CN118494424B - A vehicle electric pedal control system - Google Patents
A vehicle electric pedal control system Download PDFInfo
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- CN118494424B CN118494424B CN202410906097.6A CN202410906097A CN118494424B CN 118494424 B CN118494424 B CN 118494424B CN 202410906097 A CN202410906097 A CN 202410906097A CN 118494424 B CN118494424 B CN 118494424B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 17
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- 230000003068 static effect Effects 0.000 claims description 24
- 230000001133 acceleration Effects 0.000 claims description 13
- 230000003993 interaction Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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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
Technical Field
The invention relates to the field of automobile control, in particular to an automobile electric pedal control system.
Background
In the driving of the automobile, the control authority of the driver is highest, namely, the accelerator or the brake stepped on by the driver can respond preferentially, and even if the safety braking function is engaged after the vehicle encounters an obstacle, if the driver steps on the accelerator deeply, the vehicle still responds to the acceleration behavior of the driver.
However, such an implementation manner leads to frequent occurrence of severe accidents in reality, for example, when a sudden risk is encountered, a driver erroneously operates the vehicle, so that the vehicle fails to stop, but accelerates, collision is finally caused to the surroundings, serious property loss is generated, even casualties occur, the popularization of a kinetic energy recovery function brought by a new energy vehicle further leads to great reduction of the number of times of braking use of the vehicle in daily driving, bad driving habits can be possibly caused for a long time by the driver, and when an emergency occurs, the driver cannot find or forget to brake completely, and finally gets confused, so that serious safety accidents are generated.
Disclosure of Invention
The invention aims to provide an automobile electric pedal control system for solving the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
An automotive electric pedal control system comprising:
The system comprises a data acquisition synchronization module, a sensing equipment, a data acquisition synchronization module, a data processing module and a data processing module, wherein the data acquisition synchronization module is used for acquiring sensing data and synchronously mapping environmental objects;
The object recognition tracking module is used for recognizing a space object and judging motion characteristics, carrying out object recognition on the twin monitoring space updated in real time, and establishing the motion characteristics of the object, wherein the object comprises a static object and a motion object;
the motion interference judging module is used for judging the motion interference of the vehicle and the object and establishing control limit, carrying out interference judgment based on the current motion state of the vehicle and the relative spatial relation between the vehicle and the object, and generating a pedal output limit signal if the motion interference risk exists between the vehicle and the object;
The pedal control limiting module is used for limiting and controlling an automobile power control output signal of the electric pedal based on the pedal output limiting signal, and invalidating an increment signal of the automobile power output signal when the pedal output limiting signal exists, wherein the increment signal is used for representing a power output increment signal based on the intensity of the current automobile power output signal;
and when the increment signal is invalid, generating a feedback notification signal and outputting the feedback notification signal through the automobile interaction system, wherein the feedback notification signal comprises a limitation notification and a risk notification.
The invention further provides a risk level defining module, which specifically comprises:
The object distinguishing unit is used for acquiring characteristics of an object, judging the class of the object based on the characteristics, and triggering a risk level judging process when the object is a pedestrian object or a non-motorized object;
the motion prediction unit is used for acquiring the position and motion state information of the pedestrian object or the non-motorized object and predicting the motion coverage area of the pedestrian object or the non-motorized object in a future period of time based on the position and the motion state information;
a basic limiting unit, configured to generate a pedal output limiting signal with a risk level as a basic level if the movement coverage area does not intersect with a driving coverage area of the vehicle in a future period of time, where the basic level is used to represent that an increment signal of the automobile power output signal is invalidated when the pedal output limiting signal exists;
The driving limiting unit is used for acquiring the buffer distance of the current distance crossing area of the vehicle if the movement coverage area crosses the running coverage area of the vehicle in a future period, calculating the output attenuation requirement of the vehicle reaching the safe pedestrian speed of the safe pedestrian under the buffer distance without driving braking, and generating a pedal output limiting signal of an driving level based on the output attenuation requirement, wherein the driving level is used for representing that when the pedal output limiting signal exists, the increment signal of the automobile power output signal is invalid, and meanwhile, the initial output signal except the increment signal is partially invalid based on a percentage.
