CN113928115B - Method, device, equipment and storage medium for preventing mistaken stepping on of oil gate - Google Patents

Method, device, equipment and storage medium for preventing mistaken stepping on of oil gate Download PDF

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Publication number
CN113928115B
CN113928115B CN202010603913.8A CN202010603913A CN113928115B CN 113928115 B CN113928115 B CN 113928115B CN 202010603913 A CN202010603913 A CN 202010603913A CN 113928115 B CN113928115 B CN 113928115B
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vehicle
accelerator
threshold value
speed
depth
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CN113928115A (en
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凌和平
王宁
王刚
符罗
许润祥
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BYD Co Ltd
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BYD Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/24—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/60—Navigation input
    • B60L2240/64—Road conditions
    • B60L2240/642—Slope of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/26—Driver interactions by pedal actuation
    • 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

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Auxiliary Drives, Propulsion Controls, And Safety Devices (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

The application discloses a method, a device, equipment and a storage medium for preventing a throttle from being stepped on by mistake, wherein the method comprises the following steps: acquiring the gradient of a road surface where a vehicle is located and the speed of the vehicle; if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, determining the current running working condition of the vehicle according to the speed of the vehicle; and determining an adopted anti-mistaken-stepping strategy according to the current running condition of the vehicle. According to the method, judgment is combined according to a plurality of threshold values, different accelerator mistaken stepping strategies are adopted according to different working conditions, and the mistaken judgment rate for preventing the accelerator from being stepped mistakenly can be reduced.

Description

Method, device, equipment and storage medium for preventing mistaken stepping on of oil gate
Technical Field
The invention relates to the technical field of automobile power systems, in particular to a method, a device, equipment and a storage medium for preventing a throttle from being stepped on by mistake.
Background
In recent years, when a driver drives a vehicle, the driver frequently takes the accelerator as a brake and steps on the brake, and traffic accidents are caused in most cases. If the driver mistakenly steps on the accelerator, the vehicle is out of control at a large acceleration, and the safety of surrounding vehicles, pedestrians and self lives and properties is seriously threatened. The existing technology for preventing the accelerator from being stepped on by mistake mainly judges whether the driver steps on the accelerator by mistake by acquiring the depth and the depth change rate information of the accelerator pedal of the vehicle and comparing the information with a fixed threshold value set according to experience. However, the driving environment of the vehicle is complex and changeable, and the misjudgment rate of adopting a single threshold value to deal with various driving conditions is high.
Disclosure of Invention
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a method, device, apparatus, and storage medium for preventing false accelerator tip-in.
In a first aspect, the present invention provides a method for preventing a gate from being stepped on by mistake, including:
acquiring the gradient of a road surface where a vehicle is located and the speed of the vehicle;
if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, determining the current running working condition of the vehicle according to the speed of the vehicle;
and determining an adopted anti-mistaken-stepping strategy according to the current running condition of the vehicle.
In one embodiment, determining the current driving condition of the vehicle according to the vehicle speed of the vehicle comprises:
if the speed of the vehicle is less than or equal to the first speed threshold value, the vehicle is in a working condition that the speed of the vehicle is less than or equal to the first speed threshold value;
if the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold, the vehicle is in a working condition that the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold;
and if the vehicle speed of the vehicle is greater than the second vehicle threshold value, the vehicle is in a working condition that the vehicle speed is greater than the second vehicle threshold value.
In one embodiment, the method for determining the adopted anti-accelerator mistaken stepping strategy according to the current running condition of the vehicle comprises the following steps:
if the current running working condition of the vehicle is that the vehicle is less than or equal to the first vehicle speed threshold value working condition, judging whether a judgment condition is met; wherein, the judgment condition is as follows: the acquired steering wheel rotating angle is greater than or equal to a preset degree, or the triggering times of the brake pedal within preset time are greater than preset times;
if the judgment condition is met, the obtained depth of the accelerator pedal is greater than or equal to a first depth threshold value, and the percentage of the accelerator stepping speed is greater than or equal to a first speed threshold value, judging that the accelerator is stepped on by mistake;
and if the judgment condition is not met, the obtained depth of the accelerator pedal is greater than or equal to a second depth threshold value, and the obtained speed percentage of stepping on the accelerator is greater than or equal to a second speed threshold value, judging that the accelerator is stepped on by mistake.
In one embodiment, the method for determining the adopted anti-accelerator mistaken stepping strategy according to the current running condition of the vehicle comprises the following steps:
and if the current running working condition of the vehicle is that the vehicle speed is greater than the first vehicle speed threshold value and less than or equal to the second vehicle speed threshold value, if the obtained depth of the accelerator pedal is greater than or equal to the third depth threshold value and the percentage of the accelerator treading speed is greater than or equal to the second speed threshold value, determining that the accelerator is treaded by mistake.
In one embodiment, determining that the accelerator is mistakenly stepped comprises:
the motor controller is controlled to set the target torque of the motor to 0.
In one embodiment, determining that the accelerator is mistakenly stepped further comprises:
a warning light of the control instrument is on;
and/or the presence of a gas in the gas,
and controlling the horn to whistle.
In one embodiment, after determining that the accelerator is mistakenly stepped on, the method further includes:
if the current accelerator pedal depth is smaller than the fourth depth threshold value, sending a target torque corresponding to the current accelerator pedal depth to the motor controller;
and if the current accelerator pedal depth is not less than the fourth depth threshold value, judging that the accelerator is stepped on by mistake.
