the automatic parking mode is exited, and the pedal acceleration request is not in an un-triggered position, and the pedal acceleration request is always continuous until the accelerator pedal is reset, so that at this time, it is necessary to perform real-time detection of the reset of the accelerator pedal, and if the accelerator pedal is detected to be reset, it indicates that the inhibition of the accelerator pedal by the automatic parking has been eliminated, and it can normally respond to the pedal acceleration request of the driver on the accelerator pedal.

Step 202: if the accelerator pedal is detected to be reset, responding to a pedal acceleration request after the accelerator pedal is reset.

In the specific implementation, if the accelerator pedal is detected to reset, the inhibition of the accelerator pedal caused by automatic parking is eliminated, the driver can normally respond to the pedal acceleration request of the accelerator pedal, the new pedal acceleration request after the accelerator pedal is reset is continuously detected, and the pedal acceleration request is responded to realize the requirement of the driver, and at the moment (under the condition that the driver does not actively and deeply step on the accelerator pedal), the phenomenon of vehicle jerk is avoided when the driver responds to the pedal acceleration request, the driving danger is avoided, the comprehensiveness of response control is improved, and the driving safety is improved.

In some embodiments, as shown in fig. 3, the pedal response control method further includes:

step 301: if the mode exit operation of the user is detected, the automatic parking mode is exited, and the validity of the pedal acceleration request is determined.

In particular, since the response to the pedal acceleration request is prohibited during the automatic parking, the vehicle speed exceeding the safe vehicle speed belongs to the exit of the automatic parking mode caused by passive acceleration (for example, downhill sliding), and when the user actively exits the automatic parking mode, the validity of the pedal acceleration request is required as in the passive exit, and only the response is performed when the pedal acceleration request is valid. The mode exit operation at least comprises an exit display control, a gear shifting operation and the like which are related to automatic parking and touch the central control display screen.

Step 302: and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

In the specific implementation, if the pedal acceleration request is determined to be effective, it is indicated that the driving danger cannot be generated when the pedal acceleration request is responded at the moment, and the pedal acceleration request can be responded to accelerate, so that the driving requirement of a driver is met, the comprehensiveness of response control is improved, and the driving safety is improved.

In summary, the pedal response control method provided by the application can determine the current vehicle speed in the automatic parking mode; when the current vehicle speed is smaller than or equal to the preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on the brake pedal according to a parking deceleration request of an automatic parking mode; the method and the device avoid the exit of the automatic parking mode caused by the mistaken stepping of the accelerator pedal by the driver, limit the response of the brake pedal, and ensure the smooth execution of the automatic parking and the safety of the automatic parking at the same time. When the current vehicle speed is greater than a preset safe vehicle speed, exiting an automatic parking mode, and determining the effectiveness of a pedal acceleration request; and when the pedal acceleration request is valid, acceleration is performed in response to the pedal acceleration request. The method has the advantages that the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited through the effectiveness detection, the phenomenon that the vehicle is rushed is avoided, the running safety of the vehicle is improved, the pedal acceleration request is responded normally after the pedal acceleration request is effective, and the normal driving of the vehicle can not be influenced. The method and the device realize that when a driver steps on the pedal to control the medium, the driving experience of the driver is improved while the safety of the whole vehicle is improved.

In some embodiments, as shown in fig. 4, limiting the response of the brake pedal according to the parking deceleration request of the automatic parking mode includes:

step 401: a pedal deceleration request for a brake pedal is determined.

In practice, since the brake pedal needs to be restrained by the parking brake request, it is necessary to know whether the pedal brake request of the brake pedal needs to be restrained, and it is necessary to compare the pedal brake request with the parking brake request, wherein the parking brake request is a known amount that varies in real time in the automatic parking mode, so it is necessary to determine the pedal brake request of the brake pedal in real time to determine whether the brake pedal needs to be restrained (restraining means that the brake pedal brake request is not responded in a specific case).