As a still further aspect of the present invention, the risk level demarcation module further includes:
And the static limiting unit is used for calculating the output attenuation requirement of the vehicle for impacting the safe vehicle speed under the current distance between the vehicle and the static object without active braking if the running coverage area of the current vehicle is overlapped with the static object and no active braking signal is input when the object is the static object, and correspondingly generating an active-level pedal output limiting signal.
As a still further proposal of the invention, the invention also comprises a special limiting module, which specifically comprises:
The pedal monitoring unit is used for monitoring an automobile power output signal generated by a pedal, acquiring a unit time increment of the automobile power output signal, and triggering a remorse protection mechanism if the unit time increment exceeds a preset safety threshold;
And the limiting execution unit is used for executing an regret protection mechanism, when the increment of the unit time exceeds a safety threshold, invalidating the automobile power output signal if a pedal output limiting signal exists, continuously monitoring the automobile power output signal if the pedal output limiting signal does not exist, and responding to the automobile power output signal if the continuous triggering exceeds the safety threshold.
As a still further aspect of the present invention, the system further includes an indirect limiting module, specifically including:
The associated vehicle monitoring unit is used for recording the motion state of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle normally runs, and acquiring the real-time acceleration state of the corresponding vehicle in running;
and the indirect limiting judgment unit is used for judging the real-time acceleration state of the vehicle in front of the adjacent lane, acquiring the deceleration rate of the opposite side and the distance between the opposite side and the vehicle if the real-time acceleration state is characterized in that the vehicle is decelerated, calculating the average deceleration value of the deceleration rate in the distance, and generating an initiative-level pedal output limiting signal based on the average deceleration value.
As still further aspects of the present invention, the system further includes a collision limit management module, specifically including:
A collision information synchronizing unit for generating and outputting a high risk collision warning to synchronize to an adjacent vehicle through a wireless network when it is detected that a large vehicle exceeding a preset safety speed range exists in a rear safety distance or a large vehicle exceeding the preset safety speed range is collided by the rear;
And the collision limit management unit is used for eliminating the pedal output limit signal of the current vehicle after acquiring the high-risk collision warning and outputting the high-risk collision warning through the automobile interaction system.
As a still further proposal of the invention, the invention also comprises a control cooperative module;
The control coordination module is used for invalidating the automobile control output signal and preferentially executing the active braking signal when the automobile acquires the automobile control output signal and the active braking signal at the same time.
Compared with the prior art, the method has the advantages that the limitation of controlling the power output of the vehicle by the electric pedal of the vehicle in the running process of the vehicle is realized, the possible interference relation between the vehicle and the movement of the object is judged by monitoring the scene in which the vehicle runs and identifying the object in the scene, and further, when the object which is possibly crossed and interfered exists in the prediction, the limitation signal for the pedal is generated in advance, so that when a driver judges that the pedal is mistakenly stepped, the control signal can be limited and controlled at the first time, and compared with the prior art, the method of adopting the safety braking measure again when the risk is met, the method can safely limit the movement state of the vehicle earlier, and avoid the situation that the accident happens because the driver wrongly operates the vehicle, the speed is too fast.
Drawings
FIG. 1 is a block diagram of an automotive electric pedal control system.
Fig. 2 is a block diagram of a risk level demarcation module in an electric pedal control system of an automobile.
FIG. 3 is a block diagram of a specific limiting module in an automotive electric pedal control system.