In one embodiment, the method for determining the adopted anti-accelerator mistaken stepping strategy according to the current running condition of the vehicle comprises the following steps:
and if the current running working condition of the vehicle is that the vehicle speed is greater than a second vehicle threshold value, if the obtained depth of the accelerator pedal is greater than or equal to a fifth depth threshold value and the duration time is greater than or equal to a time threshold value, performing full accelerator reminding.
In one embodiment, the full throttle alert is performed, comprising:
the warning light of the control instrument is on.
In one embodiment, after the full throttle prompt is performed, the method includes:
if the depth of the accelerator pedal is smaller than a sixth depth threshold value, a warning lamp of the control instrument is turned off, and a target torque corresponding to the current depth of the accelerator pedal is sent to the motor controller;
and if the depth of the accelerator pedal is greater than or equal to the sixth depth threshold value, switching to full accelerator reminding.
In one embodiment, if it has been determined at least once that the accelerator has been mistakenly stepped on,
if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, determining the current running condition of the vehicle according to the speed of the vehicle, wherein the determining step comprises the following steps:
if the gradient of the road where the vehicle is located is not larger than the gradient threshold value, judging whether the time interval from the current moment to the last accelerator misstep is larger than a time interval threshold value or not;
and if the time from the current moment to the last accelerator step by mistake is greater than the time interval threshold, determining the current running condition of the vehicle according to the current speed of the vehicle.
In a second aspect, the present application provides a device is stepped on to grease proofing door mistake, includes:
the acquisition module is used for acquiring the gradient of a road surface where the vehicle is located and the speed of the vehicle;
the first determining module is used for determining the current running working condition of the vehicle according to the speed of the vehicle if the gradient of the road surface where the vehicle is located is not larger than a gradient threshold value;
and the second determination module is used for determining an adopted oil gate mistaken-stepping prevention strategy according to the current running working condition of the vehicle.
In a third aspect, the application provides a device for preventing a driver from stepping on a vehicle by mistake, the device comprises a memory, a vehicle control unit and a program which is stored on the memory and can run on the vehicle control unit, and the vehicle control unit executes the program by any one of the methods.
In a fourth aspect, the present application provides a storage medium having a program stored thereon, the program, when executed by a vehicle control unit, implementing any of the methods described above.
According to the method, when the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, the accelerator is judged by mistake, when the accelerator is judged by mistake, the current running condition of the vehicle is determined according to the speed of the vehicle, and the accelerator mistake-stepping prevention strategy to be adopted is determined according to different current running conditions of the vehicle. The method is stepped on to grease proofing throttle mistake that this application embodiment provided utilizes the slope on the road surface that the vehicle is located and the speed of a motor vehicle, to the operating mode of difference, adopts different throttle mistake to step on the strategy, can reduce the misjudgement rate that the mistake of preventing the throttle and stepping on.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a control schematic diagram of a vehicle;
FIG. 2 is a schematic flow chart of a method for preventing an accelerator from being stepped on by mistake according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating a method for preventing a step-on of an accelerator by mistake according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a device for preventing an accelerator from being stepped on by mistake according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The existing technology for preventing the accelerator from being stepped on by mistake mainly judges whether the driver steps on the accelerator by mistake by acquiring the depth and the depth change rate information of the accelerator pedal of the vehicle and comparing the information with a fixed threshold value set according to experience. However, the driving environment of the vehicle is complex and changeable, the misjudgment rate of adopting a single threshold value to deal with various driving conditions is high, for example, the road condition is often good when the vehicle is driven at a high speed, and overtaking is carried out by a large accelerator, and if the strategy of preventing the accelerator from being stepped on by mistake is still executed at the moment, the trouble is caused to the driver, and even the risk of being overtaken is caused.
Therefore, the embodiment of the application provides a method for preventing a throttle from being stepped on by mistake, and the defect of high misjudgment rate when a single threshold value is adopted to deal with various running conditions can be avoided.
In the embodiment, the method for preventing the mistaken stepping on the oil door is provided, and it can be understood that the method for preventing the mistaken stepping on the oil door can be suitable for various vehicles, and is particularly suitable for pure electric vehicles, such as pure electric buses, pure electric cars and the like.
In one embodiment, referring to FIG. 1, a control schematic of a vehicle is shown. As shown in fig. 1, vehicle 10 may include a vehicle control unit 110, with vehicle control unit 110 connected to a vehicle drive system, sensor assembly 120, and accessories 150 via a hard-wired or CAN bus. Among other things, the vehicle drive system may include a motor controller 130 and a motor 140; the sensor assembly 120 may include a vehicle speed sensor, a road grade sensor, a steering wheel angle sensor, an accelerator pedal depth sensor, a brake pedal depth sensor; the accessories 150 may include a meter, a horn, and the like.
The vehicle speed sensor is a device for detecting the vehicle speed of the vehicle. It will be appreciated that the vehicle speed may vary from vehicle type to vehicle type, vehicle configuration, etc., and may range, for example, [0,140] km/h.
A road surface gradient sensor is a device for detecting the gradient of a road surface on which a vehicle is located. The gradient representing method includes a percentage method, a degree method, a density method, a fraction method, and the like, and the gradient in this embodiment is illustrated by the percentage method as an example. Specifically, the percentage method specifically includes: the percentage of the height difference between the two points and the horizontal distance is calculated as follows: slope = (elevation difference/horizontal distance) × 100%. The gradient of the road surface on which the vehicle is located in the embodiment can be obtained by the vertical ascending or descending height of the road surface every 100 meters in horizontal distance. For example, a slope of 1% means that the road surface is horizontally distanced every 100 meters, vertically ascends or descends by 1 meter, and so on.
