CN114537136A - Vehicle and accelerator mistaken stepping prevention method and system - Google Patents
Vehicle and accelerator mistaken stepping prevention method and system Download PDFInfo
- Publication number
- CN114537136A CN114537136A CN202011298343.2A CN202011298343A CN114537136A CN 114537136 A CN114537136 A CN 114537136A CN 202011298343 A CN202011298343 A CN 202011298343A CN 114537136 A CN114537136 A CN 114537136A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- accelerator
- control system
- current
- obstacle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a method and a system for preventing a vehicle and an accelerator from being stepped on by mistake, and belongs to the technical field of intelligent control and safety of vehicles. The method comprises the following steps: if the current speed is within the set speed threshold range, the distance between the obstacle closest to the vehicle and the vehicle within the predicted track range is smaller than or equal to the set distance threshold, and the current accelerator opening is larger than or equal to the set opening threshold or the current accelerator opening change rate is larger than or equal to the set change rate threshold, judging that the accelerator is mistakenly stepped on; and when the accelerator is judged to be stepped by mistake, alarming is carried out and vehicle acceleration is restrained. When judging whether the accelerator is mistakenly stepped, firstly screening the obstacles in front of the vehicle through the predicted track in the current running direction of the vehicle, limiting the judgment object of whether the accelerator is mistakenly stepped on to the nearest obstacle in the predicted track range instead of the nearest obstacle in front of the vehicle, considering the actual running intention of the vehicle, effectively reducing the false triggering of the accelerator false stepping prevention system, and effectively avoiding the missed triggering of the accelerator false stepping prevention system.
Description
Technical Field
The invention relates to a method and a system for preventing a vehicle and an accelerator from being stepped on by mistake, and belongs to the technical field of intelligent control and safety of vehicles.
Background
Most vehicles on the market have been equipped with the accelerator and prevent mistake and step on the system at present, and the accelerator is prevented mistake and is stepped on the system and whether judge the driver mistake and step on the accelerator at first, when judging out the mistake and step on the accelerator, the accelerator is prevented mistake and is stepped on the system and can remind the driver to step on the accelerator by mistake, if the driver has not loosened the accelerator, then can not carry out the operation of refueling or carry out appropriate braking, improve driving safety. Currently, the judgment of whether the accelerator is mistakenly stepped is generally made by comprehensively judging according to the distance between an obstacle in front of the vehicle and the vehicle, the vehicle speed, the accelerator opening degree and the like, for example:
in the invention patent application document with application publication number CN109094541A, a control method of a vehicle safety system is disclosed, in which an accelerator is judged to be stepped by mistake when one of the following conditions is satisfied: (1) the maximum parking distance of the vehicle exceeds the distance between the vehicle and the front obstacle, and an oil filling pedal is operated; (2) when the vehicle starts or stops, moving obstacles exist in a set range around the vehicle, and an oiling pedal operates; (3) the vehicle speed is greater than the safe vehicle speed and is operated by an accelerator pedal. The method for judging whether the accelerator is mistakenly stepped has the following problems: (1) whether the accelerator is mistakenly stepped on a high-speed scene or not is judged by comparing the maximum parking distance of the vehicle with the distance between the front obstacles, and the accelerator is easy to be mistakenly triggered, particularly when the vehicle is in a high-speed lane changing/overtaking scene; (2) when the vehicle starts or stops, whether the accelerator is stepped on by mistake is judged by judging whether a moving obstacle exists in a set range around the vehicle, and the vehicle starts and is easy to trigger by mistake when the green light is on a congested intersection, so that the driving is influenced.
The invention patent application publication No. CN111038500A discloses an automatic emergency braking execution method for an automobile, in which emergency braking is performed when a front obstacle is on a driving track of the automobile and a driver's accelerator pedaling rate or a throttle travel exceeds a set value, wherein the method is defined as that the front obstacle is on the driving track when a collision possibility exists between the front obstacle and the automobile is predicted and the predicted collision time between the front obstacle and the automobile is less than a set time. The method divides the front vehicle into the driving track of the vehicle according to the possibility of collision between the vehicle and the obstacle when the front obstacle is overlapped with the vehicle, is only suitable for the working condition of straight driving or small steering wheel angle, and is easy to miss triggering caused by judging the front obstacle as being in a non-driving track under the condition of a curve.
In addition, the conventional accelerator mistaken-stepping prevention system lacks a fault mechanism, and is easy to cause mistaken triggering or missed triggering when the system has a fault; a system trigger release mode is lacked, and the vehicle cannot be controlled when the system is triggered, so that risks exist; and the current accelerator anti-misstep system is realized based on one set of control system, and when the system breaks down, the accelerator anti-misstep function cannot be realized, so that the safety risk exists.
Disclosure of Invention
The invention aims to provide a vehicle, an accelerator false stepping prevention method and an accelerator false stepping prevention system, which are used for solving the problem that false triggering exists when judging whether an accelerator is mistakenly stepped or not at present and usually judging based on the distance between a nearest obstacle in front of the vehicle and the vehicle.
In order to achieve the aim, the invention provides an accelerator mistaken stepping prevention method, which comprises the following steps:
(1) acquiring a predicted track in the current running direction of the vehicle, and acquiring current position information of the vehicle, obstacle position information and current speed in the current running direction of the vehicle, and current accelerator opening or current accelerator opening change rate;
(2) obtaining the position information of the obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle;
(3) if the current speed is within a set speed threshold range, the distance between the obstacle closest to the vehicle and the vehicle within the predicted track range is smaller than or equal to a set distance threshold, and the current accelerator opening is larger than or equal to a set opening threshold or the current accelerator opening change rate is larger than or equal to a set change rate threshold, judging that the accelerator is mistakenly stepped on;
(4) and when the accelerator is judged to be stepped by mistake, alarming is carried out and vehicle acceleration is restrained.
