CN118494424A - Automobile electric pedal control system - Google Patents

Abstract

The invention relates to the field of automobile control, and discloses an automobile electric pedal control system, which aims to limit the power output of an automobile electric pedal control automobile in the running process of the automobile, and judges the possible interference relation between the automobile and the movement of an object by monitoring the running scene of the automobile and identifying the object in the scene, so that when the object which is possibly crossed and interfered exists in the prediction, the limiting signal for the pedal is generated in advance, so that when a driver judges that the pedal is mistakenly stepped on by mistake, the limiting control can be carried out on the control signal at the first time, and compared with the mode of taking safety braking measures when encountering risks in the prior art, the safety limiting device can be used for limiting the motion state of the vehicle at an earlier time, and the situation that the accident occurrence cannot be avoided due to the fact that the speed of the vehicle is too high caused by the mistaken operation of the driver is avoided.

Description

A control system for electric pedal of automobile

Technical Field

The invention relates to the field of automobile control, in particular to an automobile electric pedal control system.

Background Art

When driving a car, the driver has the highest control authority, that is, the accelerator or brake stepped by the driver will be responded to first. Even if the vehicle encounters an obstacle and the safety brake function intervenes, if the driver steps on the accelerator deeply, the vehicle will still respond to the driver's acceleration behavior.

However, this implementation method has led to frequent serious accidents in reality. For example, when encountering sudden risks, the driver incorrectly operates the vehicle, resulting in the vehicle failing to stop and instead accelerating, eventually causing collisions with the surrounding area, causing serious property damage and even casualties. The popularization of the kinetic energy recovery function brought by new energy vehicles has further led to a significant reduction in the number of times the vehicle's brakes are used in daily driving. This may cause the driver to develop bad driving habits over a long period of time. In the event of an emergency, they may not be able to find the brakes or completely forget to brake, eventually falling into chaos and causing serious safety accidents.

Summary of the invention

The object of the present invention is to provide an automobile electric pedal control system to solve the problems raised in the above background technology.

To achieve the above object, the present invention provides the following technical solutions:

An automobile electric pedal control system, comprising:

The data acquisition synchronization module is used for the acquisition of sensor data and the synchronous mapping of environmental objects. The sensor data of the vehicle's surrounding environment is collected in real time through sensor equipment, and the sensor data of multiple sensors are aligned and fused to establish a twin monitoring space based on the vehicle origin.

The object recognition and tracking module is used for the recognition and motion feature determination of spatial objects; it recognizes objects in the twin monitoring space that is updated in real time and establishes the motion features of the objects, which include static objects and moving objects;

The motion interference determination module is used for motion interference determination and control restriction establishment between the vehicle and the object. The interference determination is performed based on the current motion state of the vehicle and the relative spatial relationship between the vehicle and the object. If there is a risk of motion interference between the vehicle and the object, a pedal output restriction signal is generated.

A pedal control limiting module is used for real-time control limiting of an electric pedal; based on the pedal output limiting signal, the vehicle power control output signal of the electric pedal is limited and controlled. When the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalidated, and the incremental signal is used to represent the power output incremental signal based on the current vehicle power output signal strength;

The risk limit feedback module is used for feedback of pedal output limit information; when the incremental signal is invalidated, a feedback notification signal is generated and output through the vehicle interaction system, and the feedback notification signal includes a limit notification and a risk notification.

As a further solution of the present invention: it also includes a risk level delineation module, specifically including:

An object distinguishing unit, used to acquire features of an object and determine the category of the object based on the features, and trigger a risk level determination process when the object is a pedestrian object or a non-motorized object;

A motion prediction unit, used to obtain the position and motion state information of pedestrian objects or non-motorized objects, and based on this, predict their motion coverage area in the future;

A basic restriction unit, for generating a pedal output restriction signal with a basic risk level if the motion coverage area does not intersect with the vehicle's driving coverage area in the future, wherein the basic risk level is used to indicate that when the pedal output restriction signal exists, the incremental signal of the vehicle power output signal is invalidated;

The active limiting unit is used to obtain the buffer distance of the current distance of the vehicle from the intersection area if there is an intersection between the motion coverage area and the driving coverage area of the vehicle in a period of time in the future, calculate the output attenuation requirement for the vehicle to reach a safe pedestrian safety speed at the buffer distance without active braking, and generate an active level pedal output limiting signal based on the output attenuation requirement. The active level is used to indicate that when the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalid, and the initial output signal except the incremental signal is partially invalidated based on a percentage.

