CN107458372B - Pre-impact control method and device based on Vehicle security system - Google Patents
Pre-impact control method and device based on Vehicle security system Download PDFInfo
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- CN107458372B CN107458372B CN201710729542.6A CN201710729542A CN107458372B CN 107458372 B CN107458372 B CN 107458372B CN 201710729542 A CN201710729542 A CN 201710729542A CN 107458372 B CN107458372 B CN 107458372B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000002195 synergetic effect Effects 0.000 abstract description 4
- 230000006378 damage Effects 0.000 description 8
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003449 preventive effect Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01013—Means for detecting collision, impending collision or roll-over
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The pre-impact control method and device based on Vehicle security system that the present invention relates to a kind of, which comprises judging whether can be with safe avoidance target object；If it is not, then generating the collision strategy to match with the target object；It controls the active safety system and passive safety system executes the collision strategy.The present invention can make the safety of main passive safety system synergistic effect protection pedestrian or occupant.
Description
Technical field
The present invention relates to automotive fields, more particularly to a kind of pre-impact control method and dress based on Vehicle security system
It sets.
Background technique
Vehicle safety has two aspect of active safety system and passive safety system.Active safety system is hit in vehicle
Play the role of being preventive from possible trouble before hitting danger, improves the stability of running car, reduce the deviation of manipulation.Passive security system
System refers in the case where not can avoid collision accident, is preferably minimized by the protection of vehicle itself by injury is hit.Wherein, vehicle
Steel plate, body structure, safety belt, air bag, headrest, the steering wheel of shrinkable and brake pedal etc. be all passive security
Important component.
But current active safety system is kept completely separate with passive safety system, when Ben Che and pedestrian, Ben Che and front truck are in
Danger vehicle distance, when collision not can avoid (TTC < 5s), Each performs its own functions for active and passive two big security system, cannot play collaboration
The safety to protect pedestrian or occupant is acted on, and the driver in high-pressure state is difficult to make correct judgement sedately
And operation, the harm after being easy to cause collision to occur increase, the injures and deaths of pedestrian or occupant aggravate.
Summary of the invention
Based on this, it is necessary to aiming at the problem that current main passive safety system is unable to coordinating protection pedestrian or occupant safety,
A kind of pre-impact control method and device based on Vehicle security system are provided.
A kind of pre-impact control method based on Vehicle security system, the Vehicle security system includes active safety system
And passive safety system, which comprises
Judging whether can be with safe avoidance target object；
If it is not, then generating the collision strategy to match with the target object；
It controls the active safety system and passive safety system executes the collision strategy.
In one of the embodiments, the method also includes:
Judge whether in the hole between vehicle and the target object.
It is described in one of the embodiments, to judge whether in the hole between vehicle and the target object, packet
It includes:
Judge the distance between the vehicle and the target object whether in preset collision distance；
Or
It detects whether to receive dangerous tip signal.
The collision strategy of the generation and the target object phase in one of the embodiments, comprising:
When the target object is pedestrian, then corresponding collision strategy is generated according to preset pedestrian impact rule；
When the target object is vehicle, then corresponding collision strategy is generated according to preset vehicle collision rule.
In one of the embodiments, when the target object is pedestrian, the control active safety system and
Passive safety system executes the collision strategy, comprising:
Calculate the pre-impact position between the vehicle and the pedestrian；
Judge whether the pre-impact position is preset position of collision；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact position, make described pre-
Position of collision is identical as the preset position of collision.
The vehicle collision rule includes the first collision rule and the second collision rule, institute in one of the embodiments,
It states and corresponding collision strategy is generated according to preset vehicle collision rule, comprising:
Judge that the collision mode of the target object Yu the vehicle, the collision mode include positive collision and laterally touch
It hits；
When for forward direction collision, then corresponding collision strategy is generated according to first collision rule；
When for side collision, then corresponding collision strategy is generated according to second collision rule.
It is described in one of the embodiments, that corresponding collision strategy is generated according to first collision rule, comprising:
Calculate the pre-impact angle between the vehicle-to-target object；
Judge whether the pre-impact angle is preset collision angle；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact angle, make described pre-
Collision angle is identical as preset collision angle.
The preset collision angle is 90 degree in one of the embodiments,.
It is described in one of the embodiments, that corresponding collision strategy is generated according to second collision rule, comprising:
Calculate the pre-impact angles and positions between the vehicle-to-target object；
Judge whether the pre-impact angles and positions are preset collision angle and position；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact angles and positions, make
The pre-impact angles and positions are identical as preset collision angle and position.