The method for preventing the accelerator from being stepped on by mistake has the advantages that: when judging whether the accelerator is mistakenly stepped, firstly screening the obstacle in front of the vehicle through the predicted track in the current running direction of the vehicle, and considering that the accelerator is mistakenly stepped only by the obstacle (the nearest obstacle for short) which is positioned in the predicted track range and is closest to the vehicle, and the obstacle outside the predicted track range does not cause the accelerator to be mistakenly stepped, so that the judgment object of whether the accelerator is mistakenly stepped is limited to the closest obstacle in the predicted track range instead of the closest obstacle in front of the vehicle, the actual running intention of the vehicle is considered, and compared with the prior art that the closest obstacle in front of the vehicle is taken as the judgment object, the false triggering of the accelerator false stepping prevention system can be effectively reduced, for example, the situation that the overtaking operation of the vehicle is mistakenly judged as the mistakenly stepped accelerator is avoided; in addition, the method and the device screen the judgment object of whether the accelerator is mistakenly stepped by utilizing the predicted track in the current driving direction of the vehicle, can accurately limit the judgment object of whether the accelerator is mistakenly stepped by the judgment object within the predicted track range even under the condition of a curve, and can effectively avoid the problem of missed triggering caused by judging the front obstacle as a non-driving track under the condition of the curve in the prior art, so that the method and the device are not only suitable for the working condition of straight driving or small steering wheel turning angle, but also suitable for the working condition of the curve.
Further, in the method for preventing an accelerator from being stepped on by mistake, in the step (4), when it is determined that the accelerator is stepped on by mistake, an accelerator stepping on by mistake warning signal is first sent out, the accelerator opening degree is monitored, if the accelerator opening degree is not changed or is continuously increased, acceleration of the vehicle is suppressed, the vehicle is braked, and if the accelerator opening degree is reduced below a set opening degree threshold value, it is determined that the accelerator stepping on by mistake is released, and the sending of the accelerator stepping on by mistake warning signal is stopped.
Further, in the method for preventing the accelerator from being stepped on by mistake, the predicted track is obtained according to the current actual steering wheel angle of the vehicle, the current vehicle speed, the Ackerman steering principle, the vehicle kinematics principle and the vehicle geometric parameters.
The invention also provides an accelerator false stepping prevention system, which comprises two sets of control systems which are redundant with each other, wherein each set of control system comprises a corresponding sensing module and an accelerator false stepping judgment module;
the sensing module is used for acquiring the position information of an obstacle in the current driving direction of the vehicle;
the accelerator mistaken-stepping judgment module is used for judging whether the accelerator is mistakenly stepped or not according to the predicted track in the current running direction of the vehicle, the current position information of the vehicle, the position information of an obstacle in the current running direction of the vehicle, the current vehicle speed and the current accelerator opening or the current accelerator opening change rate, and sending an alarm instruction and an acceleration inhibition instruction to the vehicle after judging that the accelerator is mistakenly stepped;
if the current vehicle speed is within a set vehicle speed threshold range, the distance between an obstacle closest to the vehicle and the vehicle within a predicted track range is smaller than or equal to a set distance threshold, and the current accelerator opening is larger than or equal to a set opening threshold or the current accelerator opening change rate is larger than or equal to a set change rate threshold, judging that the accelerator is mistakenly stepped on;
the distance from the obstacle closest to the vehicle in the predicted track range to the vehicle is obtained through the following steps: and obtaining the position information of the obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle.
The present invention also provides a vehicle comprising:
the system comprises an environmental information perception system, a vehicle information processing system and a vehicle information processing system, wherein the environmental information perception system at least comprises a laser radar sensor, a vision sensor, a millimeter wave sensor and an ultrasonic radar sensor and is used for acquiring the information of obstacles in the current driving direction of the vehicle;
the system comprises a vehicle information acquisition system, a vehicle information acquisition system and a vehicle information acquisition system, wherein the vehicle information acquisition system comprises a positioning device, a vehicle speed sensor and an accelerator opening sensor, the positioning device is used for acquiring the current position information of a vehicle, the vehicle speed sensor is used for acquiring the current vehicle speed of the vehicle, and the accelerator opening sensor is used for acquiring the current accelerator opening or the current accelerator opening change rate;
the system comprises an accelerator mistaken-stepping prevention system, wherein the environment information sensing system and the vehicle information acquisition system are respectively in communication connection with the accelerator mistaken-stepping prevention system, and the accelerator mistaken-stepping prevention system is the accelerator mistaken-stepping prevention system.
The anti-misstep system for the vehicle and the accelerator has the advantages that: (1) when judging whether the accelerator is mistakenly stepped, firstly screening the obstacle in front of the vehicle through the predicted track in the current running direction of the vehicle, and considering that the accelerator is mistakenly stepped only by the obstacle (the nearest obstacle for short) which is positioned in the predicted track range and is closest to the vehicle, and the obstacle outside the predicted track range does not cause the accelerator to be mistakenly stepped, so that the judgment object of whether the accelerator is mistakenly stepped is limited to the closest obstacle in the predicted track range instead of the closest obstacle in front of the vehicle, the actual running intention of the vehicle is considered, and compared with the prior art that the closest obstacle in front of the vehicle is taken as the judgment object, the false triggering of the accelerator false stepping prevention system can be effectively reduced, for example, the situation that the overtaking operation of the vehicle is mistakenly judged as the mistakenly stepped accelerator is avoided; (2) the system has two sets of control systems which are mutually redundant, and has high reliability.
Further, in the vehicle and the accelerator mis-stepping prevention system, the accelerator mis-stepping judgment module is further configured to, after judging that the accelerator is mistakenly stepped, first send an accelerator mis-stepping alarm signal, and monitor the accelerator opening, and if the accelerator opening is unchanged or continuously increased, inhibit the vehicle from accelerating and brake the vehicle, and if the accelerator opening is reduced below a set opening threshold, determine that the accelerator is mistakenly stepped, and stop sending the accelerator mis-stepping alarm signal.