As a further solution of the present invention: the risk level delineation module further includes:

The static limitation unit is used for calculating the output attenuation requirement of the vehicle to reach a safe collision speed at the current distance from the static object without active braking when the object is a static object and the driving coverage area of the current vehicle overlaps with the static object and there is no vehicle active braking signal input, and correspondingly generates an active-level pedal output limitation signal.

As a further solution of the present invention: a special restriction module is also included, specifically including:

A pedal monitoring unit, used to monitor the vehicle power output signal generated by the pedal, obtain a unit time increment of the vehicle power output signal, and trigger a regret protection mechanism if the unit time increment exceeds a preset safety threshold;

The restriction execution unit is used to execute the regret protection mechanism. When the unit time increment exceeds the safety threshold, if there is a pedal output restriction signal, the vehicle power output signal is invalidated. If there is no pedal output restriction signal, the vehicle power output signal is continuously monitored. If it is continuously triggered and exceeds the safety threshold, the vehicle power output signal is responded to.

As a further solution of the present invention: it also includes an indirect limitation module, specifically including:

The associated vehicle monitoring unit is used to record the motion status of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle is driving normally, and obtain the real-time acceleration status of the corresponding vehicle during driving;

The indirect limitation judgment unit is used to judge the real-time acceleration state of the vehicle ahead in the adjacent lane. If the real-time acceleration state is characterized by vehicle deceleration, the deceleration rate of the other party and the vehicle distance to the other party are obtained, the average deceleration value of the deceleration rate within the vehicle distance is calculated, and an active level pedal output limitation signal is generated based on the average deceleration value.

As a further solution of the present invention: it also includes a collision limitation management module, specifically including:

A collision information synchronization unit, for generating and outputting a high-risk collision warning via a wireless network to synchronize with adjacent vehicles when a large vehicle exceeding a preset safety speed range is detected within a rear safety distance or when the vehicle is collided with a large vehicle exceeding a preset safety speed range from behind;

The collision limitation management unit is used to eliminate the pedal output limitation signal of the current vehicle after obtaining the high-risk collision warning, and output the high-risk collision warning through the vehicle interaction system.

As a further solution of the present invention: it also includes a control coordination module;

The control coordination module is used to invalidate the vehicle control output signal and give priority to executing the active braking signal when the vehicle simultaneously obtains the vehicle control output signal and the active braking signal.

Compared with the prior art, the beneficial effects of the present invention are: it aims to achieve the limitation of the power output of the vehicle controlled by the electric pedal of the vehicle during the driving of the vehicle, by monitoring the scene of the vehicle driving and identifying the objects in the scene, to judge the possible interference relationship between the movement of the vehicle and the object, and then generate a restriction signal for the pedal in advance when there are objects that may cross-interference in the prediction. Therefore, when the driver makes an incorrect judgment and accidentally steps on the pedal, the control signal can be restricted and controlled in the first time. Compared with the method of taking safety braking measures when encountering risks in the prior art, the vehicle's movement state can be safely restricted earlier, avoiding the situation where the vehicle speed is too fast and the accident cannot be avoided due to the driver's wrong operation.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a vehicle electric pedal control system.

FIG. 2 is a block diagram showing the composition of a risk level delineation module in an automobile electric pedal control system.

FIG. 3 is a block diagram showing a composition of a special restriction module in an automobile electric pedal control system.

FIG. 4 is a flow chart of a method for controlling an automobile electric pedal.