A kind of pre-impact control system based on Vehicle security system, the Vehicle security system includes active safety system
And passive safety system, the system comprises:
Judgment module, for judge whether can be with safe avoidance target object；
Generation module, for generating and the mesh when the judgment module, which is judged, to avoid target object safely
The collision strategy that mark object matches；
Control module executes the collision strategy for controlling the active safety system and passive safety system.
For the above based in the pre-impact control method and device of Vehicle security system, vehicle can not avoid object
When body, then the collision strategy to match with the target object is generated, and control the active safety system and passive security system
System executes the collision strategy, makes the safety of main passive safety system synergistic effect protection pedestrian or occupant.
Detailed description of the invention
Fig. 1 is the flow chart of the pre-impact control method based on Vehicle security system of an embodiment；
Fig. 2 is the flow chart of the pre-impact control method based on Vehicle security system of another embodiment；
Fig. 3 is the flow chart of step S160 in Fig. 1；
Fig. 4 is the schematic diagram of vehicle and pedestrian impact；
Fig. 5 is the schematic diagram of automobile and automobile positive collision；
Fig. 6 is the schematic diagram of automobile and automobile side angle collision.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Vehicle security system includes active safety system and passive safety system.
ABS (anti-lock braking system), EBD (electronic brake force distribution system), TCS (traction control system), ESP
(electronic stability program), EBA (emergency brake auxiliary system) etc. are active safety designs, and the traveling that automobile can be improved is steady
It is qualitative, traffic accident is prevented as possible.Other such as high-mount stop lamp, front and back fog lamp, rear-window defroster with timer lamp are also active safety design.
It is known as passive security design to avoid or mitigating the safe design that personnel come to harm in the traffic accident and take, such as pacifies
Full band, air bag, the front and back energy-absorbing area of vehicle body, car door anti-collision girder steel all belong to passive security design.They are sent out in traffic accident
It just works after life.
Since automobile is that accident occurs on present society at most, the present embodiment preferentially selects automobile to realize this reality
Apply the scheme of example.It should be pointed out that the present embodiment can be applied to include the variety classes such as automobile, truck, vehicle vehicle
In the middle.
The present embodiment will make main passive safety system collective effect to protect the safety of pedestrian or occupant.Specifically, such as Fig. 1
Shown, the pre-impact control method based on Vehicle security system of an embodiment includes step S120 to step S160.
Step S120, judging whether can be with safe avoidance target object.
The present embodiment can be just realized when may collide between vehicle-to-target object, and therefore, it is necessary to judge vehicle
Whether can normally avoid target object.
Step S140, if it is not, then generating the collision strategy to match with target object.
When vehicle cannot avoid safely target object, then vehicle will collide with target object.Target object can be
People or vehicle etc., different target objects need to generate matched collision strategy.
Step S160, controls active safety system and passive safety system executes collision strategy.
When executing collision strategy, Yao Xietong active safety system and passive safety system collective effect execute the present embodiment
The collision strategy.
The above based in the pre-impact control method of Vehicle security system, vehicle when target object can not be avoided,
The collision strategy to match with the target object is then generated, and controls the active safety system and passive safety system execution
The collision strategy makes the safety of main passive safety system synergistic effect protection pedestrian or occupant.
As shown in Fig. 2, the pre-impact control method based on Vehicle security system of another embodiment further includes step S110.
Whether step S110 judges in the hole between vehicle-to-target object.
Precarious position can be collision or other situations between vehicle-to-target object etc..Usual vehicle is in security row
During sailing, will not cause danger state with target object.When vehicle-to-target object, which is in, may cause danger state,
Step S120 is needed to be implemented, with judge whether can be with safe avoidance target object.
Wherein, whether step S110 judges in the hole between vehicle-to-target object, comprising:
Judge the distance between vehicle-to-target object whether in preset collision distance；Or
It detects whether to receive dangerous tip signal.
In one implementation, when target object is behaved or when vehicle, then the dangerous shape between vehicle-to-target object
State is the collision that possible occur.At this point, preset collision distance is the minimum range collided between vehicle-to-target object, at this
It is unavoidable in the collision theory between vehicle-to-target object in a distance.