Fig. 4 is a flow chart of a method for controlling an electric pedal of an automobile.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, an electric pedal control system for an automobile according to an embodiment of the present invention includes:
the data acquisition synchronization module 100 is used for acquiring sensing data and synchronously mapping environmental objects, acquiring sensing data of the surrounding environment of the vehicle in real time through sensing equipment, and carrying out alignment fusion on the sensing data of a plurality of sensors so as to establish a twin monitoring space based on the origin of the vehicle;
The object recognition tracking module 200 is used for recognizing a space object and judging motion characteristics, recognizing the object in the twin monitoring space updated in real time, and establishing the motion characteristics of the object, wherein the object comprises a static object and a motion object;
The motion interference judging module 300 is used for judging the motion interference of the vehicle and the object and establishing control limit, carrying out interference judgment based on the current motion state of the vehicle and the relative spatial relation between the vehicle and the object, and generating a pedal output limit signal if the motion interference risk exists between the vehicle and the object;
the pedal control limiting module 400 is used for limiting and controlling an automobile power control output signal of the electric pedal based on the pedal output limiting signal, and invalidating an increment signal of the automobile power output signal when the pedal output limiting signal exists, wherein the increment signal is used for representing a power output increment signal based on the intensity of the current automobile power output signal;
and the risk limit feedback module 500 is used for feeding back information of pedal output limit, and when the increment signal is invalid, a feedback notification signal is generated and is output through the automobile interaction system, wherein the feedback notification signal comprises a limit notification and a risk notification.
In the prior art, in the driving authority of the automobile, the control authority of the driver is highest, namely, an accelerator (an automobile power output signal in the corresponding embodiment) or a brake stepped on by the driver can be preferentially responded when the driver encounters an object which is possibly interfered in a crossing manner in prediction, so that when the driver mistakenly steps on the pedal, the control signal can be controlled in a limiting manner at the first time, compared with the prior art, the mode of taking a safety braking measure again when the driver encounters a risk, the safety limitation on the motion state of the automobile can be carried out earlier, the situation that the accident happens cannot be avoided due to the fact that the driver erroneously operates the automobile is avoided, in the prior art, the control authority of the driver is highest, namely, the driver can preferentially respond when the driver encounters an accelerator (an automobile power output signal in the corresponding embodiment) or a brake, even if the driver encounters an obstacle, the driver is deeply stepped on by the accelerator is extremely high, the situation that the driver frequently fails to take place in order to recover the situation that the accident happens, in order to cause serious accident, the accident is very bad, the accident is usually happened, and the accident is completely bad, the driver is extremely bad, and the accident is always stopped in the situation that the accident is seriously lost is happened, the method comprises the following steps that the surrounding environment and a moving object are sensed through a sensor group (comprising an image sensor, a radar sensor and the like) arranged on the vehicle, the motion state of the current vehicle is judged, if the vehicle and a certain detected object possibly generate overlapping of a motion space in a future time, a certain safety risk is indicated, at the moment, in the prior art, if the motion state of the object is changed suddenly, the driver possibly does not make an effective reaction at the first time and misacceleration is generated, and finally the possibility of accident is increased, so that when the overlapping possibility is detected, a pedal output limiting signal is generated for limiting the power output of the driver through an automobile pedal, and even if the driver mistakenly steps on the accelerator pedal, the driver cannot actively stop the vehicle due to the fact that the accelerator pedal is not stepped on, and the safety risk is effectively restrained, and the safety is effectively stopped; meanwhile, when the pedal output limiting signal is effectively triggered, the pedal output limiting signal is output through a central control interaction system of the automobile and the like to inform a driver, so that the driver is reminded of correcting in time to make safety judgment.
As shown in fig. 2, as another preferred embodiment of the present invention, the risk level defining module further includes:
the object distinguishing unit 610 is configured to perform feature acquisition on an object, determine the object class based on the feature, and trigger a risk level determination flow when the object is a pedestrian object or a non-motorized object;
A motion prediction unit 620, configured to obtain the position and motion state information of the pedestrian or non-motorized object, and predict the motion coverage area of the pedestrian or non-motorized object in a future period based on the position and motion state information;
a basic limiting unit 630, configured to generate a pedal output limiting signal with a risk level as a basic level if the movement coverage area does not intersect with a driving coverage area of the vehicle in a future period of time, where the basic level is used to represent that an increment signal of the power output signal of the automobile is invalidated when the pedal output limiting signal exists;
And the active limiting unit 640 is configured to, if the motion coverage area intersects with a running coverage area of the vehicle in a future period, obtain a buffer distance of the vehicle in a current distance intersection area, calculate an output attenuation requirement for the vehicle to reach a safe pedestrian speed under the buffer distance without active braking, and generate an active level pedal output limiting signal based on the output attenuation requirement, where the active level is used to characterize that when the pedal output limiting signal exists, an increment signal of the power output signal of the vehicle is invalid, and an initial output signal except the increment signal is invalid based on a percentage portion.