DETAILED DESCRIPTION

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

As shown in FIG. 1 , an automobile electric pedal control system provided by an embodiment of the present invention includes:

The data acquisition and synchronization module 100 is used for the acquisition of sensor data and the synchronous mapping of environmental objects; the sensor data of the vehicle's surrounding environment is collected in real time through the sensor equipment, and the sensor data of multiple sensors are aligned and fused to establish a twin monitoring space based on the vehicle origin;

The object recognition and tracking module 200 is used for the recognition and motion feature determination of spatial objects; the object recognition is performed on the twin monitoring space updated in real time, and the motion features of the object are established, and the object includes a static object and a moving object;

The motion interference determination module 300 is used for motion interference determination between the vehicle and the object and establishment of control limits; interference determination is performed based on the current motion state of the vehicle and the relative spatial relationship between the vehicle and the object, and if there is a risk of motion interference between the vehicle and the object, a pedal output limit signal is generated;

The pedal control limiting module 400 is used for real-time control limiting of the electric pedal; based on the pedal output limiting signal, the vehicle power control output signal of the electric pedal is limited and controlled. When the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalidated, and the incremental signal is used to represent the power output incremental signal based on the current vehicle power output signal strength;

The risk limit feedback module 500 is used for feedback of pedal output limit information; when the incremental signal is invalidated, a feedback notification signal is generated and output through the vehicle interaction system, and the feedback notification signal includes a limit notification and a risk notification.

In this embodiment, an automobile electric pedal control system is introduced, which aims to limit the power output of the automobile controlled by the automobile electric pedal during the driving of the automobile. By monitoring the scene during the driving of the vehicle and identifying the objects in the scene, the possible interference relationship between the movement of the vehicle and the object is judged, and then when there are objects that may cross-interfere in the prediction, a restriction signal for the pedal is generated in advance. Therefore, when the driver makes an error in judgment and accidentally steps on the pedal, the control signal can be restricted and controlled in the first place. Compared with the method of taking safety braking measures when encountering risks in the prior art, the vehicle movement state can be safely restricted earlier, avoiding the situation where the vehicle speed is too fast and the accident cannot be avoided due to the driver's wrong operation. In the prior art, when driving a car, the driver has the highest control authority, that is, the accelerator (corresponding to the car power output signal in the embodiment) or the brake stepped by the driver will be responded to first. Even when the vehicle encounters an obstacle and the safety brake function intervenes, when the intervention is completed, if the driver steps on the accelerator deeply, the vehicle will still respond to the driver's acceleration behavior. This leads to frequent serious accidents in reality. For example, when encountering sudden risks, the driver operates the vehicle incorrectly, resulting in the vehicle failing to stop but accelerating instead, eventually causing collisions with the surroundings, causing serious property losses, and even casualties. In the prior art, new energy electric vehicles are widely popularized. In order to optimize the vehicle range, electric vehicles are usually equipped with dynamic The energy recovery function results in a significant reduction in the number of times the vehicle's brakes are used in daily driving. This may cause the driver to develop bad driving habits over a long period of time. In the event of an emergency, the driver may not be able to find the brakes or completely forget to brake, eventually falling into confusion and causing serious safety accidents. This embodiment solves this problem by pre-setting a pedal output limit signal. The specific implementation method is: the surrounding environment and moving objects are perceived by a sensor group (including image sensors and radar sensors, etc.) set by the vehicle, and a judgment is made based on the current movement state of the vehicle. If the vehicle and a detected object may have an overlap in movement space somewhere in the future, it means that there is a certain safety risk. At this time, in the prior art If the object's motion state suddenly changes, the driver may not respond effectively in the first time and may mistakenly accelerate, which ultimately increases the possibility of an accident. Therefore, when the possibility of overlap is detected, a pedal output limit signal is generated to limit the driver's power output through the car pedal. Even if the driver mistakenly steps on the accelerator deeply, it will not take effect due to the existence of the pedal output limit signal. In this case, even if the driver fails to brake, the vehicle's active safety brake function can effectively intervene and handle it due to the limitation of the throttle; at the same time, when the pedal output limit signal is effectively triggered, it is also necessary to output and inform the driver through the interactive system such as the car's central control to remind the driver to make timely corrections to make safety judgments.