In another implementation, target object is also likely to be open circuit or river etc., is generally had in this case
Corresponding dangerous tip information, such as information warning, when vehicle receives dangerous tip information, then it represents that vehicle-to-target object
Dangerous state between body.
It should be pointed out that target object is preferably pedestrian and automobile, and the present embodiment is mainly in automobile in the present embodiment
When colliding between target object, the safety of pedestrian or occupant are protected.Therefore, in the present embodiment, in step S140, generation and mesh
Mark the collision strategy of object phase, comprising:
When target object is pedestrian, then corresponding collision strategy is generated according to preset pedestrian impact rule；
When target object is vehicle, then corresponding collision strategy is generated according to preset vehicle collision rule.
Wherein, when target object is pedestrian, as shown in figure 3, step S160 includes step S161 to step S163.
Step S161 calculates the pre-impact position between vehicle and pedestrian.
It is generally fitted with the equipment such as camera, radar on automobile, pedestrian may determine that by the information that these equipment acquire
Status information, including pedestrian at a distance from vehicle, speed, the information such as relative position.It is possible thereby to predict vehicle and pedestrian it
Between pre-impact position.
Step S162 judges whether pre-impact position is preset position of collision.
As shown in figure 4, when vehicle inevitably with front pedestrian collision when, controlled by active safety system, will
Collision with pedestrian is converted into the collision in the middle part of headstock by headstock two sides, can make full use of automobile passive safety system (before i.e.
The buffering of end and preceding bonnet) protective effect, reduce damage of the collision to pedestrian.Therefore, the full name of this implementation, preset collision
Position is the position in the middle part of automobile head.
Step S163 makes pre-impact if it is not, then controlling active safety system and passive safety system correction pre-impact position
Position is identical as preset position of collision.
It should be pointed out that preset pedestrian impact rule is to instigate vehicle and pedestrian in collision in the present embodiment, make
The middle part on vehicle (including automobile) head and pedestrian collision.
When pre-impact position and preset position of collision difference, active safety system can be controlled in time when that will collide
System and passive safety system correct pre-impact position, keep pre-impact position identical as preset position of collision, thus in practical hair
When raw collision, makes middle part and the pedestrian collision on automobile head, by front end in passive safety system and the buffering of preceding bonnet, subtract
The small shock dynamics to pedestrian, farthest to protect pedestrian.It should be pointed out that the present embodiment is not limited to automobile head
Middle part and angle when pedestrian impact, it is only necessary to the middle part on automobile head and pedestrian impact.
When target object is vehicle, the collision between automobile and automobile mainly includes head-on crash and side collision, and two
The different collision situation of kind needs to be arranged different collision avoidances utmostly to protect interior occupant.For this purpose, the present embodiment
It is provided with the first collision rule for forward direction collision, is provided with the second collision rule for side collision, two different rules can be with
The dynamics for reducing collision to the greatest extent, protects occupant.Corresponding, step S140 is according to the generation pair of preset vehicle collision rule
The collision strategy answered, comprising:
Judge that the collision mode of target object and vehicle, collision mode include positive collision and side collision；
When for forward direction collision, then corresponding collision strategy is generated according to the first collision rule；
When for side collision, then corresponding collision strategy is generated according to the second collision rule.
Wherein, corresponding collision strategy is generated according to the first collision rule, comprising:
Calculate the pre-impact angle between vehicle-to-target object；
Judge whether pre-impact angle is preset collision angle；
If it is not, then control active safety system and passive safety system correction pre-impact angle, make pre-impact angle and pre-
If collision angle it is identical.
In the present embodiment, when the first collision rule is vehicle and vehicle forward direction or head-on crash, make the collision between two vehicles
Angle is 90 degree, realizes nonangular collision between two vehicles.
As shown in figure 5, when automobile and automobile positive collision, passing through actively when positive collision between automobile and automobile
Security system control, is converted to positive central collision for the oblique collision of two vehicles, can make full use of the front end passive security system of two vehicles
System, buffering collision bring impact, reduces injury of the collision to occupant on vehicle, and advantageously ensure that the stabilization after the collision of two vehicles
Property.
For this purpose, preset collision angle is 90 degree in the present embodiment.When the non-default collision angle of pre-impact angle,
When that will collide, then pre-impact angle is corrected by control active safety system and passive safety system in time in time, makes to touch
When hitting generation, two vehicle collision angles are 90 degree, reduce collision impact, protect occupant and guarantee the stability of two vehicles after hitting.