Step 402: and detecting the effectiveness of the pedal deceleration request according to the parking deceleration request.

In the specific implementation, the validity detection is carried out on the pedal deceleration request according to the parking deceleration request so as to limit the brake pedal by the parking deceleration request, and the safety of automatic parking and vehicle running can be ensured by responding to the deceleration or parking requirement of a driver in an emergency while the smooth execution of automatic parking is ensured.

In some embodiments, step 402 includes:

step 4021: a parking deceleration value corresponding to the parking deceleration request and a pedal deceleration value corresponding to the pedal deceleration request are determined.

In specific implementation, whether the pedal deceleration request needs to be restrained or not is determined according to the parking deceleration value of the parking deceleration request and the pedal deceleration value corresponding to the pedal deceleration request, and validity detection is carried out according to the deceleration value, so that the method is simple and easy to realize, the occupied amount of resources is reduced, and the response speed is improved. The deeper the brake pedal is stepped, the larger the pedal triggering range, and the larger the corresponding pedal deceleration value.

Step 4022: and if the parking deceleration value is greater than or equal to the pedal deceleration value, determining that the pedal deceleration request is invalid.

In the specific implementation, if the parking deceleration value is greater than or equal to the pedal deceleration value, the deceleration value corresponding to automatic parking is greater than the deceleration value required by the driver, and the driver does not have the requirement of emergency parking, at the moment, if the response of the pedal deceleration request is equivalent to indirect acceleration, the actual running path of the vehicle is deviated from the planned path of automatic parking, and the normal running of automatic parking is disturbed, so that the pedal deceleration request of a brake pedal is not responded at the moment, and the fact that the pedal deceleration request is invalid is determined.

Step 4023: and if the parking deceleration value is smaller than the pedal deceleration value, determining that the pedal deceleration request is valid.

In the specific implementation, if the parking deceleration value is smaller than the pedal deceleration value, the deceleration value corresponding to automatic parking is smaller than the deceleration value required by the driver, the driver is required to stop in an emergency, and the pedal deceleration request is determined to be effective.

Step 403: and if the pedal deceleration request is valid, responding to the pedal deceleration request.

In particular, if the pedal deceleration request is valid, it indicates that the driver may find an obstacle which is not recognized by the automatic parking, and needs to perform emergency parking, if the driver cannot respond to the request of emergency deceleration of the driver, the vehicle may collide with the obstacle, and the running danger may be caused, and the driver cannot directly respond to the pedal deceleration request, but needs to exit the automatic parking mode and then respond, and may not be enough, so that when the pedal braking request is greater than the parking deceleration request, the pedal deceleration request of the brake pedal may be directly responded.

Step 404: and if the deceleration request is invalid, responding to the parking deceleration request.

In specific implementation, if the deceleration request is invalid, it is indicated that no emergency situation exists and emergency braking is needed, and the driver can touch the brake pedal by mistake and directly respond to the parking deceleration request to automatically park without responding to the pedal deceleration request.

In some embodiments, as shown in FIG. 5, determining the validity of the pedal acceleration request includes:

step 501: the pedal state of the accelerator pedal at the exit from the automatic parking mode is determined.

In particular, it is determined whether the pedal acceleration request is valid, and it is necessary to determine whether the accelerator pedal is in an unactuated state when exiting the automatic parking mode, so it is necessary to acquire the pedal state of the accelerator pedal when exiting the automatic parking mode to determine whether the pedal acceleration request is valid.

Step 502: and if the pedal state is an un-triggered state, determining that the pedal acceleration request is valid.

In specific implementation, if the pedal state is in an un-triggered state, it is indicated that the driver performs the pedal acceleration request through the accelerator pedal and then the driver exits the automatic parking mode, so that the impact caused by the fact that the automatic parking mode is not exited is avoided, the jerk phenomenon is avoided when the driver exits the automatic parking mode, the driving danger is avoided, and the fact that the pedal acceleration request is effective is determined.