As shown in FIG. 2 , as another preferred embodiment of the present invention, a risk level delineation module is further included, specifically including:

The object distinguishing unit 610 is used to obtain features of the object and determine the category of the object based on the features. When the object is a pedestrian object or a non-motorized object, a risk level determination process is triggered;

The motion prediction unit 620 is used to obtain the position and motion state information of the pedestrian object or the non-motorized object, and based on this, predict its motion coverage area in the future period of time;

A basic restriction unit 630 is used to generate a pedal output restriction signal with a risk level of a basic level if the motion coverage area does not intersect with the vehicle's driving coverage area in the future, wherein the basic level is used to indicate that when the pedal output restriction signal exists, the incremental signal of the vehicle power output signal is invalidated;

The active limiting unit 640 is used to obtain the buffer distance of the current distance of the vehicle from the intersection area if there is an intersection between the motion coverage area and the driving coverage area of the vehicle in a period of time in the future, calculate the output attenuation requirement for the vehicle to reach a safe pedestrian safety speed at the buffer distance without active braking, and generate an active level pedal output limiting signal based on the output attenuation requirement. The active level is used to indicate that when the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalid, and the initial output signal other than the incremental signal is partially invalidated based on a percentage.

In this embodiment, a risk level delineation module is added, which is mainly used in scenarios where the objects are pedestrians, non-motor vehicles, etc., because when the objects are such, if a collision occurs with them, the damage to the relevant personnel is relatively large, and pedestrians are often relatively concentrated, and a collision may involve multiple people, so special higher-level restrictions are required; when it is predicted that there are pedestrians in a relatively close range, but the vehicle and pedestrians will not interfere with each other, in order to take into account the unpredictability of the movement of some pedestrians, the vehicle needs to maintain a stable speed and cannot accelerate near pedestrians to avoid the possibility of being unable to react to sudden changes in pedestrians' actions after the speed is increased; when it is predicted that there may be interference with pedestrians, it is necessary to control the vehicle speed in advance so that when the vehicle reaches the predicted negotiation area, the vehicle can be at a fully controllable vehicle speed, so when the pedestrian does appear in the predicted negotiation area, the vehicle can be braked and wait in the first time, so the pedal output limit signal in this case is not only used to invalidate the incremental signal, but also should have the effect of reducing the vehicle speed within a certain distance, that is, the current throttle output intensity is invalidated by a certain percentage to achieve the purpose of reducing the vehicle speed.

As another preferred embodiment of the present invention, the risk level delineation module further includes:

The static limitation unit is used for calculating the output attenuation requirement of the vehicle to reach a safe collision speed at the current distance from the static object without active braking when the object is a static object and the driving coverage area of the current vehicle overlaps with the static object and there is no vehicle active braking signal input, and correspondingly generates an active-level pedal output limitation signal.

In this embodiment, a static restriction unit is added to the risk level delineation module. When the object of the predicted negotiation is a static object, such as a street lamp, a wall, and a bus stop sign, these static objects actually exist. Therefore, if the current motion state of the vehicle does not change, then the predicted negotiation overlap is bound to occur, that is, the vehicle collides with the static object. Therefore, in this case, an active level pedal output limit signal is required to control the vehicle speed to avoid a collision when the vehicle speed is too fast and effective braking cannot be performed or when the driver does not perform braking at all.

As shown in FIG3 , as another preferred embodiment of the present invention, a special restriction module is also included, specifically including:

The pedal monitoring unit 710 is used to monitor the vehicle power output signal generated by the pedal, obtain the unit time increment of the vehicle power output signal, and trigger the regret protection mechanism if the unit time increment exceeds a preset safety threshold;

The restriction execution unit 720 is used to execute the regret protection mechanism. When the unit time increment exceeds the safety threshold, if there is a pedal output restriction signal, the vehicle power output signal is invalidated. If there is no pedal output restriction signal, the vehicle power output signal is continuously monitored. If it is continuously triggered and exceeds the safety threshold, the vehicle power output signal is responded to.