A steering wheel angle sensor is a device for detecting the rotation angle and the number of rotations of a steering wheel of a vehicle. The steering wheel angle sensor may be classified into an analog type steering wheel angle sensor and a digital type steering wheel angle sensor, which is not limited herein.
The accelerator pedal depth sensor is a device for detecting a stroke signal of an accelerator pedal. The vehicle control unit may determine the accelerator depth percentage according to the stroke signal of the accelerator pedal and the maximum stroke of the accelerator pedal, and specifically, the accelerator depth percentage = the stroke signal of the accelerator pedal/the maximum stroke of the accelerator pedal × 100%. It will be appreciated that the range of the percent throttle depth is [0,100% ], with the greater the percent throttle depth, the greater the travel signal the throttle pedal is depressed, i.e., the greater the effort required to depress the throttle pedal, the closer to full throttle. It is understood that the vehicle control unit may also determine the throttle rate percentage according to the throttle depth percentage and the time required for stepping to the corresponding depth, the throttle rate percentage = throttle depth percentage/time, and the throttle rate percentage is usually between 0.5%/ms and 2%/ms when the throttle is mistakenly stepped on. It will be appreciated that the greater the percentage throttle rate, the faster the throttle pedal is depressed.
The brake pedal depth sensor is a device for detecting whether the brake pedal is triggered or not and a stroke signal of the triggered brake pedal, and the frequency of the triggered brake pedal can be obtained according to the number of times the brake pedal is triggered within a period of time. Illustratively, the brake pedal is activated 3 times within 10 s.
The meter may be used to display information such as the status of the vehicle. For example, the meter may display a vehicle warning light to alert the driver that an accelerator step has occurred.
The loudspeaker can be used for sending voice information such as prompt sound or warning sound. The horn can be divided into an internal horn and an external horn, for example, the external horn can send out voice prompting surrounding people that the accelerator is mistakenly stepped on, and the internal horn can send out voice warning the driver that the accelerator is mistakenly stepped on. Of course, only one speaker or no prompting or warning speaker may be provided, which is not limited herein.
When the vehicle 10 is running, the vehicle controller 110 determines the driving intention of the driver by acquiring signals, such as an accelerator pedal, a brake pedal, a steering wheel rotation angle and number, a vehicle speed, and the like, acquired by the sensor assembly 120, and sends a corresponding control instruction to the driving system according to the determined driving intention, and meanwhile, the vehicle controller 110 may also send a corresponding control instruction to the accessory 150 to control the accessory 150. The motor controller 130 obtains electric energy from a battery pack of the vehicle 10, obtains corresponding current and voltage through modulation of the motor controller, and controls the rotation speed and torque of the motor 140 to meet the requirements of the vehicle controller 110. The motor 140 may rotate the wheel.
Referring to fig. 2, a flow chart of a method for preventing a step-by-step on an oil gate according to an embodiment of the present application is shown. The method for preventing the accelerator from being stepped on by mistake in the embodiment may be implemented in the vehicle control unit 110.
As shown in fig. 2, a method for preventing a step-by-step of an accelerator may include:
and S210, acquiring the gradient of the road surface where the vehicle is located and the speed of the vehicle.
The gradient of the road surface where the vehicle is located can be acquired by a road surface gradient sensor, and can also be acquired by other sensors such as a radar, wherein the acquisition is not limited, and then the gradient is sent to the whole vehicle controller. The speed of a vehicle can be acquired by a vehicle speed sensor, and the speed of the vehicle can also be acquired by other speed measuring equipment, wherein the speed is not limited and then is transmitted to the whole vehicle controller.
As can be understood, the vehicle control unit obtains the gradient of the road where the vehicle is located and the vehicle speed of the vehicle in real time.
If the vehicle is started or the vehicle is not judged to be mistakenly stepped on after being started, the process proceeds to the step S220.
And S220, if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, determining the current running working condition of the vehicle according to the speed of the vehicle.
The gradient threshold is a critical value used for determining whether the accelerator is required to be stepped on by mistake, namely, the gradient of the road surface where the vehicle is located is compared with the gradient threshold, so that whether the accelerator is required to be stepped on by mistake is determined. Namely, if the gradient of the road surface where the vehicle is located is greater than the gradient threshold value, the vehicle can normally drive without judging whether the accelerator is stepped on by mistake; otherwise, if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, judging whether the accelerator is mistakenly stepped on or not by combining other judgment conditions. It is understood that the gradient threshold may be set according to actual situations, and for example, the gradient threshold may be 5%.
In the step, the purpose of setting the gradient threshold value for determining whether the accelerator is mistakenly stepped on is to avoid the judgment of the mistaken stepping on of the accelerator when the gradient of the road surface where the vehicle is located is larger, so that the requirement of the driver for starting the accelerator with a large gradient can be met.
Optionally, if it has been determined that the accelerator is stepped on by mistake at least once, if the gradient of the road surface where the vehicle is located is not greater than the gradient threshold, determining the current driving condition of the vehicle according to the vehicle speed of the vehicle, including:
if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, judging whether the time interval from the current moment to the last accelerator misstep is larger than a time interval threshold value or not;
and if the time from the current moment to the last accelerator misstep is greater than the time interval threshold, determining the current running condition of the vehicle according to the speed of the vehicle.