In this embodiment, a risk level demarcation module is supplemented, which is mainly used in the situations that the object is a pedestrian, a non-motor vehicle and the like, because if the object is such, if the object collides with the pedestrian, the damage to related personnel is larger, the pedestrian tends to gather, a plurality of personnel may be involved in one collision, so that special higher level limitation is required, the pedestrian exists in a nearby near range, but the vehicle and the pedestrian do not interfere, in order to consider that the motion of part of the pedestrian may have unpredictability, the vehicle needs to keep a stable speed to advance, the acceleration near the pedestrian cannot be avoided, the sudden action change of the pedestrian may not be responded after the speed is avoided, when the interference with the pedestrian possibly occurs, the control of the vehicle speed needs to be advanced, so that when the pedestrian arrives in a predicted intersection area, the vehicle can be stopped and waiting for the first time, and thus the output limiting signal in this case is not used for invalidating the output of the pedal, namely, the accelerator pedal output limiting signal has a certain invalid effect, namely, the output speed of a certain speed is reduced in a certain distance, and the current speed is required to reach the purpose of increasing the accelerator speed.
As another preferred embodiment of the present invention, the risk level demarcation module further includes:
And the static limiting unit is used for calculating the output attenuation requirement of the vehicle for impacting the safe vehicle speed under the current distance between the vehicle and the static object without active braking if the running coverage area of the current vehicle is overlapped with the static object and no active braking signal is input when the object is the static object, and correspondingly generating an active-level pedal output limiting signal.
In this embodiment, the risk level demarcation module is supplemented with a static limiting unit, and when the object of the predicted negotiation is a static object, such as a street lamp, a wall, a stop board, etc., the static object is in fact present, so if the motion state of the current vehicle is not changed, the predicted negotiation overlap is necessarily generated, that is, the vehicle collides with the static object, so in this case, an active-level pedal output limiting signal is required to control the speed of the vehicle, so as to avoid the collision under the condition that the speed of the vehicle is too fast to effectively brake or the driver does not execute the brake at all.
As shown in fig. 3, as another preferred embodiment of the present invention, a special restriction module is further included, which specifically includes:
The pedal monitoring unit 710 is configured to monitor an automobile power output signal generated by a pedal, obtain a unit time increment of the automobile power output signal, and trigger a remorse protection mechanism if the unit time increment exceeds a preset safety threshold;
And the limitation execution unit 720 is used for executing an regret protection mechanism, when the increment of unit time exceeds a safety threshold, if a pedal output limitation signal exists, the automobile power output signal is invalidated, if the pedal output limitation signal does not exist, the automobile power output signal is continuously monitored, and if the continuous trigger and the increment of unit time exceed the safety threshold, the automobile power output signal is responded.
In the embodiment, a special limiting module is supplemented, and the use scene is further expansion of a previous pedal output limiting signal, in the previous embodiment, the pedal output control signal is used for limiting the vehicle speed control when the risk possibly occurs is predicted, in this case, the driver may be aware of the existence of the risk and is ready to react, but the driver may step into acceleration by mistake or the driver may misjudge the distance and consider that the vehicle can run for a certain distance, so that the limitation is required to be managed, in addition, an extreme condition is also present, namely, the driver is in a disordered state completely, the accelerator is directly taken as a brake to the bottom, in this case, the driver's mind is not clear enough, only by means of the speed limitation, the driver may not be assisted to react, in this case, when a rapid acceleration signal in a short time is detected, the accelerator output limiting signal is directly deactivated, the accelerator output signal is quickly enters a deceleration braking state, the driver is helped, if the pedal output limiting signal is not exist, the driver may not be accelerated, and the driver may continuously control the vehicle is required to continuously take place, and the driver is required to continuously input to control the vehicle.