In this embodiment, a special restriction module is added, and its usage scenario is a further extension of the previous pedal output restriction signal. In the aforementioned embodiment, the pedal output control signal is to restrict the vehicle speed control when a possible risk is predicted. In this case, the driver may have realized the existence of the risk and is ready to react, but the driver may mistakenly step on the acceleration when taking slow pre-deceleration, or the driver may misjudge the distance and think that he can still accelerate for a distance, so control and restriction are needed; and there is also an extreme case, that is, the driver is completely in a panic state and directly uses the accelerator as the brake. In this case, the driver's reason is not clear enough, and the speed limit may not help the driver to react. Therefore, when a rapid acceleration signal in a short period of time is detected, when there is a pedal output restriction signal, the throttle output signal is directly invalidated, so that the car quickly enters the deceleration braking state, helping the driver to calm down quickly; if there is no pedal output restriction signal, it may be a general intense driving behavior of the driver, but at the same time, considering the possibility of misoperation, the driver needs to continuously control the input to confirm, and then achieve vehicle acceleration control.

As another preferred embodiment of the present invention, it also includes an indirect limitation module, specifically including:

The associated vehicle monitoring unit is used to record the motion status of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle is driving normally, and obtain the real-time acceleration status of the corresponding vehicle during driving;

The indirect limitation judgment unit is used to judge the real-time acceleration state of the vehicle ahead in the adjacent lane. If the real-time acceleration state is characterized by vehicle deceleration, the deceleration rate of the other party and the vehicle distance to the other party are obtained, the average deceleration value of the deceleration rate within the vehicle distance is calculated, and an active level pedal output limitation signal is generated based on the average deceleration value.

In this embodiment, in daily vehicle driving, there may be vehicles in front of both lanes, resulting in a large blind spot. At this time, pedestrians may pass in front of the vehicles on both sides, and the current vehicle may not be able to effectively make braking feedback because the reaction time is too short, resulting in an accident. Therefore, risk assessment can be performed by tracking and judging the motion status of the left and right front vehicles. When it is detected that the left and right front vehicles are decelerating during normal driving, it means that there may be no pedestrians outside the field of view of the current vehicle but there may be pedestrians in the field of view of the left and right front vehicles, and corresponding deceleration avoidance is performed. Therefore, the current vehicle can actively limit the vehicle throttle output to control the vehicle speed based on this to ensure that there is enough braking distance when pedestrians suddenly appear. The average deceleration value here is calculated because the current vehicle is in a rear position, so the distance that can be decelerated is longer, and proportional deceleration can be performed according to the deceleration rate of the left and right front vehicles.

As another preferred embodiment of the present invention, a collision limitation management module is also included, specifically including:

A collision information synchronization unit, for generating and outputting a high-risk collision warning via a wireless network to synchronize with adjacent vehicles when a large vehicle exceeding a preset safety speed range is detected within a rear safety distance or when the vehicle is collided with a large vehicle exceeding a preset safety speed range from behind;

The collision limitation management unit is used to eliminate the pedal output limitation signal of the current vehicle after obtaining the high-risk collision warning, and output the high-risk collision warning through the vehicle interaction system.

In this embodiment, in the aforementioned embodiment, the pedal output limit signal can well protect the safety of vehicles and pedestrians, but because of the existence of the limitation, when the vehicle encounters a large risk that needs to be avoided, this limitation may result in that even if the driver reacts to avoid it, the limitation prolongs the driver's avoidance time. For example, when there is an out-of-control large truck behind the vehicle and there is a vehicle in front at a close distance, limiting the output of the accelerator pedal at this time may cause the driver to be unable to accelerate the vehicle quickly to avoid the risk (the obstruction of the small car behind will also affect the vehicle sensor system's detection of the large truck). Therefore, when a small car detects the risk of a large truck, it can quickly spread information to surrounding vehicles through the wireless network, and use it to release the pedal output limit signal to ensure that the driver can respond in time and quickly control the vehicle to avoid it, thereby reducing the probability of accidents and the loss of life and property.

As another preferred embodiment of the present invention, it also includes a control coordination module;

The control coordination module is used to invalidate the vehicle control output signal and give priority to executing the active braking signal when the vehicle simultaneously obtains the vehicle control output signal and the active braking signal.