Specifically, the time interval threshold may be a critical value for determining whether the accelerator is mistakenly stepped, that is, determining whether the accelerator is mistakenly stepped by comparing the time interval from the current time to the previous time when the accelerator is mistakenly stepped with the time interval threshold. If the time interval between the current moment and the last accelerator misstep is smaller than or equal to the time interval threshold, the accelerator misstep judgment is not needed, otherwise, if the time interval between the current moment and the last accelerator misstep is larger than the time interval threshold, the judgment is carried out by combining other judgment conditions to judge whether the accelerator misstep occurs. It is understood that the time interval threshold may be set according to actual situations, and for example, the time interval threshold may be 2s.
In the step, the time interval threshold is set for determining whether the driver needs to make a judgment on the mistaken stepping on the accelerator, so that the mistaken stepping on the accelerator within the time interval threshold of the driver is determined as the driver's intentional acceleration operation, and the mistaken stepping on the accelerator is not judged.
Optionally, determining the current driving condition of the vehicle according to the vehicle speed of the vehicle, including:
if the speed of the vehicle is less than or equal to the first speed threshold value, the vehicle is in a working condition that the speed of the vehicle is less than or equal to the first speed threshold value;
if the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold, the vehicle is in a working condition that the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold;
and if the vehicle speed of the vehicle is greater than the second vehicle threshold value, the vehicle is in a working condition that the vehicle speed is greater than the second vehicle threshold value.
Specifically, the first vehicle speed threshold and the second vehicle speed threshold may be set according to actual conditions. For example, the first vehicle speed threshold may be set to 30km/h and the second vehicle speed threshold may be set to 60km/h. That is, the current driving condition of the vehicle may specifically be: the vehicle speed is less than or equal to 30km/h, the vehicle speed is greater than 30km/h and less than or equal to 60km/h, and the vehicle speed is greater than 60km/h.
And S230, determining an adopted anti-mistaken-stepping strategy according to the current running condition of the vehicle.
Specifically, different running conditions of the vehicle correspond to different strategies for preventing the accelerator from being stepped on by mistake when the vehicle runs. It should be noted that the accelerator misstep prevention strategy refers to different judgment parameters and different judgment conditions adopted for judging whether the accelerator is misstepped or not under different driving conditions.
In this embodiment, when the gradient of the road surface on which the vehicle is located is not greater than the gradient threshold, the accelerator misstep determination is performed, when the accelerator misstep determination is performed, the current driving condition of the vehicle is determined according to the vehicle speed of the vehicle, and the accelerator misstep prevention strategy to be adopted is determined according to different current driving conditions of the vehicle. The method is prevented from being stepped on by mistake by the application embodiment, the gradient of the road surface where the vehicle is located and the vehicle speed of the vehicle are utilized, different accelerator mistaken stepping strategies are adopted according to different working conditions, and the mistaken judgment rate of preventing the accelerator from being stepped on by mistake can be reduced.
Optionally, if the current running working condition of the vehicle is a working condition that the vehicle is less than or equal to the first vehicle speed threshold value, judging whether a judgment condition is met; wherein, the judgment condition is as follows: the acquired steering wheel angle acquired by the steering wheel angle sensor is more than or equal to a preset number of degrees, or the triggering times of the brake pedal within preset time are more than preset times;
if the judgment condition is met, the obtained accelerator pedal depth acquired by the accelerator pedal depth sensor is greater than or equal to a first depth threshold value, and the accelerator stepping rate percentage is greater than or equal to a first speed threshold value, judging that the accelerator is stepped on by mistake;
and if the judgment condition is not met, the obtained depth of the accelerator pedal is greater than or equal to a second depth threshold value, and the obtained speed percentage of stepping on the accelerator is greater than or equal to a second speed threshold value, judging that the accelerator is stepped on by mistake.
Specifically, the preset degree, the preset time, the preset times, the first depth threshold, the first rate threshold, the second depth threshold, and the second rate threshold may be set according to an actual scene. For example, the preset degree may be set to 20 °, the preset time may be set to 10s, the preset number may be set to 3, the first depth threshold may be set to 70%, the first rate threshold may be set to 0.5%/ms, the second depth threshold may be set to 80%, and the second rate threshold may be set to 1%/ms.
In the following, with this example sexual data are taken as examples.
If the steering wheel angle is greater than or equal to 20 degrees or the triggering times of the brake pedal within 10s is greater than 3 times, at this time, the vehicle controller considers that the vehicle is in a complex road environment or the driver is performing complex driving operation, and the possibility of mistakenly stepping on the accelerator is high, the sensitivity of the accelerator pedal depth and the percentage of the accelerator stepping speed needs to be set to be higher, because the higher the sensitivity is, the easier the triggering is, namely, the accelerator pedal depth is set to be shallower at this time, and the percentage of the accelerator stepping speed is set to be lower, and the set first depth threshold and the set first speed threshold are relatively smaller when the accelerator stepping is mistakenly determined or not. The depth of the accelerator pedal is determined by the accelerator pedal travel signal acquired by the vehicle controller from a hard line and the maximum travel of the accelerator pedal.
In one embodiment, determining to tip-in erroneously comprises: the motor controller is controlled to set the target torque of the motor to 0.
Specifically, the vehicle control unit controls the motor controller to set the target torque of the motor to 0, and sends the target torque to the motor controller through the CAN bus, and the motor controller unloads the output torque of the motor according to the target torque.