As another preferred embodiment of the present invention, the system further comprises an indirect limiting module, specifically comprising:
The associated vehicle monitoring unit is used for recording the motion state of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle normally runs, and acquiring the real-time acceleration state of the corresponding vehicle in running;
and the indirect limiting judgment unit is used for judging the real-time acceleration state of the vehicle in front of the adjacent lane, acquiring the deceleration rate of the opposite side and the distance between the opposite side and the vehicle if the real-time acceleration state is characterized in that the vehicle is decelerated, calculating the average deceleration value of the deceleration rate in the distance, and generating an initiative-level pedal output limiting signal based on the average deceleration value.
In this embodiment, in the driving of a daily vehicle, there may be a vehicle in front of both side lanes, a large view blind area is generated, at this time, a situation that a pedestrian passes out from the front of both side vehicles may occur, and the current vehicle may not be able to effectively make a braking feedback because of too short time for observing a reaction, so that an accident occurs, so that a risk assessment may be performed by tracking and judging the motion states of the left and right front vehicles, when it is detected that the left and right front vehicles are decelerating during normal driving, it indicates that there may be no pedestrian outside the current vehicle view angle and there may be a pedestrian in the left and right front vehicle view angle, and a deceleration avoidance is correspondingly made, so that the current vehicle may control the vehicle speed based on the active vehicle throttle output limit, so as to ensure that a sufficient braking distance can be obtained when the pedestrian suddenly occurs, and the average deceleration value is calculated in this way, because the current vehicle is located at a rear position, so that the distance that can be decelerated is longer, and a 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, the present invention further includes a collision limit management module, specifically including:
A collision information synchronizing unit for generating and outputting a high risk collision warning to synchronize to an adjacent vehicle through a wireless network when it is detected that a large vehicle exceeding a preset safety speed range exists in a rear safety distance or a large vehicle exceeding the preset safety speed range is collided by the rear;
And the collision limit management unit is used for eliminating the pedal output limit signal of the current vehicle after acquiring the high-risk collision warning and outputting the high-risk collision warning through the automobile interaction system.
In this embodiment, in the foregoing embodiment, the pedal output limit signal can well protect the safety of the vehicle and the pedestrian, but because of the limit, when the vehicle encounters a risk that needs to be avoided greatly, this limit may cause that even if the driver reacts to the vehicle to avoid, but the limit prolongs the avoiding time of the driver, for example, when there is a large car out of control behind the vehicle, and there is a vehicle in a close distance in front, at this time, limiting the output of the accelerator pedal may cause that the driver cannot accelerate the vehicle quickly to avoid the risk (the rear car shielding also affects the discovery of the vehicle sensing system on the large car), so when a certain car detects the risk of the large car, the surrounding vehicle can be diffused quickly through the wireless network, and the pedal output limit signal is used to release, so that the driver can timely react and control the vehicle to avoid quickly, and the probability of accident occurrence and the loss of the human money are reduced.
As another preferred embodiment of the present invention, the control system further comprises a control coordination module;
The control coordination module is used for invalidating the automobile control output signal and preferentially executing the active braking signal when the automobile acquires the automobile control output signal and the active braking signal at the same time.
In this embodiment, the priority of the accelerator brake signal is limited, so that the wrong operation behavior of the driver in case of confusion can be well dealt with, and when the accelerator pedal and the brake signal are output at the same time, the accelerator signal is directly disregarded, so as to avoid the occurrence of accidents.
As shown in fig. 4, the present invention further provides a control method for an electric pedal of an automobile, which includes the steps of:
S10, collecting sensing data and synchronously mapping environmental objects, collecting sensing data of the surrounding environment of the vehicle in real time through sensing equipment, and carrying out alignment fusion on the sensing data of a plurality of sensors so as to establish a twin monitoring space based on the origin of the vehicle;
S20, identifying a space object and judging motion characteristics, carrying out object identification on the twin monitoring space updated in real time, and establishing the motion characteristics of the object, wherein the object comprises a static object and a motion object;
s30, performing interference judgment based on the current motion state of the vehicle and the relative spatial relation between the vehicle and the object, and generating a pedal output limiting signal if the motion interference risk exists between the vehicle and the object;
Performing limiting control on an automobile power control output signal of the electric pedal based on the pedal output limiting signal, invalidating an increment signal of the automobile power output signal when the pedal output limiting signal exists, wherein the increment signal is used for representing a power output increment signal based on the current automobile power output signal intensity;
and S50, the pedal outputs limited information feedback, and when the increment signal is invalid, a feedback notification signal is generated and output through the automobile interaction system, wherein the feedback notification signal comprises a limitation notification and a risk notification.