Furthermore, in the vehicle and the accelerator false stepping prevention system, each set of control system of the accelerator false stepping prevention system further comprises a corresponding fault diagnosis module, the fault diagnosis module is used for diagnosing whether the vehicle has a fault affecting the operation of the control system and diagnosing whether the control system has a fault, and if the vehicle has a fault, the corresponding control system is prohibited from being started.
The beneficial effects of doing so are: the false triggering or missed triggering of the corresponding control system can be effectively avoided.
Further, in the vehicle and accelerator anti-misstep system, the accelerator anti-misstep system further comprises a system switch, wherein the system switch is a hardware switch or a liquid crystal instrument soft switch and is used for a driver to selectively turn on or off the accelerator anti-misstep system.
The beneficial effects of doing so are: the driver is provided with a releasing mode of the accelerator mistaken-stepping prevention system, the driver can control the vehicle under the condition that the accelerator mistaken-stepping prevention system is triggered, and the problems that the existing accelerator mistaken-stepping prevention system is lack of the releasing mode and the vehicle cannot be controlled to have risks when the system is triggered are solved.
Further, in the vehicle and the accelerator false stepping prevention system, one control system in the accelerator false stepping prevention system is used as a main control system, the other control system is used as a standby control system, the main control system realizes an accelerator false stepping prevention function based on a Linux system, and the standby control system realizes the accelerator false stepping prevention function based on a single chip microcomputer;
after the vehicle is powered on, the main control system and the standby control system are started simultaneously, and the accelerator anti-misstep function is realized by the standby control system during the starting period of the main control system; after the main control system is started or the set exit time is reached, the main control system is switched to the main control system, and the accelerator anti-misstep function is realized by the main control system.
The beneficial effects of doing so are: can still realize the accelerator and prevent mistake and step on the function through the seamless connection of main, standby control system in the guarantee vehicle power-on period, avoid the vehicle power-on period because of the accelerator mistake step on the collision risk that brings.
Further, in order to improve the reliability of the accelerator anti-misstep system, in the vehicle and the accelerator anti-misstep system, the main control system and the standby control system are communicated in real time in the running process of the vehicle, if the main control system fails, the standby control system is switched to, and the accelerator anti-misstep function is realized by the standby control system; during the function of preventing the accelerator from being stepped on by mistake is realized by the standby control system, if the standby control system fails or the main control system is recovered to be normal, the standby control system is switched to the main control system, and the function of preventing the accelerator from being stepped on by mistake is realized by the main control system.
Drawings
FIG. 1 is a schematic illustration of a vehicle in a vehicle embodiment of the present invention;
FIG. 2 is a flow chart of a method for preventing accelerator from being stepped on by mistake in the embodiment of the vehicle of the invention;
FIG. 3 is a schematic diagram illustrating screening of judgment objects when judging whether the accelerator is mistakenly stepped or not in the embodiment of the vehicle of the invention;
fig. 4 is a switching flowchart of the main control system and the sub-control system in the vehicle embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
The embodiment of the vehicle is as follows:
as shown in fig. 1, the vehicle of the present embodiment includes:
the system comprises an environment information perception system, a vehicle information recognition system and a vehicle information recognition system, wherein the environment information perception system comprises a laser radar sensor (such as an 8-line laser radar), a millimeter wave radar sensor, an ultrasonic radar sensor and a visual sensor (such as a monocular camera or a binocular camera), and is used for acquiring obstacle information in the current driving direction of the vehicle; as other embodiments, the types and the number of the sensors included in the environmental information perception system can also be increased according to actual needs.
The vehicle information acquisition system comprises a positioning device (not shown in the figure), a steering wheel corner sensor, a vehicle speed sensor, a gear sensor and an accelerator opening sensor, wherein the positioning device is used for acquiring current position information of a vehicle, the steering wheel corner sensor is used for acquiring a current actual steering wheel corner of the vehicle, the vehicle speed sensor is used for acquiring a current vehicle speed, the gear sensor is used for acquiring whether the vehicle is in a forward gear or a reverse gear currently, so that the current driving direction of the vehicle is acquired, and the accelerator opening sensor is used for acquiring a current accelerator opening or a current accelerator opening change rate.
The system comprises an accelerator anti-misstep system, a standby control system and a control system, wherein the accelerator anti-misstep system comprises two sets of control systems which are mutually redundant, one control system is used as a main control system, and the other control system is used as a standby control system (namely a secondary control system); the environment information sensing system and the vehicle information acquisition system are in communication connection with two control systems in the accelerator anti-misstep system, for example, in a CAN and AVB Ethernet dual-redundancy communication mode.
The vehicle actuating mechanism comprises a liquid crystal display screen, an oil path control device and a braking system, the liquid crystal display screen is used for carrying out early warning on mistaken stepping of the accelerator and displaying the running state of the system for preventing mistaken stepping of the accelerator, the oil path control device is used for stopping oil transportation to inhibit acceleration of the vehicle, and the braking system is used for braking the vehicle; as other embodiments, a liquid crystal display may be replaced with a liquid crystal meter or alarm.
As can be seen from fig. 1, each set of control system includes a corresponding fault diagnosis module, a sensing module and an accelerator misstep judgment module; the functions of the modules in the main control system are described in detail below by taking the main control system as an example, and the functions of the modules in the sub-control system are similar to those of the modules in the main control system and are not described again.
And the main fault diagnosis module is used for diagnosing whether the vehicle has faults affecting the operation of the main control system and whether the main control system has faults or not, and if the vehicle has the faults, the main control system is prohibited from being started, so that the main control system can be effectively prevented from being triggered by mistake or missed. As another embodiment, the reason why the activation of the main control system is prohibited may be displayed to the driver through a liquid crystal meter or a liquid crystal display.