It can be understood that the vehicle power output can be terminated by slowly unloading the motor torque or increasing the feedback torque, so that the smoothness and economy of the vehicle can be further improved.
In one embodiment, determining to tip-in mistakenly further comprises: a warning light of the control instrument is on; and/or control a horn blast.
Specifically, the whole vehicle controller controls the instrument warning lamp to be on and can also send out a warning sound to remind a driver of mistakenly stepping on the accelerator. And meanwhile, the vehicle control unit can also control a horn to whistle to remind people around the vehicle, so that the risk is further reduced.
In one embodiment, after determining that the accelerator is mistakenly stepped on, the method further comprises:
if the current accelerator pedal depth is smaller than the fourth depth threshold value, sending a target torque corresponding to the current accelerator pedal depth to the motor controller;
and if the current accelerator pedal depth is not less than the fourth depth threshold value, judging that the accelerator is stepped on by mistake.
Specifically, the fourth depth threshold may be set according to actual scene requirements. Illustratively, the fourth depth threshold may be set at 10%.
And if the current accelerator pedal depth is less than 10%, sending a target torque corresponding to the current accelerator pedal depth to the motor controller, recovering normal driving, and returning to execute S110. Otherwise, the situation that the accelerator is stepped on by mistake is judged, namely the control of setting the target torque of the motor to be 0 by the motor controller, lighting a warning lamp of the control instrument, controlling a horn to whistle and the like is finished, and then the current accelerator pedal depth and the fourth depth threshold value are continuously judged until normal driving is recovered.
Optionally, if the current running condition of the vehicle is that the vehicle speed is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, if the acquired depth of the accelerator pedal acquired by the accelerator pedal depth sensor is greater than or equal to the third depth threshold and the percentage of the speed of stepping on the accelerator is greater than or equal to the second speed threshold, it is determined that the accelerator is stepped on by mistake.
Specifically, the third depth threshold and the second rate threshold may be set according to actual scene requirements. Illustratively, the third depth threshold may be set to 90% and the second rate threshold may be set to 1%/ms.
When the vehicle is in a working condition that the vehicle speed is greater than the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the running environment of the vehicle is improved, and the probability of mistaken stepping on the accelerator by a driver is not high, so that the sensitivity of the depth of the accelerator pedal and the percentage of the speed of stepping on the accelerator can be set to be lower, namely the depth of the accelerator pedal is set to be deeper at the moment, the percentage of the speed of stepping on the accelerator is set to be faster, and then whether the set values of the third depth threshold and the second speed threshold are relatively larger when the accelerator is mistakenly stepped on or not is determined subsequently.
When the depth of the accelerator pedal is greater than or equal to a third depth threshold value, and the percentage of the accelerator pedal stepping speed is greater than or equal to a second speed threshold value, the accelerator pedal is judged to be stepped on by mistake, namely, the motor controller is controlled to set the target torque of the motor to be 0, a warning lamp of a control instrument is turned on, a horn is controlled to be whistled, and the like. And then, continuously judging the current depth of the accelerator pedal and the fourth depth threshold value until normal driving is recovered.
In any of the above embodiments, if the condition for determining that the accelerator is erroneously stepped is not met, the vehicle may be driven normally.
Optionally, if the current running condition of the vehicle is that the vehicle speed is greater than a second vehicle threshold value, if the acquired accelerator pedal depth acquired by the accelerator pedal depth sensor is greater than or equal to a fifth depth threshold value and the duration time is greater than or equal to a time threshold value, performing full accelerator reminding.
Specifically, the fifth depth threshold and the time threshold may be set according to actual scene requirements. Illustratively, the fifth depth threshold may be set to 99% and the time threshold may be set to 3s.
It can be understood that the vehicle running environment under the working condition is good, and the vehicle overtaking accelerating requirement exists, so that the judgment of mistaken stepping on the accelerator is not made any more, and the driver is only reminded of paying attention to the running safety when the accelerator is full.
Optionally, performing a full throttle alert comprises: the warning light of the control instrument is on.
The warning light of the vehicle control instrument can emit warning sound when being turned on so as to remind the driver of full throttle.
In one embodiment, after the full throttle alert is made, the method includes:
if the depth of the accelerator pedal is smaller than a sixth depth threshold value, a warning lamp of the control instrument is turned off, and a target torque corresponding to the current depth of the accelerator pedal is sent to the motor controller;
and if the depth of the accelerator pedal is greater than or equal to the sixth depth threshold value, switching to full accelerator reminding.
Specifically, the sixth depth threshold may be set according to actual scene requirements. Illustratively, the sixth depth threshold may be set to 90%.
After the accelerator full reminding happens, the vehicle control unit judges whether the current accelerator pedal depth is smaller than a sixth depth threshold value, if the current accelerator pedal depth is smaller than the sixth depth threshold value, the instrument warning lamp is turned off, meanwhile, the prompt tone can be turned off, and a target torque corresponding to the current accelerator pedal depth is sent to the motor controller, so that normal driving is recovered. And if the current accelerator pedal depth is greater than or equal to the sixth depth threshold value, switching to full accelerator reminding.
As shown in fig. 3, a flow chart of an embodiment of a method for preventing a step-on by mistake is shown, which includes:
and S310, acquiring vehicle running parameters. Specifically, the vehicle control unit obtains vehicle driving parameters through the sensor assembly, and the vehicle driving parameters may include: the current road gradient information of the vehicle, the current speed of the vehicle, the steering wheel angle, the triggering times of the brake pedal, the depth of the accelerator pedal and the like.