As another preferred embodiment of the present invention, the method further includes a risk level defining step, specifically including:
the method comprises the steps of obtaining characteristics of an object, judging the class of the object based on the characteristics, and triggering a risk level judging process when the object is a pedestrian object or a non-maneuvering object;
Acquiring the position and motion state information of a pedestrian object or a non-motorized object, and predicting the motion coverage area of the pedestrian object or the non-motorized object in a future period based on the position and motion state information;
If the movement coverage area does not intersect with the running coverage area of the vehicle in a future period of time, generating a pedal output limit signal with a risk level as a basic level, wherein the basic level is used for representing that when the pedal output limit signal exists, the increment signal of the automobile power output signal is invalid;
If the motion coverage area is intersected with the running coverage area of the vehicle in a period of time in the future, obtaining the buffer distance of the current distance intersection area of the vehicle, calculating the output attenuation requirement of the vehicle for reaching the safe pedestrian speed under the buffer distance without active braking, and generating an active-level pedal output limiting signal based on the output attenuation requirement, wherein the active level is used for representing that when the pedal output limiting signal exists, the increment signal of the automobile power output signal is invalid, and meanwhile, the initial output signals except the increment signal are partially invalid based on percentages.
As another preferred embodiment of the present invention, the risk level demarcation step further includes:
When the object is a static object, if the running coverage area of the current vehicle overlaps the static object and no active braking signal is input, calculating the output attenuation requirement that the vehicle reaches the impact safety vehicle speed under the current distance from the static object without active braking, and correspondingly generating an active-level pedal output limiting signal.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of 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), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (5)
1. An automotive electric pedal control system, comprising:
The system comprises a data acquisition synchronization module, a sensing equipment, a data acquisition synchronization module, a data processing module and a data processing module, wherein the data acquisition synchronization module is used for acquiring sensing data and synchronously mapping environmental objects;
The object recognition tracking module is used for recognizing a space object and judging motion characteristics, carrying out object recognition on the twin monitoring space updated in real time, and establishing the motion characteristics of the object, wherein the object comprises a static object and a motion object;
the motion interference judging module is used for judging the motion interference of the vehicle and the object and establishing control limit, carrying out interference judgment based on the current motion state of the vehicle and the relative spatial relation between the vehicle and the object, and generating a pedal output limit signal if the motion interference risk exists between the vehicle and the object;
The pedal control limiting module is used for limiting and controlling an automobile power control output signal of the electric pedal based on the pedal output limiting signal, and invalidating an increment signal of the automobile power output signal when the pedal output limiting signal exists, wherein the increment signal is used for representing a power output increment signal based on the intensity of the current automobile power output signal;
When the increment signal is invalid, generating a feedback notification signal and outputting the feedback notification signal through an automobile interaction system, wherein the feedback notification signal comprises a limitation notification and a risk notification;
the risk level demarcation module comprises:
The object distinguishing unit is used for acquiring characteristics of an object, judging the class of the object based on the characteristics, and triggering a risk level judging process when the object is a pedestrian object or a non-motorized object;
the motion prediction unit is used for acquiring the position and motion state information of the pedestrian object or the non-motorized object and predicting the motion coverage area of the pedestrian object or the non-motorized object in a future period of time based on the position and the motion state information;
a basic limiting unit, configured to generate a pedal output limiting signal with a risk level as a basic level if the movement coverage area does not intersect with a driving coverage area of the vehicle in a future period of time, where the basic level is used to represent that an increment signal of the automobile power output signal is invalidated when the pedal output limiting signal exists;
The driving limiting unit is used for acquiring the buffer distance of the current distance crossing area of the vehicle if the movement coverage area crosses the running coverage area of the vehicle in a future period, calculating the output attenuation requirement of the vehicle for reaching the safe speed of a safe pedestrian under the buffer distance without driving braking, and generating a pedal output limiting signal of an driving level based on the output attenuation requirement, wherein the driving level is used for representing that when the pedal output limiting signal exists, the increment signal of the power output signal of the automobile is invalid, and meanwhile, the initial output signal except the increment signal is partially invalid based on percentage;
the risk level demarcation module further includes:
And the static limiting unit is used for calculating the output attenuation requirement of the vehicle for impacting the safe vehicle speed under the current distance between the vehicle and the static object without active braking if the running coverage area of the current vehicle is overlapped with the static object and no active braking signal is input when the object is the static object, and correspondingly generating an active-level pedal output limiting signal.