In this embodiment, the priority of the accelerator and brake signals is limited, which can effectively deal with the driver's erroneous operating behavior when he is panicked. When the accelerator pedal and brake signals are output at the same time, the accelerator signal is directly ignored to avoid accidents.

As shown in FIG. 4 , the present invention also provides a method for controlling an electric pedal of an automobile, which comprises the steps of:

S10, collection of sensor data and synchronous mapping of environmental objects; sensor data of the vehicle's surrounding environment is collected in real time through sensor equipment, and the sensor data of multiple sensors are aligned and fused to establish a twin monitoring space based on the vehicle origin;

S20, identification of spatial objects and determination of motion characteristics: performing object identification on the twin monitoring space updated in real time and establishing motion characteristics of the objects, the objects including static objects and moving objects;

S30, determining the motion interference between the vehicle and the object and establishing control limits; performing interference determination based on the current motion state of the vehicle and the relative spatial relationship between the vehicle and the object, and generating a pedal output limit signal if there is a risk of motion interference between the vehicle and the object;

S40, real-time control restriction of the electric pedal; limiting and controlling the vehicle power control output signal of the electric pedal based on the pedal output restriction signal, when the pedal output restriction signal exists, the incremental signal of the vehicle power output signal is invalidated, and the incremental signal is used to represent the power output incremental signal based on the current vehicle power output signal strength;

S50, feedback of pedal output limitation information; when the incremental signal is invalidated, a feedback notification signal is generated and output through the vehicle interaction system, and the feedback notification signal includes limitation notification and risk notification.

As another preferred embodiment of the present invention, it also includes a risk level delineation step, specifically including:

Acquiring features of the object and determining the category of the object based on the features, and triggering a risk level determination process when the object is a pedestrian or a non-motorized object;

Obtain the location and motion status information of pedestrians or non-motorized objects, and based on this, predict their motion coverage area in the future;

If the movement coverage area does not intersect with the vehicle's driving coverage area in the future, a pedal output limit signal with a basic risk level is generated, and the basic level is used to indicate that when the pedal output limit signal exists, the incremental signal of the vehicle power output signal is invalidated;

If the motion coverage area intersects with the vehicle's driving coverage area in the future, obtain the buffer distance of the vehicle's current distance from the intersection area, calculate the output attenuation requirement for the vehicle to reach a safe pedestrian safety speed at the buffer distance without active braking, and generate an active level pedal output limit signal based on the output attenuation requirement. The active level is used to characterize that when the pedal output limit signal exists, the incremental signal of the vehicle's power output signal is invalid, and the initial output signal except the incremental signal is partially invalidated based on a percentage.

As another preferred embodiment of the present invention, the risk level delineation step further includes:

When the object is a static object, if the current vehicle's driving coverage area overlaps with the static object and there is no vehicle active braking signal input, the output attenuation requirement for the vehicle to reach a safe collision speed at the current distance from the static object without active braking is calculated, and an active-level pedal output limit signal is generated accordingly.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the disclosure in the specification and examples. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (7)