And S320, judging whether the gradient of the road where the vehicle is located is less than or equal to 5% by the vehicle controller, if so, executing S330, otherwise, normally driving, and returning to execute S310. The step aims to avoid misstep judgment of the accelerator when the vehicle is on a slope with a larger gradient and meet the requirement of the driver for starting the accelerator.
And S330, judging whether the time interval from the current moment to the last accelerator step-on by mistake is more than 2S by the vehicle control unit, if so, executing S340, otherwise, normally driving the vehicle, and returning to execute S310. The purpose of the step is to determine the accelerator misstep behavior in the driver 2s as the driver's deliberate acceleration operation without making accelerator misstep judgment;
and S340, judging the working condition of the vehicle by the vehicle controller according to the current vehicle speed, wherein the working condition is specifically divided into a working condition that the vehicle speed is less than or equal to 30km/h, a working condition that the vehicle speed is more than 30km/h and less than or equal to 60km/h and a working condition that the vehicle speed is more than 60km/h.
And executing S350 if the vehicle speed is less than or equal to 30 km/h.
And S350, the vehicle controller receives information collected by the steering wheel angle sensor and the brake pedal depth sensor, if the steering wheel angle is greater than or equal to 20 degrees or the number of times of triggering the brake pedal within 10S before is greater than 3 (a judgment condition), S360 is executed, and at the moment, the vehicle is considered to be in a complex road environment or the driver is performing complex driving operation, and the possibility of mistakenly stepping on the accelerator is high. If the determination condition is not satisfied, S370 is performed.
And S360, the vehicle control unit acquires an accelerator pedal travel signal from the hard wire, and converts the maximum travel of the pedal travel signal ratio into the accelerator depth percentage according to the maximum travel of the accelerator pedal. And if the accelerator depth is greater than or equal to 70% and the accelerator stepping rate percentage is greater than or equal to 0.5%/ms, judging that the accelerator is stepped on by mistake, and executing S380, otherwise, returning to the step of executing S310 in normal driving.
And S370, if the accelerator depth is greater than or equal to 80% and the accelerator stepping rate percentage is greater than or equal to 1%/ms, judging that the accelerator is stepped on by mistake, executing S380, and otherwise, returning to the step S310 in normal driving.
S380, setting the target torque to be 0 by the vehicle controller, sending the target torque to the motor controller through the CAN bus, and unloading the output torque of the motor by the motor controller according to the target torque; the vehicle control unit controls the instrument warning lamp to light and gives out a warning sound to remind a driver of mistakenly stepping on the accelerator; the vehicle control unit controls the horn to whistle to remind surrounding pedestrians, and the risk is further reduced.
S390, after the accelerator is mistakenly stepped on, the vehicle controller judges whether the current accelerator depth is less than 10%, if so, the vehicle controller sends a target torque corresponding to the current accelerator pedal depth to the motor controller, normal driving is recovered, and the vehicle returns to execute S310; otherwise, the process returns to the step S380.
If the vehicle speed is greater than 30km/h and less than or equal to 60km/h, S3100 is executed.
S3100, if the accelerator depth is larger than or equal to 90% and the accelerator pressing rate percentage is larger than or equal to 1%/ms, returning to execute S380. Under the working condition, the running environment of the vehicle is improved, and the probability of mistakenly stepping on the accelerator by a driver is not high; otherwise, the process returns to the step S310.
If the vehicle speed is greater than 60km/h, step S3110 is executed.
S3110, if the throttle depth is greater than or equal to 99% and the duration exceeds three seconds, executing S3120, otherwise, returning to the step S310. The automobile running environment under the working condition is good, and the requirement of accelerating and overtaking exists, so that the judgment of mistakenly stepping on the accelerator is not made any more, and the driver is only reminded of paying attention to the running safety when the accelerator is full.
And S3120, the vehicle control unit controls the instrument warning lamp to light and sends out a prompt tone to remind a driver of full throttle.
S3130, after the accelerator full reminding occurs, the vehicle control unit judges whether the current accelerator depth is less than 90%, if so, the instrument warning lamp and the warning tone are turned off, normal driving is recovered, and the step returns to the step S310; otherwise, S3120 is performed.
Fig. 4 is a schematic structural diagram of a device 400 for preventing a door from being stepped on by mistake according to an embodiment of the present invention. As shown in fig. 4, the apparatus may implement the method shown in fig. 2, and the apparatus may include:
the obtaining module 410 is used for obtaining the gradient of a road surface where the vehicle is located and the speed of the vehicle;
the first determining module 420 is configured to determine a current driving condition of the vehicle according to a vehicle speed of the vehicle if a gradient of a road surface where the vehicle is located is not greater than a gradient threshold;
and the second determining module 430 is configured to determine an adopted anti-accelerator step-on mistake strategy according to the current driving condition of the vehicle.
Optionally, the first determining module 420 is further configured to:
if the speed of the vehicle is less than or equal to the first speed threshold value, the vehicle is in a working condition that the speed of the vehicle is less than or equal to the first speed threshold value;
if the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold, the vehicle is in a working condition that the speed of the vehicle is greater than the first speed threshold and less than or equal to the second speed threshold;
and if the vehicle speed of the vehicle is greater than the second vehicle threshold value, the vehicle is in a working condition that the vehicle speed is greater than the second vehicle threshold value.