2. The vehicle electric pedal control system of claim 1, further comprising a special restriction module, specifically comprising:
The pedal monitoring unit is used for monitoring an automobile power output signal generated by a pedal, acquiring a unit time increment of the automobile power output signal, and triggering a remorse protection mechanism if the unit time increment exceeds a preset safety threshold;
And the limiting execution unit is used for executing an regret protection mechanism, when the increment of the unit time exceeds a safety threshold, invalidating the automobile power output signal if a pedal output limiting signal exists, continuously monitoring the automobile power output signal if the pedal output limiting signal does not exist, and responding to the automobile power output signal if the continuous triggering exceeds the safety threshold.
3. The vehicle electric pedal control system of claim 1, further comprising an indirect limiting module, comprising:
The associated vehicle monitoring unit is used for recording the motion state of the vehicle in front of the adjacent lane through the twin monitoring space when the vehicle normally runs, and acquiring the real-time acceleration state of the corresponding vehicle in running;
and the indirect limiting judgment unit is used for judging the real-time acceleration state of the vehicle in front of the adjacent lane, acquiring the deceleration rate of the opposite side and the distance between the opposite side and the vehicle if the real-time acceleration state is characterized in that the vehicle is decelerated, calculating the average deceleration value of the deceleration rate in the distance, and generating an initiative-level pedal output limiting signal based on the average deceleration value.
4. The vehicle electric pedal control system according to claim 1, further comprising a collision limit management module, specifically comprising:
A collision information synchronizing unit for generating and outputting a high risk collision warning to synchronize to an adjacent vehicle through a wireless network when it is detected that a large vehicle exceeding a preset safety speed range exists in a rear safety distance or a large vehicle exceeding the preset safety speed range is collided by the rear;
And the collision limit management unit is used for eliminating the pedal output limit signal of the current vehicle after acquiring the high-risk collision warning and outputting the high-risk collision warning through the automobile interaction system.
5. The vehicle electric pedal control system of claim 1, further comprising a control coordination module;
The control coordination module is used for invalidating the automobile control output signal and preferentially executing the active braking signal when the automobile acquires the automobile control output signal and the active braking signal at the same time.
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| KR20200058642A (en) * | 2018-11-19 | 2020-05-28 | 현대자동차주식회사 | Vehicle and method for controlling thereof |
| CN214295574U (en) * | 2020-12-30 | 2021-09-28 | 奇瑞汽车股份有限公司 | Automobile accelerator control system |
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| JP2007083922A (en) * | 2005-09-22 | 2007-04-05 | Sumitomo Electric Ind Ltd | Collision avoidance support system, collision avoidance support method, and computer program |
| JP2019143484A (en) * | 2018-02-16 | 2019-08-29 | マツダ株式会社 | Control device of vehicle |
| CN111660806A (en) * | 2019-12-09 | 2020-09-15 | 摩登汽车有限公司 | Automobile speed control system, method and device and automobile |
| JP7512978B2 (en) * | 2021-08-19 | 2024-07-09 | 株式会社デンソー | Acceleration suppression device for pedal misapplication |
| CN116080656A (en) * | 2023-02-09 | 2023-05-09 | 浙江吉利控股集团有限公司 | Method and device for restraining acceleration of vehicle and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20200058642A (en) * | 2018-11-19 | 2020-05-28 | 현대자동차주식회사 | Vehicle and method for controlling thereof |
| CN214295574U (en) * | 2020-12-30 | 2021-09-28 | 奇瑞汽车股份有限公司 | Automobile accelerator control system |
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