Step 503: and if the pedal state is the trigger state, detecting the historical position of the accelerator pedal.

In particular, if the accelerator pedal is in a triggered state when the automatic parking mode is exited, it is indicated that a pedal acceleration request by the driver through the accelerator pedal is affected by the influence of the absence of the automatic parking mode before the automatic parking mode is exited, and a jerk phenomenon is generated when the automatic parking mode is exited, so that driving danger is easily caused.

In some embodiments, historical position detection of an accelerator pedal includes:

step 5031: an exit time to exit the auto park mode is determined.

In specific implementation, when the automatic parking mode is exited, the time point at the time of exiting is automatically recorded as the exiting time.

Step 5032: the time of issuance of the pedal acceleration request is determined.

In specific implementation, when a pedal acceleration request is received, a time point when the pedal acceleration request is sent out is automatically recorded as a sending out time. The emission time is recorded only after the automatic parking mode is exited.

Step 5033: and determining a detection time interval according to the exit time and the emission time.

In specific implementation, the time period from the exit time to the emission time is determined as a detection time interval, and if the accelerator pedal is detected to return to the non-trigger position in the detection time interval, the pedal acceleration request at the moment is valid.

Step 5034: and acquiring the historical position of the accelerator pedal in the detection time interval, and detecting whether the historical position comprises an un-triggered position or not.

In practice, by detecting the non-triggered position in the history position, it is possible to detect whether the accelerator pedal is reset.

Step 504: if the historical position includes an un-triggered position, the pedal acceleration request is determined to be valid.

In the implementation, as long as the history position comprises the non-triggering position, the accelerator pedal is reset, the pedal acceleration request can be responded, the detection process is simple and efficient, and the phenomenon of vehicle jerk can not be generated when the pedal acceleration request is responded. After determining that the pedal acceleration request is valid, the subsequent pedal acceleration requests are valid (without entering other modes for limiting the pedal acceleration request), and may directly respond until the automatic parking mode is re-entered, and after exiting the automatic parking mode again, a determination is made as to whether the pedal acceleration request is valid. The method has the advantages that the pedal acceleration request of the accelerator pedal can not be responded immediately after the automatic parking mode is exited through the effectiveness detection, the phenomenon that the vehicle is rushed is avoided, the running safety of the vehicle is improved, the pedal acceleration request is responded normally after the pedal acceleration request is effective, and the normal driving of the vehicle can not be influenced. The method and the device realize that when a driver steps on the pedal to control the medium, the driving experience of the driver is improved while the safety of the whole vehicle is improved.

It should be noted that, the method of the embodiment of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the method of an embodiment of the present application, the devices interacting with each other to accomplish the method.

It should be noted that the foregoing describes some embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Based on the same inventive concept, the application also provides a pedal response control device corresponding to the method of any embodiment.

Referring to fig. 6, the pedal response control device includes:

the vehicle speed detection module 10 is configured to: determining a current vehicle speed in an automatic parking mode;

the first response control module 20 is configured to: if the current vehicle speed is smaller than or equal to the preset safe vehicle speed, prohibiting a pedal acceleration request of the response accelerator pedal, and carrying out response limitation on the brake pedal according to a parking deceleration request of an automatic parking mode;

a second response control module 30 configured to: if the current vehicle speed is greater than the preset safe vehicle speed, exiting the automatic parking mode, and determining the effectiveness of a pedal acceleration request;

in response to execution module 40, configured to: and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.

The device of the foregoing embodiment is configured to implement the corresponding pedal response control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the pedal response control method of any embodiment when executing the program.

Fig. 7 is a schematic diagram of a hardware structure of an electronic device according to the embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.

The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.

The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.

Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).

Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).

It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.

The electronic device of the foregoing embodiment is configured to implement the corresponding pedal response control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.