The main sensing module is used for carrying out fusion processing on the obstacle information in the current driving direction of the vehicle, which is acquired by the environment information sensing system, so as to obtain the position information of the obstacle in the current driving direction of the vehicle, and sending the position information to the accelerator mistaken-stepping judgment module; the visual sensor is utilized to identify the type of the obstacle, so that different control strategies can be adopted according to the type of the obstacle; the millimeter wave radar sensor can be used for detecting the speed information of the obstacle; the method comprises the following steps that the position information of an obstacle can be detected by using an ultrasonic radar sensor and a laser radar sensor, specifically, the position information of a short-distance obstacle is obtained by the ultrasonic radar sensor, and the position information of a long-distance obstacle is accurately obtained by the laser radar sensor; through the fusion processing of the obstacle information, the obstacle type, the direction and the speed information which are more accurate, wider and farther away can be obtained, and the false triggering problem caused by the false scene can be effectively avoided.
The main accelerator mistaken-stepping judgment module is used for judging whether the accelerator is mistakenly stepped or not according to the predicted track in the current running direction of the vehicle, the current position information of the vehicle, the position information of an obstacle in the current running direction of the vehicle, the current speed and the current accelerator opening, and sending an alarm instruction and an acceleration inhibition instruction to the vehicle after judging that the accelerator is mistakenly stepped (after a corresponding execution mechanism on the vehicle receives the instruction, the alarm operation and the vehicle acceleration inhibition operation can be carried out);
wherein, the process of judging whether the accelerator is mistakenly stepped is as follows:
obtaining the position information of an obstacle closest to the vehicle within the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle;
calculating the distance between the obstacle closest to the vehicle and the vehicle in the predicted track range by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle;
and if the current speed is within the set speed threshold range, the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle is less than or equal to the set distance threshold, and the current accelerator opening is greater than or equal to the set opening threshold, judging that the accelerator is mistakenly stepped on.
The setting basis for setting the vehicle speed threshold range is as follows: the speed range of the accelerator pedal mistaken stepping prevention function can be limited to the vehicle starting and low-speed stages by utilizing the set speed threshold range, namely when the current speed is within the set speed threshold range, the vehicle is indicated to be in the starting stage or the vehicle is in the low-speed driving stage; the setting of the set distance threshold and the set opening degree threshold is performed in consideration of the vehicle performance (acceleration, braking), the reaction time of the driver, and the like.
In the embodiment, the predicted track is obtained according to the current actual steering wheel angle of the vehicle, the current vehicle speed, the Ackerman steering principle, the vehicle kinematics principle and the vehicle geometric parameters; the geometric parameters of the vehicle specifically refer to parameters such as vehicle length, vehicle width, wheel base, front suspension/rear suspension length, turning radius, wheel base and the like. As another embodiment, the predicted trajectory may be obtained by other methods.
As another embodiment, the main accelerator false-stepping determining module is further configured to, after determining that the accelerator is mistakenly stepped, first send an accelerator false-stepping warning signal (for example, a warning signal is displayed on a liquid crystal display to remind a driver that the accelerator is mistakenly stepped), monitor the accelerator opening, inhibit vehicle acceleration and perform vehicle braking if the accelerator opening is unchanged or continuously increased, and determine that the accelerator is mistakenly stepped down and stops sending the accelerator false-stepping warning signal if the accelerator opening is reduced below a set opening threshold (at this time, the driver releases the accelerator).
Each control system in the accelerator anti-misstep system can realize the accelerator anti-misstep method shown in fig. 2, and the method comprises the following steps:
(1) acquiring a predicted track in the current running direction of the vehicle; acquiring current position information of a vehicle, position information of an obstacle in the current driving direction of the vehicle, the current speed and the current accelerator opening;
(2) obtaining the position information of an obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle;
(3) if the current speed is within the set speed threshold range, the distance between the obstacle closest to the vehicle within the predicted track range and the vehicle is less than or equal to the set distance threshold, and the current accelerator opening is greater than or equal to the set opening threshold, judging that the accelerator is mistakenly stepped on;
(4) and when the accelerator is judged to be stepped by mistake, alarming is carried out and vehicle acceleration is restrained.
As another embodiment, the "current accelerator opening degree" in this embodiment may be replaced with "current accelerator opening degree change rate", and the "current accelerator opening degree is greater than or equal to the set opening degree threshold" is replaced with "current accelerator opening degree change rate is greater than or equal to the set change rate threshold", where the accelerator speed change rate during normal acceleration may be statistically analyzed by testing the accelerator speed change rate during normal acceleration of different drivers, and a very unreasonable accelerator speed change rate may be given as the set change rate threshold.
It should be noted that: considering that the vehicle has a certain width and a certain length, the predicted trajectory of the present embodiment refers to a driving area of the vehicle in a future period of time in the current driving direction of the vehicle, as shown in fig. 3, an area between two dotted lines in the drawing is a driving area of the vehicle in a future period of time in the current driving direction of the vehicle, that is, the predicted trajectory; in the embodiment, when the accelerator is judged to be mistakenly stepped, the judgment object is the obstacle (namely the vehicle No. 1 in the figure) which is closest to the vehicle in the predicted track range, and the obstacle out of the predicted track range is not considered, for example, the vehicle No. 2 is out of the predicted track range, and the obstacle out of the predicted track range is not considered even if the vehicle No. 2 is closer to the vehicle. That is to say, in the embodiment, when determining whether the accelerator is mistakenly stepped on, the obstacle in front of the vehicle is first screened through the predicted track in the current driving direction of the vehicle, it is considered that only the obstacle closest to the vehicle (the closest obstacle for short) in the predicted track range may possibly cause the accelerator to be mistakenly stepped on, and the obstacle outside the predicted track range does not cause the accelerator to be mistakenly stepped on, so that the determination target of whether the accelerator is mistakenly stepped on is limited to the closest obstacle in the predicted track range rather than the closest obstacle in front of the vehicle, the actual driving intention of the vehicle is considered, and compared with the prior art in which the closest obstacle in front of the vehicle is taken as the determination target, the false triggering of the accelerator stepping prevention system can be effectively reduced, for example, the situation that the vehicle overtaking operation is mistakenly determined as the accelerator being mistakenly stepped on does not occur; in addition, the method screens the judgment object whether the accelerator is mistakenly stepped by using the predicted track in the current driving direction of the vehicle, can accurately limit the judgment object whether the accelerator is mistakenly stepped by the nearest barrier within the predicted track range even under the condition of a curve, and can effectively avoid the problem that the mistaken stepping prevention system of the accelerator is missed to trigger due to the fact that the front barrier is judged to be in a non-driving track under the condition of the curve in the prior art, so that the method is not only suitable for the working condition of straight driving or a working condition with a small steering wheel angle, but also suitable for the working condition of the curve.
