CN107458372A - 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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- CN107458372A CN107458372A CN201710729542.6A CN201710729542A CN107458372A CN 107458372 A CN107458372 A CN 107458372A CN 201710729542 A CN201710729542 A CN 201710729542A CN 107458372 A CN107458372 A CN 107458372A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000006378 damage Effects 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000034994 death Effects 0.000 description 2
- 231100000517 death Toxicity 0.000 description 2
- 208000014674 injury Diseases 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
- 230000002195 synergetic effect Effects 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)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention relates to a kind of pre-impact control method and device based on Vehicle security system, methods described includes：Judging whether can be with safe avoidance target object；If it is not, the collision strategy that then generation matches with the target object；The active safety system and passive safety system is controlled to perform the collision strategy.The present invention can make the safety of main passive safety system synergy protection pedestrian or occupant.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of pre-impact control method and dress based on Vehicle security system
Put.
Background technology
Vehicle safety has active safety system and the aspect of passive safety system two.Active safety system is hit in vehicle
Play a part of being preventive from possible trouble before hitting danger, improve the stability of running car, reduce the deviation of manipulation.Passive security system
System refers to not to be preferably minimized injury is hit by the protection of vehicle in itself in the case of collision free accident.Wherein, car
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, (TTC when collision can not avoid<5s), Each performs its own functions for active and passive two big security systems, it is impossible to plays collaboration
Effect is to protect the safety of pedestrian or occupant, and the driver in high-pressure state is difficult to make correct judgement sedately
And operation, easily cause the harm after collision generation to increase, the injures and deaths of pedestrian or occupant aggravate.
The content of the invention
Based on this, it is necessary to the problem of being unable to coordinating protection pedestrian or occupant safety for current main passive safety system,
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 include active safety system
And passive safety system, methods described include：
Judging whether can be with safe avoidance target object；
If it is not, the collision strategy that then generation matches with the target object；
The active safety system and passive safety system is controlled to perform the collision strategy.
In one of the embodiments, methods described also includes：
Judge whether in the hole between vehicle and the target object.
In one of the embodiments, it is described to judge whether in the hole between vehicle and the target object, bag
Include：
Judge the distance between the vehicle and the target object whether in default collision distance；
Or
Detect whether to receive dangerous tip signal.
In one of the embodiments, the generation and the collision strategy of the object body phase, including：
When the target object is pedestrian, then strategy is collided according to corresponding to the rule generation of default pedestrian impact；
When the target object is vehicle, then strategy is collided according to corresponding to default vehicle collision rule generation.
In one of the embodiments, when the target object is pedestrian, the control active safety system and
Passive safety system performs the collision strategy, including：
Calculate the pre-impact position between the vehicle and the pedestrian；
Judge whether the pre-impact position is default position of collision；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact position, make described pre-
Position of collision is identical with the default position of collision.
In one of the embodiments, the vehicle collision rule includes the first collision rule and the second collision rule, institute
State and collide strategy according to corresponding to default vehicle collision rule generation, including：
Judge the collision mode of the target object and the vehicle, the collision mode includes positive collision and laterally touched
Hit；
When being collided for forward direction, then strategy is collided according to corresponding to first collision rule generation；
When for side collision when, then collision is tactful according to corresponding to generating second collision rule.
In one of the embodiments, the collision strategy according to corresponding to first collision rule generation, including：
Calculate the pre-impact angle between the vehicle-to-target object；
Judge whether the pre-impact angle is default collision angle；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact angle, make described pre-
Collision angle is identical with default collision angle.
In one of the embodiments, the default collision angle is 90 degree.
In one of the embodiments, the collision strategy according to corresponding to second collision rule generation, including：
Calculate the pre-impact angles and positions between the vehicle-to-target object；
Judge whether the pre-impact angles and positions are default collision angle and position；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact angles and positions, make
The pre-impact angles and positions are identical with default collision angle and position.
A kind of pre-impact control system based on Vehicle security system, the Vehicle security system include active safety system
And passive safety system, the system include：
Judge module, for judge whether can be with safe avoidance target object；
Generation module, for when the judge module judges that target object can not be avoided safely, generating and the mesh
The collision strategy that mark object matches；
Control module, for controlling the active safety system and passive safety system to perform the collision strategy.
In pre-impact control method and device described above based on Vehicle security system, vehicle can not avoid object
During body, then the collision strategy to match with the target object is generated, and control the active safety system and passive security system
System performs the collision strategy, makes the safety of main passive safety system synergy protection pedestrian or occupant.
Brief description of the drawings
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 automobile and the schematic diagram of automobile positive collision；
Fig. 6 is automobile and the schematic diagram of automobile side angle collision.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
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 (EBD), TCS (TCS), ESP
(ESP), EBA (emergency brake auxiliary system) etc. is all active safety design, and it is steady that it can improve the traveling of automobile
It is qualitative, traffic accident is prevented as possible.Other such as high-mount stop lamp, front and rear fog lamp, rear-window defroster with timer lamp are also active safety design.
The safe design taken to avoid or mitigating personnel from coming to harm in the traffic accident is referred to as passive security design, such as pacifies
Full band, air bag, the front and rear 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
Just worked after life.
Because automobile is that accident occurs on present society at most, therefore, the present embodiment prioritizing selection automobile realizes this reality
Apply the scheme of example.It is pointed out that the present embodiment can apply to include the variety classeses such as automobile, truck, the vehicle of vehicle
It is central.
The present embodiment will make main passive safety system collective effect 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 be collided between vehicle-to-target object, therefore, it is necessary to judges car
Whether can normally avoid target object.
Step S140, if it is not, the collision strategy that then generation matches with target object.