1. A vehicle electric pedal control system, characterized by comprising: The data acquisition synchronization module is used for the acquisition of sensor data and the synchronous mapping of environmental objects. The sensor data of the vehicle's surrounding environment is collected in real time through sensor equipment, and the sensor data of multiple sensors are aligned and fused to establish a twin monitoring space based on the vehicle origin. The object recognition and tracking module is used for the recognition and motion feature determination of spatial objects; it recognizes objects in the twin monitoring space that is updated in real time and establishes the motion features of the objects, which include static objects and moving objects; The motion interference determination module is used for motion interference determination and control restriction establishment between the vehicle and the object. The interference determination is performed based on the current motion state of the vehicle and the relative spatial relationship between the vehicle and the object. If there is a risk of motion interference between the vehicle and the object, a pedal output restriction signal is generated. A pedal control limiting module is used for real-time control limiting of an electric pedal; based on the pedal output limiting signal, the vehicle power control output signal of the electric pedal is limited and controlled. When the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalidated, and the incremental signal is used to represent the power output incremental signal based on the current vehicle power output signal strength; The risk limit feedback module is used for feedback of pedal output limit information; when the incremental signal is invalidated, a feedback notification signal is generated and output through the vehicle interaction system, and the feedback notification signal includes a limit notification and a risk notification. 2. The automobile electric pedal control system according to claim 1, characterized in that it also includes a risk level delineation module, specifically including: An object distinguishing unit, used to acquire features of an object and determine the category of the object based on the features, and trigger a risk level determination process when the object is a pedestrian object or a non-motorized object; A motion prediction unit, used to obtain the position and motion state information of pedestrian objects or non-motorized objects, and based on this, predict their motion coverage area in the future; A basic restriction unit, for generating a pedal output restriction signal with a basic risk level if the motion coverage area does not intersect with the vehicle's driving coverage area in the future, wherein the basic risk level is used to indicate that when the pedal output restriction signal exists, the incremental signal of the vehicle power output signal is invalidated; The active limiting unit is used to obtain the buffer distance of the current distance of the vehicle from the intersection area if there is an intersection between the motion coverage area and the driving coverage area of the vehicle in a period of time in the future, calculate the output attenuation requirement for the vehicle to reach a safe pedestrian safety speed at the buffer distance without active braking, and generate an active level pedal output limiting signal based on the output attenuation requirement. The active level is used to indicate that when the pedal output limiting signal exists, the incremental signal of the vehicle power output signal is invalid, and the initial output signal except the incremental signal is partially invalidated based on a percentage. 3. The automobile electric pedal control system according to claim 2, characterized in that the risk level delineation module further comprises: The static limitation unit is used for calculating the output attenuation requirement of the vehicle to reach a safe collision speed at the current distance from the static object without active braking when the object is a static object and the driving coverage area of the current vehicle overlaps with the static object and there is no vehicle active braking signal input, and correspondingly generates an active-level pedal output limitation signal. 4. The automobile electric pedal control system according to claim 1, characterized in that it also includes a special restriction module, specifically including: A pedal monitoring unit, used to monitor the vehicle power output signal generated by the pedal, obtain a unit time increment of the vehicle power output signal, and trigger a regret protection mechanism if the unit time increment exceeds a preset safety threshold; The restriction execution unit is used to execute the regret protection mechanism. When the unit time increment exceeds the safety threshold, if there is a pedal output restriction signal, the vehicle power output signal is invalidated. If there is no pedal output restriction signal, the vehicle power output signal is continuously monitored. If it is continuously triggered and exceeds the safety threshold, the vehicle power output signal is responded to. 5. The automobile electric pedal control system according to claim 3, characterized in that it also includes an indirect limitation module, specifically including: The associated vehicle monitoring unit is used to record the motion status of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle is driving normally, and obtain the real-time acceleration status of the corresponding vehicle during driving; The indirect limitation judgment unit is used to judge the real-time acceleration state of the vehicle ahead in the adjacent lane. If the real-time acceleration state is characterized by vehicle deceleration, the deceleration rate of the other party and the vehicle distance to the other party are obtained, the average deceleration value of the deceleration rate within the vehicle distance is calculated, and an active level pedal output limitation signal is generated based on the average deceleration value. 6. The automotive electric pedal control system according to claim 1, characterized in that it also includes a collision limitation management module, specifically including: A collision information synchronization unit, for generating and outputting a high-risk collision warning via a wireless network to synchronize with adjacent vehicles when a large vehicle exceeding a preset safety speed range is detected within a rear safety distance or when the vehicle is collided with a large vehicle exceeding a preset safety speed range from behind; The collision limitation management unit is used to eliminate the pedal output limitation signal of the current vehicle after obtaining the high-risk collision warning, and output the high-risk collision warning through the vehicle interaction system. 7. The automobile electric pedal control system according to claim 1, characterized in that it also includes a control coordination module; The control coordination module is used to invalidate the vehicle control output signal and give priority to executing the active braking signal when the vehicle simultaneously obtains the vehicle control output signal and the active braking signal.