The accelerator mistaken-stepping prevention system is only started when the vehicle starts or runs at a low speed, the accelerator mistaken-stepping judgment accuracy can be improved, and the problems of mistaken triggering and missed triggering of the system are effectively reduced.
The system is prevented stepping on by mistake to the throttle of this embodiment still includes the system switch, the system switch can set up to hardware switch or liquid crystal instrument soft switch as required, utilize the system switch to supply the driver to select to open or close the throttle and prevent stepping on by mistake the system, the removal mode that the system was prevented stepping on by mistake to the throttle is provided for the driver, can prevent stepping on by mistake at the throttle and control the vehicle under the condition that the system triggered, overcome current throttle and prevent stepping on by mistake and lack the removal mode of system, there is the problem of risk in unable accuse car when the system triggers.
In the embodiment, the main control system realizes the accelerator anti-misstep function based on the Linux system, and the auxiliary control system realizes the accelerator anti-misstep function based on the single chip microcomputer. As can be seen from fig. 1, each sensor in the environmental information sensing system is in communication connection with the main control system (specifically, in communication connection with the main sensing module), and each sensor except the lidar sensor in the environmental information sensing system is in communication connection with the sub-control system (specifically, in communication connection with the sub-sensing module); each sensor in the vehicle information acquisition system is in communication connection with the accelerator misstep judgment module in the main control system and the auxiliary control system; the main control system and the auxiliary control system can also realize real-time state monitoring through the misstep judgment module of the main accelerator and the auxiliary accelerator.
Because the accelerator anti-misstep system of the embodiment comprises a main control system and an auxiliary control system, the two control systems have corresponding switching processes, as shown in fig. 4:
(1) after the vehicle is powered on, detecting whether an accelerator mistaken stepping prevention system switch is in an open state, if the system switch is closed, enabling the main control system and the auxiliary control system to enter a closed state, and displaying state information of the accelerator mistaken stepping prevention system through a display screen;
(2) if the accelerator mistaken-stepping prevention system switch is in an open state, the main control system and the auxiliary control system are both in an open state, namely the main control system and the auxiliary control system are started simultaneously, and because the starting time of the auxiliary control system is short, after a vehicle is powered on, if the main control system and the auxiliary control system are both started normally, the auxiliary control system can be started and finished firstly, and the accelerator mistaken-stepping prevention function is realized by the auxiliary control system during the starting period of the main control system; whether the main control system is started or not is detected in real time, and after the main control system is started or when set exit time is reached (the exit time is set according to the starting time required by the main control system, the exit time can be made to be larger than or equal to the starting time required by the main control system), the main control system is switched to, and the accelerator mistaken stepping prevention function is realized by the main control system;
when the main control system is started, the main fault diagnosis module carries out fault diagnosis on the vehicle and the main control system, if the vehicle has a fault which affects the operation of the main control system or the main control system has a fault, the main control system is prohibited from being started, fault information is displayed through a display screen to prompt a driver, and after the auxiliary control system is started, the auxiliary control system realizes the function of preventing the accelerator from being stepped on by mistake; otherwise, the main control system is started normally; similarly, in the starting process of the auxiliary control system, the auxiliary fault diagnosis module carries out fault diagnosis on the vehicle and the auxiliary control system, if the vehicle has a fault which influences the operation of the auxiliary control system or the auxiliary control system has a fault, the auxiliary control system is prohibited from being started, fault information is displayed through a display screen to prompt a driver, and after the main control system is started, the main control system realizes the function of preventing the accelerator from being stepped on by mistake; otherwise, the auxiliary control system is started in the whole vehicle.
(3) In the running process of the vehicle, the main control system and the auxiliary control system are communicated in real time, if the main control system fails, the main control system is switched to the auxiliary control system, and the auxiliary control system realizes the function of preventing the accelerator from being stepped on by mistake; during the period that the auxiliary control system realizes the function of preventing the accelerator from being stepped on by mistake, if the auxiliary control system breaks down, the auxiliary control system is switched to the main control system (or the main control system is switched to the main control system after the auxiliary control system executes the task of preventing the accelerator from being stepped on by mistake after being recovered to be normal), and the main control system realizes the function of preventing the accelerator from being stepped on by mistake.
The specific process of the main control system for realizing the accelerator anti-misstep function after the start is completed is described in detail below, and the specific process of the auxiliary control system for realizing the accelerator anti-misstep function is similar to that of the main control system, and is not repeated.
The main sensing module performs fusion processing on the obstacle information in the current driving direction of the vehicle acquired by the environment information sensing system to obtain the obstacle position information in the current driving direction of the vehicle;
the main accelerator mistaken-stepping judgment module judges whether the accelerator is mistakenly stepped or not, and sends an alarm instruction and an acceleration suppression instruction to the vehicle after judging that the accelerator is mistakenly stepped; if the current vehicle speed is within the set vehicle speed threshold range, the distance between the obstacle closest to the vehicle and the vehicle within the predicted track range is smaller than or equal to the set distance threshold, and the current accelerator opening is larger than or equal to the set opening threshold, the accelerator is judged to be stepped on by mistake.