Optionally, the second determining module 430 is further configured to:
if the current running working condition of the vehicle is that the vehicle is less than or equal to the first vehicle speed threshold working condition, judging whether a judgment condition is met; wherein, the judgment condition is as follows: the acquired steering wheel rotation angle is greater than or equal to a preset degree, or the acquired brake pedal triggering times within a preset time are greater than preset times;
if the judgment condition is met, the obtained depth of the accelerator pedal is greater than or equal to a first depth threshold value, and the percentage of the accelerator stepping speed is greater than or equal to a first speed threshold value, judging that the accelerator is stepped on by mistake;
and if the judgment condition is not met, the obtained depth of the accelerator pedal is greater than or equal to a second depth threshold value, and the obtained speed percentage of stepping on the accelerator is greater than or equal to a second speed threshold value, judging that the accelerator is stepped on by mistake.
Optionally, the second determining module 430 is further configured to:
and if the current running working condition of the vehicle is that the vehicle speed is greater than the first vehicle speed threshold value and less than or equal to the second vehicle speed threshold value, if the obtained depth of the accelerator pedal is greater than or equal to the third depth threshold value and the percentage of the accelerator treading speed is greater than or equal to the second speed threshold value, determining that the accelerator is treaded by mistake.
Optionally, the second determining module 430 is further configured to:
the motor controller is controlled to set the target torque of the motor to 0.
Optionally, the second determining module 430 is further configured to:
a warning light of the control instrument is turned on;
and/or the presence of a gas in the gas,
and controlling the horn to whistle.
Optionally, the second determining module 430 is further configured to:
if the current accelerator pedal depth is smaller than the fourth depth threshold value, sending a target torque corresponding to the current accelerator pedal depth to the motor controller;
and if the current accelerator pedal depth is not less than the fourth depth threshold value, judging that the accelerator is stepped on by mistake.
Optionally, the second determining module 430 is further configured to:
and if the current running working condition of the vehicle is that the vehicle speed is greater than a second vehicle threshold value, if the acquired depth of the accelerator pedal is greater than or equal to a fifth depth threshold value and the duration is greater than or equal to a time threshold value, performing full accelerator reminding.
Optionally, the second determining module 430 is further configured to:
the warning light of the control instrument is on.
Optionally, the second determining module 430 is further configured to:
if the depth of the accelerator pedal is smaller than a sixth depth threshold value, a warning lamp of the control instrument is turned off, and a target torque corresponding to the current depth of the accelerator pedal is sent to the motor controller;
and if the depth of the accelerator pedal is greater than or equal to the sixth depth threshold value, switching to full accelerator reminding.
Optionally, the second determining module 430 is further configured to: if it has been determined at least once that the accelerator has been stepped on by mistake,
if the gradient of the road where the vehicle is located is not larger than the gradient threshold value, judging whether the time interval from the current moment to the last accelerator misstep is larger than a time interval threshold value or not;
and if the time from the current moment to the last accelerator misstep is greater than the time interval threshold, determining the current running condition of the vehicle according to the speed of the vehicle.
The device for preventing the accelerator from being stepped on by mistake provided by the embodiment can execute the embodiment of the method, and the implementation principle and the technical effect are similar, so that the detailed description is omitted.
Fig. 5 is a schematic structural diagram of an apparatus according to an embodiment of the present invention. As shown in fig. 5, a schematic structural diagram of a computer system 500 suitable for implementing the terminal device or the server of the embodiment of the present application is shown.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 506 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. A driver 510 is also connected to the I/O interface 506 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted on the storage section 508 as necessary.
In particular, the process described above with reference to fig. 1 may be implemented as a computer software program, according to an embodiment of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for performing the above-described method of preventing false accelerator tip-in. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units or modules described in the embodiments of the present application may be implemented by software or hardware. The described units or modules may also be provided in a processor. The names of these units or modules do not in some cases constitute a limitation of the unit or module itself.
As another aspect, the present application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the foregoing device in the foregoing embodiment; or it may be a separate computer readable storage medium not incorporated into the device. The computer readable storage medium stores one or more programs for use by one or more processors in performing the method for preventing accidental stepping on an accelerator described herein.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention herein disclosed is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (13)

1. A method for preventing a throttle from being stepped by mistake is characterized by comprising the following steps:
acquiring the gradient of a road surface where a vehicle is located and the speed of the vehicle;
if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold, determining the current running condition of the vehicle according to the speed of the vehicle, wherein the determining step comprises the following steps:
if the speed of the vehicle is less than or equal to a first speed threshold value, the vehicle is in a working condition that the speed of the vehicle is less than or equal to the first speed threshold value;
according to the current driving working condition of the vehicle, determining an adopted oil gate mistaken-stepping prevention strategy, comprising the following steps of:
if the current running working condition of the vehicle is that the vehicle is smaller than or equal to a first vehicle speed threshold working condition, judging whether a judgment condition is met; wherein the judging condition is as follows: the acquired steering wheel rotation angle is greater than or equal to a preset degree, or the acquired brake pedal triggering times within a preset time are greater than preset times;
if the judgment condition is met, the obtained depth of the accelerator pedal is greater than or equal to a first depth threshold value, and the percentage of the accelerator stepping speed is greater than or equal to a first speed threshold value, judging that the accelerator is stepped on by mistake;
and if the judgment condition is not met, the obtained accelerator pedal depth is greater than or equal to a second depth threshold value, and the obtained accelerator pedal stepping rate percentage is greater than or equal to a second rate threshold value, judging that the accelerator is stepped on by mistake.