Based on the same inventive concept, the present application also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to execute the pedal response control method according to any of the above embodiments, corresponding to the method of any of the above embodiments.

The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.

The storage medium of the above embodiment stores computer instructions for causing the computer to execute the pedal response control method according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.

Based on the same inventive concept, the present application also provides a vehicle corresponding to the method of any embodiment, which includes the pedal response control device in the foregoing embodiment, and executes the pedal response control method of any embodiment by using the pedal response control device, and has the beneficial effects of the corresponding method embodiment, which are not described herein.

Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the application as described above, which are not provided in detail for the sake of brevity.

Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and also in view of the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform within which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.

While the application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, and the like, which are within the spirit and principles of the embodiments of the application, are intended to be included within the scope of the application.

Claims (10)

1. A pedal response control method characterized by comprising:

determining a current vehicle speed in an automatic parking mode;

if the current vehicle speed is smaller than or equal to a preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on a brake pedal according to a parking deceleration request of the automatic parking mode;

if the current vehicle speed is greater than a preset safe vehicle speed, exiting the automatic parking mode, and determining the effectiveness of the pedal acceleration request;

and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

2. The method of claim 1, wherein the limiting of the response of the brake pedal to the parking deceleration request according to the auto-park mode comprises:

determining a pedal deceleration request for the brake pedal;

detecting the effectiveness of the pedal deceleration request according to the parking deceleration request;

if the pedal deceleration request is valid, responding to the pedal deceleration request;

and if the deceleration request is invalid, responding to the parking deceleration request.

3. The method of claim 2, wherein said detecting the validity of the pedal deceleration request based on the parking deceleration request comprises:

determining a parking deceleration value corresponding to the parking deceleration request and a pedal deceleration value corresponding to the pedal deceleration request;

if the parking deceleration value is greater than or equal to the pedal deceleration value, determining that the pedal deceleration request is invalid;

and if the parking deceleration value is smaller than the pedal deceleration value, determining that the pedal deceleration request is valid.

4. The method of claim 1, wherein said determining the validity of the pedal acceleration request comprises:

determining a pedal state of the accelerator pedal when the automatic parking mode is exited;

if the pedal state is an untriggered state, determining that the pedal acceleration request is valid;

if the pedal state is a trigger state, detecting the historical position of the accelerator pedal;

and if the historical position comprises an un-triggered position, determining that the pedal acceleration request is valid.

5. The method of claim 4, wherein said historical position detection of said accelerator pedal comprises:

determining the exit time of exiting the automatic parking mode;

determining the sending time of the pedal acceleration request;

determining a detection time interval according to the exit time and the emission time;

and acquiring the historical position of the accelerator pedal in the detection time interval, and detecting whether the historical position comprises the non-trigger position or not.

6. The method as recited in claim 1, further comprising:

if the pedal acceleration request is invalid, resetting the accelerator pedal is detected in real time;

and if the accelerator pedal is detected to be reset, responding to a pedal acceleration request after the accelerator pedal is reset.

7. The method as recited in claim 1, further comprising:

if the mode exit operation of the user is detected, exiting the automatic parking mode, and determining the effectiveness of the pedal acceleration request;

and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

8. A pedal response control device, characterized by comprising:

a vehicle speed detection module configured to: determining a current vehicle speed in an automatic parking mode;

a first response control module configured to: if the current vehicle speed is smaller than or equal to a preset safe vehicle speed, prohibiting a pedal acceleration request of a response accelerator pedal, and carrying out response limitation on a brake pedal according to a parking deceleration request of the automatic parking mode;

a second response control module configured to: if the current vehicle speed is greater than a preset safe vehicle speed, exiting the automatic parking mode, and determining the effectiveness of the pedal acceleration request;

a response execution module configured to: and if the pedal acceleration request is valid, responding to the pedal acceleration request to accelerate.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.

10. A vehicle comprising the apparatus of claim 8.