In the embodiment, the main sensing module can receive and process the laser radar data compared with the auxiliary sensing module, so that the main control system can obtain the obstacle information in a farther range, the accuracy of the obstacle information can be improved, and false scenes can be reduced, so that the performance of the accelerator false stepping prevention system can be improved by utilizing the main control system to realize the accelerator false stepping prevention function; the main control system is realized based on a Linux operating system, the starting time is long, the auxiliary control system is realized based on a single chip microcomputer, although the data processing capacity of the auxiliary control system is limited, the auxiliary control system is started quickly, and the collision risk caused by mistaken stepping of the accelerator during the period that the main control system is not started when the vehicle is started can be avoided; after the main control system is started or the set exit time is reached, the main control system is switched to the main control system, the accelerator anti-misstep function is realized by the main control system, the seamless connection of the main control system and the auxiliary control system can ensure that the accelerator anti-misstep function can be still realized in the vehicle power-on period, and the collision risk caused by the accelerator misstep in the vehicle power-on period is avoided; meanwhile, in the running process of the vehicle, the main control system and the auxiliary control system are in real-time communication, when one fault occurs, the accelerator mistaken-stepping prevention function is realized by the other fault, the redundancy mechanism can improve the reliability of the accelerator mistaken-stepping prevention system, and the main control system is used as the main control system to realize the accelerator mistaken-stepping prevention function and improve the performance of the accelerator mistaken-stepping prevention system.
The method comprises the following steps:
the accelerator step-on prevention method in this embodiment is the same as the accelerator step-on prevention method in the vehicle embodiment, and the accelerator step-on prevention method is briefly described below, as shown in fig. 2, the method includes the following steps:
(1) acquiring a predicted track in the current running direction of the vehicle, and acquiring current position information of the vehicle, position information of an obstacle in the current running direction of the vehicle, the current speed and the current accelerator opening;
(2) obtaining the position information of an obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle;
(3) if the current vehicle speed is within the set vehicle speed threshold range, the distance between the obstacle closest to the vehicle and the vehicle within the predicted track range is less than or equal to the set distance threshold, and the current accelerator opening is greater than or equal to the set opening threshold, judging that the accelerator is mistakenly stepped on;
(4) and when the accelerator is judged to be stepped by mistake, alarming is carried out and vehicle acceleration is restrained.
The predicted track is obtained according to the current actual steering wheel angle of the vehicle, the current vehicle speed, the Ackerman steering principle, the vehicle kinematics principle and the vehicle geometric parameters; as another embodiment, the predicted trajectory may be obtained by other methods.
In another embodiment, in the step (4), when it is determined that the accelerator is erroneously pressed, an accelerator erroneous pressing alarm signal is first issued, the accelerator opening is monitored, if the accelerator opening is not changed or is continuously increased, acceleration of the vehicle is suppressed and the vehicle is braked, and if the accelerator opening is decreased to a set opening threshold value or less, it is determined that the accelerator erroneous pressing is released, and the issuance of the accelerator erroneous pressing alarm signal is stopped.
As another embodiment, the "current accelerator opening degree" in the present embodiment may be replaced with "the current accelerator opening degree change rate", and the determination condition "the current accelerator opening degree is equal to or greater than the set opening degree threshold" may be replaced with "the current accelerator opening degree is equal to or greater than the set change rate threshold".
It should be noted that: considering that the vehicle has a certain width and a certain length, the predicted trajectory of the present embodiment refers to a driving area of the vehicle in a future period of time in the current driving direction of the vehicle, as shown in fig. 3, an area between two dotted lines in the drawing is a driving area of the vehicle in a future period of time in the current driving direction of the vehicle, that is, the predicted trajectory; in the embodiment, when the accelerator is judged to be mistakenly stepped, the judgment object is the obstacle (namely the vehicle No. 1 in the figure) which is closest to the vehicle in the predicted track range, and the obstacle out of the predicted track range is not considered, for example, the vehicle No. 2 is out of the predicted track range, and the obstacle out of the predicted track range is not considered even if the vehicle No. 2 is closer to the vehicle. That is to say, in the embodiment, when determining whether the accelerator is mistakenly stepped on, the obstacle in front of the vehicle is first screened through the predicted track in the current driving direction of the vehicle, it is considered that only the obstacle closest to the vehicle (the closest obstacle for short) in the predicted track range may possibly cause the accelerator to be mistakenly stepped on, and the obstacle outside the predicted track range does not cause the accelerator to be mistakenly stepped on, so that the determination target of whether the accelerator is mistakenly stepped on is limited to the closest obstacle in the predicted track range rather than the closest obstacle in front of the vehicle, the actual driving intention of the vehicle is considered, and compared with the prior art in which the closest obstacle in front of the vehicle is taken as the determination target, the false triggering of the accelerator stepping prevention system can be effectively reduced, for example, the situation that the vehicle overtaking operation is mistakenly determined as the accelerator being mistakenly stepped on does not occur; in addition, the method screens the judgment object whether the accelerator is mistakenly stepped by using the predicted track in the current driving direction of the vehicle, can accurately limit the judgment object whether the accelerator is mistakenly stepped by the nearest barrier in the predicted track range even under the condition of a curve, and can effectively avoid the problem that the missed triggering of an accelerator mistaken-stepping prevention system is caused by judging a front barrier as a non-driving track easily under the condition of the curve in the prior art, so that the method is not only suitable for the working condition of straight driving or a small steering wheel angle, but also suitable for the working condition of the curve.
The embodiment of the system is as follows:
the accelerator step-on prevention system in the embodiment is the same as the accelerator step-on prevention system in the vehicle embodiment, and the accelerator step-on prevention system has been described in detail in the vehicle embodiment, and is not described herein again.