Wherein, corresponding collision strategy is generated according to the second collision rule, comprising:
Calculate the pre-impact angles and positions between vehicle-to-target object；
Judge whether pre-impact angles and positions are preset collision angle and position；
If it is not, then controlling active safety system and passive safety system correction pre-impact angles and positions, make pre-impact angle
Degree and position are identical as preset collision angle and position.
In the present embodiment, when the second collision rule refers to lateral or side collision between vehicle and vehicle, hit front truck
Collision angle and position when rear car side corresponds to lateral column.It is appreciated that in contrast front car and rear car is.
As shown in fig. 6, when two vehicle side collisions, according to the pre-impact angles and positions between two vehicles, if rear car will
When directly hitting the driver in front truck, then by the traffic direction of the control adjustment front truck of active safety system, by front truck
It hits the driver in rear car and is converted to the A column or B column for hitting front truck side, to take full advantage of the passive security of automobile
System (i.e. the intensity of A column and B column is bigger), makes the main passive safety system cooperating operation in automobile, inevitable to reduce
Collision caused by casualties.
For this purpose, rear car hits the angle of front truck lateral column when preset collision angle and position are car to car impact in the present embodiment
Degree and position.Lateral column is that perhaps B column A column or B column are as shown in Figure 6 for the corresponding A column of driver or occupant side.It is touched when in advance
When hitting angles and positions and preset collision angle and position difference, then corrected by active safety system and passive safety system
Pre-impact angles and positions keep pre-impact angles and positions identical as preset collision angle and position when colliding generation, drop
The injures and deaths of low personnel.
Due to the complicated multiplicity of the forms of collision between vehicle, collision mode described above is that the present embodiment can be with
The form of expression of realization, for other forms of collision, the present embodiment be not limited by other optimal salvos or rule from
And reduce other schemes of the collision loss between two vehicles, it is appreciated that by the way that collide corresponding with collision mode is arranged
The purpose for minimizing and reducing collision loss can be realized in rule.
The present embodiment additionally provides a kind of pre-impact control system based on Vehicle security system, and Vehicle security system includes
Active safety system and passive safety system comprising:
Judgment module, for judge whether can be with safe avoidance target object；
Generation module, for generating and target object phase when judgment module, which is judged, to avoid target object safely
Matched collision strategy；
Control module executes collision strategy for controlling active safety system and passive safety system.
It is appreciated that the pre-impact control system of the present embodiment is based on pre-impact control method described above, tool
Body implementation is identical as the content in the above pre-impact control method, and the present embodiment no longer specifically describes.
The present embodiment additionally provides a kind of vehicle, and camera is provided on vehicle, and camera can be three-dimensional camera；
Radar is additionally provided on vehicle, it can be with information such as the speed of detecting objects body, positions；Corresponding biography can also be set on vehicle
Sensor etc..AutoBox controller is set in vehicle, connect with camera, radar etc., can receive camera, radar acquires
Information, and position, the angle etc. that information analysis collision occurs based on the received, to control the running track of vehicle.Vehicle adds
Actuators, the controllers such as dress EPS, ESC&EPB, EMS&TCU&BMS are connect with these actuators by CAN bus, these execution
Device can receive the control instruction of controller transmission, and executes control instruction and realize the operation such as Vehicular turn, braking, deceleration, from
And it finally realizes through active safety control and obtains the optimal utilization of passive safety feature.
It is appreciated that content described in above method may be implemented by the above vehicle.For example, working as running car
When occurring pedestrian in the process, controller receives the information of radar and camera acquisition, wherein radar can obtain pedestrian detection
Take speed and the position of pedestrian, Road or face where the available front pedestrian of camera and pedestrian are believed by multisensor
Ceasing information, these information such as position, the relative velocity of the available front pedestrian of integration technology can be sent to by CAN bus
Micro AutoBox controller, controller interact judge whether automobile can be with safe avoidance pedestrian with host computer.
If can be with safe avoidance, control instruction occurs for controller if, and it is aobvious to be sent to the instrument on automobile via CAN bus
Showing device carries out evacuation prompting, meanwhile, controller sends control instruction to electric steering system EPS, control unit of engine
The execution units such as ECU, braking system ESP+EPB, to realize the Automobile operations such as fast steering, deceleration, braking, to realize rapidly
To the Emergency avoidance of pedestrian.