2. The method of claim 1, wherein determining the current driving condition of the vehicle based on the vehicle speed of the vehicle further comprises:
if the vehicle speed of the vehicle is greater than a first vehicle speed threshold value and less than or equal to a second vehicle speed threshold value, the vehicle is in a working condition that the vehicle speed is greater than the first vehicle speed threshold value and less than or equal to the second vehicle speed threshold value;
and if the vehicle speed of the vehicle is greater than the second vehicle speed threshold value, the vehicle is in a working condition that the vehicle speed is greater than the second vehicle speed threshold value.
3. The method of claim 2,
according to the current driving working condition of the vehicle, determining an adopted oil gate mistaken-stepping prevention strategy, and the method comprises the following steps of:
and if the current running working condition of the vehicle is that the vehicle speed is greater than a first vehicle speed threshold and less than or equal to a second vehicle speed threshold, if the obtained depth of the accelerator pedal is greater than or equal to a third depth threshold and the percentage of the accelerator treading speed is greater than or equal to a second speed threshold, determining that the accelerator is treaded by mistake.
4. The method according to claim 1 or 3, wherein the determining to tip-in erroneously comprises:
the motor controller is controlled to set the target torque of the motor to 0.
5. The method of claim 4, wherein the determining that gas was mistakenly stepped further comprises:
a warning light of the control instrument is on;
and/or the presence of a gas in the gas,
and controlling the horn to whistle.
6. The method of claim 1 or 3,
after the step of judging that the accelerator is stepped on mistakenly, the method further comprises the following steps of:
if the current depth of the accelerator pedal is smaller than a fourth depth threshold value, sending a target torque corresponding to the current depth of the accelerator pedal to a motor controller;
and if the current accelerator pedal depth is not less than the fourth depth threshold value, judging that the accelerator is stepped on by mistake.
7. The method according to claim 2, wherein the step of determining the adopted anti-accelerator step-by-step strategy according to the current running condition of the vehicle comprises the following steps:
and if the current running working condition of the vehicle is that the vehicle speed is greater than the second vehicle speed threshold value, if the obtained depth of the accelerator pedal is greater than or equal to a fifth depth threshold value and the duration time is greater than or equal to a time threshold value, performing full accelerator reminding.
8. The method of claim 7, wherein said performing a full throttle alert comprises:
the warning light of the control instrument is on.
9. The method of claim 8, wherein the performing the full throttle alert is followed by:
if the depth of the accelerator pedal is smaller than a sixth depth threshold value, a warning lamp of the instrument is controlled to be turned off, and a target torque corresponding to the current depth of the accelerator pedal is sent to a motor controller;
and if the depth of the accelerator pedal is greater than or equal to the sixth depth threshold value, switching to the full accelerator reminding.
10. A method according to claim 2, characterized in that if it has been determined at least once that the gas has been stepped on erroneously,
if the gradient of the road surface where the vehicle is located is not larger than the gradient threshold value, determining the current running condition of the vehicle according to the speed of the vehicle, wherein the determining step comprises the following steps:
if the gradient of the road where the vehicle is located is not larger than the gradient threshold value, judging whether the time interval from the current moment to the last accelerator misstep is larger than a time interval threshold value or not;
and if the time from the current moment to the last accelerator step by mistake is greater than the time interval threshold, determining the current running working condition of the vehicle according to the speed of the vehicle.
11. The utility model provides a device that grease proofing door mistake was stepped on which characterized in that includes:
the acquisition module is used for acquiring the gradient of a road surface where a vehicle is located and the speed of the vehicle;
the first determination module is used for determining the current running condition of the vehicle according to the speed of the vehicle if the gradient of the road surface where the vehicle is located is not larger than a gradient threshold value, and comprises the following steps:
if the speed of the vehicle is less than or equal to a first speed threshold value, the vehicle is in a working condition that the speed of the vehicle is less than or equal to the first speed threshold value;
the second determination module is used for determining an adopted oil gate mistaken-stepping prevention strategy according to the current running working condition of the vehicle, and comprises the following steps:
if the current running working condition of the vehicle is that the vehicle is smaller than or equal to a first vehicle speed threshold working condition, judging whether a judgment condition is met; wherein the judging condition is as follows: the acquired steering wheel rotation angle is greater than or equal to a preset degree, or the acquired brake pedal triggering times within a preset time are greater than preset times;
if the judgment condition is met, the obtained depth of the accelerator pedal is greater than or equal to a first depth threshold value, and the percentage of the accelerator stepping speed is greater than or equal to a first speed threshold value, judging that the accelerator is stepped on by mistake;
and if the judgment condition is not met, the obtained accelerator pedal depth is greater than or equal to a second depth threshold value, and the obtained accelerator pedal stepping rate percentage is greater than or equal to a second rate threshold value, judging that the accelerator is stepped on by mistake.
12. An apparatus for preventing a driver from stepping on a door mistakenly, wherein the apparatus comprises a memory, a vehicle control unit and a program stored on the memory and operable on the vehicle control unit, and the vehicle control unit implements the method according to any one of claims 1 to 10 when executing the program.
13. A storage medium, on which a program is stored, which, when being executed by a vehicle control unit, carries out the method according to one of claims 1 to 10.
CN202010603913.8A 2020-06-29 2020-06-29 Method, device, equipment and storage medium for preventing mistaken stepping on of oil gate Active CN113928115B (en)

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