Claims (10)
1. An accelerator step-on preventing method is characterized by comprising the following steps:
(1) acquiring a predicted track in the current running direction of the vehicle, and acquiring current position information of the vehicle, obstacle position information and current speed in the current running direction of the vehicle, and current accelerator opening or current accelerator opening change rate;
(2) obtaining the position information of the obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle;
(3) if the current speed is within a set speed threshold range, the distance between the obstacle closest to the vehicle and the vehicle within the predicted track range is smaller than or equal to a set distance threshold, and the current accelerator opening is larger than or equal to a set opening threshold or the current accelerator opening change rate is larger than or equal to a set change rate threshold, judging that the accelerator is mistakenly stepped on;
(4) and when the accelerator is judged to be stepped by mistake, alarming is carried out and vehicle acceleration is restrained.
2. The method for preventing accelerator from being stepped on by mistake as claimed in claim 1, wherein in the step (4), when it is determined that the accelerator is stepped on by mistake, an accelerator stepping-on mistake alarm signal is first sent out, the accelerator opening is monitored, if the accelerator opening is not changed or continuously increased, vehicle acceleration is suppressed and vehicle braking is carried out, if the accelerator opening is reduced below a set opening threshold, it is determined that the accelerator stepping-on mistake is released, and the sending of the accelerator stepping-on mistake alarm signal is stopped.
3. The method for preventing stepping on the accelerator pedal by mistake as claimed in claim 1 or 2, wherein the predicted track is obtained according to the current actual steering wheel angle of the vehicle, the current vehicle speed, the Ackerman steering principle, the vehicle kinematics principle and the vehicle geometric parameters.
4. An accelerator mistaken stepping prevention system is characterized by comprising two sets of control systems which are redundant with each other, wherein each set of control system comprises a corresponding sensing module and an accelerator mistaken stepping judgment module;
the sensing module is used for acquiring the position information of an obstacle in the current driving direction of the vehicle;
the accelerator mistaken-stepping judgment module is used for judging whether the accelerator is mistakenly stepped or not according to the predicted track in the current running direction of the vehicle, the current position information of the vehicle, the position information of an obstacle in the current running direction of the vehicle, the current vehicle speed and the current accelerator opening or the current accelerator opening change rate, and sending an alarm instruction and an acceleration inhibition instruction to the vehicle after judging that the accelerator is mistakenly stepped;
if the current speed is within the set speed threshold range, the distance between an obstacle closest to the vehicle and the vehicle within the predicted track range is smaller than or equal to a set distance threshold, and the current accelerator opening is larger than or equal to a set opening threshold or the current accelerator opening change rate is larger than or equal to a set change rate threshold, judging that the accelerator is mistakenly stepped on;
the distance from the obstacle closest to the vehicle in the predicted track range to the vehicle is obtained through the following steps: and obtaining the position information of the obstacle closest to the vehicle in the predicted track range according to the predicted track and the position information of the obstacle in the current driving direction of the vehicle, and calculating the distance between the obstacle closest to the vehicle in the predicted track range and the vehicle by using the position information of the obstacle closest to the vehicle in the predicted track range and the current position information of the vehicle.
5. The system according to claim 4, wherein the accelerator mis-stepping prevention module is further configured to, after determining that the accelerator is mis-stepped, first send an accelerator mis-stepping alarm signal, and monitor the accelerator opening, and if the accelerator opening is unchanged or continuously increased, inhibit the vehicle from accelerating and brake the vehicle, and if the accelerator opening is reduced below a set opening threshold, determine that the accelerator is mistakenly stepped on and stop sending the accelerator mis-stepping alarm signal.
6. The system of claim 5, wherein each set of control system further comprises a corresponding fault diagnosis module, the fault diagnosis module is used for diagnosing whether a fault affecting the operation of the control system occurs in the vehicle and whether the control system itself fails, and if so, the corresponding control system is prohibited from being started.
7. The system of claim 6, further comprising a system switch, wherein the system switch is a hardware switch or a soft switch of a liquid crystal instrument, and is used for the driver to selectively turn on or off the system.
8. The accelerator anti-misstep system according to claim 7, wherein one control system of the accelerator anti-misstep system is used as a main control system, the other control system is used as a standby control system, the main control system realizes the accelerator anti-misstep function based on a Linux system, and the standby control system realizes the accelerator anti-misstep function based on a single chip microcomputer;
after the vehicle is powered on, the main control system and the standby control system are started simultaneously, and the accelerator anti-misstep function is realized by the standby control system during the starting period of the main control system; after the main control system is started or the set exit time is reached, the main control system is switched to the main control system, and the accelerator anti-misstep function is realized by the main control system.
9. The system of claim 8, wherein the main control system and the backup control system communicate with each other in real time during the driving of the vehicle, and if the main control system fails, the main control system is switched to the backup control system, and the backup control system realizes the function of preventing the accelerator from being stepped on by mistake; during the function of preventing the accelerator from being stepped on by mistake is realized by the standby control system, if the standby control system fails or the main control system is recovered to be normal, the standby control system is switched to the main control system, and the function of preventing the accelerator from being stepped on by mistake is realized by the main control system.