When controller judges automobile and pedestrian will inevitably collide, controller is then according to radar and camera
The information of acquisition, to obtain impending collision position and angle, later, controller makes corresponding collision strategy again.When
When collision between automobile and pedestrian is occurred in the middle part of headstock, then control instruction is sent by CAN bus to meter displaying device reality
It now alarms, and sends control instruction and realized to control unit of engine ECU and braking system ESP+EPB and slowed down and braking process,
Alleviate collsion damage by reducing impact velocity, simultaneously as collision occurs in the middle part of headstock, therefore its passive safety system energy
Effective protection is hit pedestrian, reduces collsion damage.When controller judges that position of collision occurs at headstock two sides, then in addition to above
Outside control instruction, controller can also send control instruction to electric steering system EPS, by retarding braking and turn to comprehensive control
System adjusts headstock position, so that the collision of automobile and pedestrian occur to give full play to main passive security system in headstock medium position
The synergistic protective effect of system reduces collision and damages caused by pedestrian.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of pre-impact control method based on Vehicle security system, the Vehicle security system include active safety system and
Passive safety system, which is characterized in that the described method includes:
Judging whether can be with safe avoidance target object；
If it is not, then generating the collision strategy to match with the target object；
It controls the active safety system and passive safety system executes the collision strategy；
The collision strategy of the generation and the target object phase, comprising:
When the target object is pedestrian, then corresponding collision strategy is generated according to preset pedestrian impact rule；
When the target object is vehicle, then corresponding collision strategy is generated according to preset vehicle collision rule；
It is described to control the active safety system and the passive safety system execution collision when the target object is pedestrian
Strategy, comprising:
Calculate the pre-impact position between the vehicle and the pedestrian；
Judge whether the pre-impact position is preset position of collision；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact position, make the pre-impact
Position is identical as the preset position of collision.
2. the method according to claim 1, wherein the method also includes:
Judge whether in the hole between vehicle and the target object.
3. according to the method described in claim 2, it is characterized in that, described judge whether locate between vehicle and the target object
In precarious position, comprising:
Judge the distance between the vehicle and the target object whether in preset collision distance；
Or
It detects whether to receive dangerous tip signal.
4. the method according to claim 1, wherein the vehicle collision rule includes the first collision rule and the
Two collision rules, it is described that corresponding collision strategy is generated according to preset vehicle collision rule, comprising:
Judge that the collision mode of the target object Yu the vehicle, the collision mode include positive collision and side collision；
When for forward direction collision, then corresponding collision strategy is generated according to first collision rule；
When for side collision, then corresponding collision strategy is generated according to second collision rule.
5. according to the method described in claim 4, it is characterized in that, described generate corresponding touch according to first collision rule
Hit strategy, comprising:
Calculate the pre-impact angle between the vehicle-to-target object；
Judge whether the pre-impact angle is preset collision angle；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact angle, make the pre-impact
Angle is identical as preset collision angle.
6. according to the method described in claim 5, it is characterized in that, the preset collision angle is 90 degree.
7. according to the method described in claim 4, it is characterized in that, described generate corresponding touch according to second collision rule
Hit strategy, comprising:
Calculate the pre-impact angles and positions between the vehicle-to-target object；
Judge whether the pre-impact angles and positions are preset collision angle and position；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact angles and positions, make described
Pre-impact angles and positions are identical as preset collision angle and position.
8. a kind of pre-impact control system based on Vehicle security system, the Vehicle security system include active safety system and
Passive safety system, which is characterized in that the system comprises:
Judgment module, for judge whether can be with safe avoidance target object；
Generation module, for generating and the object when the judgment module, which is judged, to avoid target object safely
The collision strategy that body matches；
Control module executes the collision strategy for controlling the active safety system and passive safety system；
The generation module is used for:
When the target object is pedestrian, then corresponding collision strategy is generated according to preset pedestrian impact rule；
When the target object is vehicle, then corresponding collision strategy is generated according to preset vehicle collision rule；
When the target object is pedestrian, the control module is used for:
Calculate the pre-impact position between the vehicle and the pedestrian；
Judge whether the pre-impact position is preset position of collision；
If it is not, then controlling the active safety system and the passive safety system correction pre-impact position, make the pre-impact
Position is identical as the preset position of collision.
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| CN116872881A (en) * | 2023-08-09 | 2023-10-13 | 清华大学 | Active and passive safety cooperative control method and device for pedestrians and computer equipment |
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