10. A vehicle, characterized in that the vehicle comprises:
the system comprises an environmental information perception system, a vehicle information processing system and a vehicle information processing system, wherein the environmental information perception system at least comprises a laser radar sensor, a vision sensor, a millimeter wave sensor and an ultrasonic radar sensor and is used for acquiring the information of obstacles in the current driving direction of the vehicle;
the system comprises a vehicle information acquisition system, a vehicle information acquisition system and a vehicle information acquisition system, wherein the vehicle information acquisition system comprises a positioning device, a vehicle speed sensor and an accelerator opening sensor, the positioning device is used for acquiring the current position information of a vehicle, the vehicle speed sensor is used for acquiring the current vehicle speed of the vehicle, and the accelerator opening sensor is used for acquiring the current accelerator opening or the current accelerator opening change rate;
the system is characterized by comprising an accelerator anti-misstep system, wherein the environment information sensing system and the vehicle information acquisition system are respectively in communication connection with the accelerator anti-misstep system, and the accelerator anti-misstep system is as claimed in any one of claims 4 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298343.2A CN114537136A (en) | 2020-11-18 | 2020-11-18 | Vehicle and accelerator mistaken stepping prevention method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298343.2A CN114537136A (en) | 2020-11-18 | 2020-11-18 | Vehicle and accelerator mistaken stepping prevention method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114537136A true CN114537136A (en) | 2022-05-27 |
Family
ID=81659892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011298343.2A Pending CN114537136A (en) | 2020-11-18 | 2020-11-18 | Vehicle and accelerator mistaken stepping prevention method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114537136A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115775471A (en) * | 2022-12-05 | 2023-03-10 | 中国重汽集团济南动力有限公司 | Vehicle accelerator mistaken-stepping early warning method, device, equipment and system |
| WO2024109019A1 (en) * | 2022-11-23 | 2024-05-30 | 浙大城市学院 | Visual identification-based driving assistance system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012121534A (en) * | 2010-12-10 | 2012-06-28 | Daimler Ag | Automatic braking device of vehicle |
| US20150353132A1 (en) * | 2013-01-28 | 2015-12-10 | Jaguar Land Rover Limited | Motor vehicle system and method |
| CN107539261A (en) * | 2016-06-28 | 2018-01-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN108116405A (en) * | 2016-11-30 | 2018-06-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN109305166A (en) * | 2017-07-26 | 2019-02-05 | 上海汽车集团股份有限公司 | A kind of mistake proofing is stepped on the gas braking method and device |
| CN109664760A (en) * | 2018-12-21 | 2019-04-23 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of accelerator stepping misoperation preventing processing method, apparatus and system |
| CN110228454A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automotive throttle prevents from accidentally stepping on method, electronic equipment and automobile |
| US20200079378A1 (en) * | 2018-09-11 | 2020-03-12 | Honda Motor Co., Ltd. | Vehicle control system and control method of vehicle |
-
2020
- 2020-11-18 CN CN202011298343.2A patent/CN114537136A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012121534A (en) * | 2010-12-10 | 2012-06-28 | Daimler Ag | Automatic braking device of vehicle |
| US20150353132A1 (en) * | 2013-01-28 | 2015-12-10 | Jaguar Land Rover Limited | Motor vehicle system and method |
| CN107539261A (en) * | 2016-06-28 | 2018-01-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN108116405A (en) * | 2016-11-30 | 2018-06-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN109305166A (en) * | 2017-07-26 | 2019-02-05 | 上海汽车集团股份有限公司 | A kind of mistake proofing is stepped on the gas braking method and device |
| US20200079378A1 (en) * | 2018-09-11 | 2020-03-12 | Honda Motor Co., Ltd. | Vehicle control system and control method of vehicle |
| CN109664760A (en) * | 2018-12-21 | 2019-04-23 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of accelerator stepping misoperation preventing processing method, apparatus and system |
| CN110228454A (en) * | 2019-06-18 | 2019-09-13 | 威马智慧出行科技（上海）有限公司 | Automotive throttle prevents from accidentally stepping on method, electronic equipment and automobile |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109019A1 (en) * | 2022-11-23 | 2024-05-30 | 浙大城市学院 | Visual identification-based driving assistance system and method |
| CN115775471A (en) * | 2022-12-05 | 2023-03-10 | 中国重汽集团济南动力有限公司 | Vehicle accelerator mistaken-stepping early warning method, device, equipment and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11396296B2 (en) | Control system of vehicle, control method of the same, and non-transitory computer-readable storage medium | |
| US9079571B2 (en) | Method for operating a brake assist device and brake assist device for a vehicle | |
| CN111204333B (en) | Vehicle front blind spot detection and warning system | |
| EP2802496B1 (en) | Method and control unit for monitoring traffic | |
| US11458861B2 (en) | Vehicle control device | |
| JP7018330B2 (en) | Vehicle control device | |
| CN112572465A (en) | Fault processing method for intelligent driving automobile sensing system | |
| US20200262422A1 (en) | Vehicle braking support device and braking support control method | |
| CN111731279B (en) | Method for realizing vehicle side protection by fusing side-view camera, vehicle-mounted equipment and vehicle | |
| CN113895450A (en) | Safety redundancy system and control method for unmanned vehicle sensing system | |
| CN112703134B (en) | Method for emergency braking a vehicle and emergency braking system | |
| CN114489004B (en) | Unmanned test method and system thereof | |
| CN115158304B (en) | Automatic emergency braking control system and method | |
| KR20220063855A (en) | Method and apparatus for controlling autonomous driving | |
| JP2020032963A (en) | Vehicle control device | |
| CN114620075A (en) | Vehicle take-over control method and system for automatic driving vehicle and automatic driving vehicle | |
| CN110696612A (en) | Control method and system for avoiding mistaken stepping on automobile accelerator | |
| CN113748060A (en) | Method for determining a safety level of a due function of a vehicle, safety system and vehicle | |
| CN114537136A (en) | Vehicle and accelerator mistaken stepping prevention method and system | |
| CN114919574B (en) | Automatic emergency avoidance system based on front vehicle running state and control method | |
| CN113753067B (en) | Lane departure intervention control method and device | |
| CN116691660A (en) | A vehicle and its curve braking control method and system | |
| CN114148336A (en) | Vehicle control method and device | |
| JP2009093561A (en) | Driving assistance device | |
| US12128886B2 (en) | Obstacle detection system and method for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: No. 6 Yutong Road, Guancheng Hui District, Zhengzhou City, Henan Province Applicant after: Yutong Bus Co.,Ltd. Address before: No.1 Yutong Road, Shibali River, Guancheng Hui District, Zhengzhou City, Henan Province Applicant before: ZHENGZHOU YUTONG BUS Co.,Ltd. Country or region before: China |