When vehicle can not avoid target object safely, then vehicle will collide with target object.Target object can be
People or vehicle etc., different target objects is, it is necessary to generate the collision strategy of matching.
Step S160, active safety system and passive safety system is controlled to perform collision strategy.
The present embodiment will cooperate with active safety system to be performed with passive safety system collective effect when execution collision is tactful
The collision strategy.
In pre-impact control method described above based on Vehicle security system, vehicle when target object can not be avoided,
The collision strategy that then generation matches with the target object, and control the active safety system and passive safety system to perform
The collision strategy, make the safety of main passive safety system synergy protection pedestrian or occupant.
As shown in Fig. 2 the pre-impact control method based on Vehicle security system of another embodiment also includes step S110.
Step S110, judge whether in the hole between vehicle-to-target object.
Precarious position can be the collision between vehicle-to-target object, or other situations 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,
Need to perform step S120, so that judge whether can be with safe avoidance target object.
Wherein, whether step S110 judges in the hole between vehicle-to-target object, including：
Judge the distance between vehicle-to-target object whether in default collision distance；Or
Detect whether to receive dangerous tip signal.
In one implementation, when target object is behaved or during vehicle, then the dangerous shape between vehicle-to-target object
State is the collision that possible occur.Now, default 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 individual distance.
In another implementation, target object is also likely to be open circuit or river etc., is typically had in this case
Corresponding dangerous tip information, such as information warning, when vehicle receiver is to dangerous tip information, then it represents that vehicle-to-target thing
Dangerous state between body.
It is pointed out that in the present embodiment, target object is preferably pedestrian and automobile, and the present embodiment is mainly in automobile
When being collided between target object, the safety of pedestrian or occupant are protected.Therefore, in the present embodiment, in step S140, generation and mesh
The collision strategy of object phase is marked, including：
When target object is pedestrian, then strategy is collided according to corresponding to the rule generation of default pedestrian impact；
When target object is vehicle, then strategy is collided according to corresponding to default vehicle collision rule generation.
Wherein, when target object is pedestrian, as shown in figure 3, step S160 includes step S161 to step S163.
Step S161, calculate the pre-impact position between vehicle and pedestrian.
The equipment such as camera, radar are generally fitted with automobile, the information gathered by these equipment may determine that pedestrian
Status information, including the information such as the distance of pedestrian and vehicle, speed, relative position.It is possible thereby to predict vehicle and pedestrian it
Between pre-impact position.
Step S162, judge whether pre-impact position is default 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 both sides, can make full use of automobile passive safety system (before i.e.
End and the buffering of preceding bonnet) protective effect, reduce infringement of the collision to pedestrian.Therefore, the full name of this implementation, default collision
Position is the position in the middle part of automobile head.
Step S163, if it is not, then controlling active safety system and passive safety system correction pre-impact position, make pre-impact
Position is identical with default position of collision.
It is pointed out that in the present embodiment, default pedestrian impact rule is to instigate vehicle, in collision, to make with pedestrian
The middle part on vehicle (including automobile) head and pedestrian collision.
When pre-impact position and default position of collision difference, active safety system can be controlled in time when that will collide
System and passive safety system correction pre-impact position, make pre-impact position identical with default position of collision, so as in actual hair
During raw collision, make 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 is pointed out that the present embodiment is not limited to automobile head
Middle part and angle during 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 set different collision avoidances at utmost to protect the occupant of in-car.Therefore, the present embodiment
Be provided with the first collision rule for forward direction collision, be that side collision is provided with the second collision rule, two kinds of different rules can be with
Farthest reduce the dynamics of collision, protect occupant.Corresponding, step S140 is according to default vehicle collision rule generation pair
The collision strategy answered, including：
Judge the collision mode of target object and vehicle, collision mode includes positive collision and side collision；
When being collided for forward direction, then strategy is collided according to corresponding to the generation of the first collision rule；
When for side collision when, then collision is tactful according to corresponding to generating the second collision rule.
Wherein, strategy is collided according to corresponding to the generation of the first collision rule, including：
Calculate the pre-impact angle between vehicle-to-target object；
Judge whether pre-impact angle is default collision angle；
If it is not, then control active safety system and passive safety system correction pre-impact angle, make pre-impact angle with it is 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 cars
Angle is 90 degree, realizes nonangular collision between two cars.
As shown in figure 5, when positive collision between automobile and automobile, when automobile and automobile positive collision, pass through actively
Security system is controlled, and the oblique collision of two cars is converted into positive central collision, can make full use of the front end passive security system of two cars
System, the impact of collision belt is buffered, reduce injury of the collision to occupant on car, and advantageously ensure that the stabilization of two car collision rifts
Property.
Therefore, in the present embodiment, default collision angle is 90 degree.When the non-default collision angle of pre-impact angle,
When that will collide, then make to touch by controlling active safety system and passive safety system to correct pre-impact angle in time in time
When hitting generation, two car collision angles are 90 degree, reduce collision impact, protect occupant and ensure the stability of two cars after hitting.
Wherein, strategy is collided according to corresponding to the generation of the second collision rule, including：
Calculate the pre-impact angles and positions between vehicle-to-target object；
Judge whether pre-impact angles and positions are default 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 with default 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 comparatively front car and rear car is.
As shown in fig. 6, when two car side collisions, according to the pre-impact angles and positions between two cars, if rear car will
When directly hitting the human pilot in front truck, then the traffic direction of front truck is adjusted by the control of active safety system, by front truck
Hit the human pilot in rear car and be converted to the A posts or B posts for hitting front truck side, to take full advantage of the passive security of automobile
System (i.e. the intensity of A posts and B posts is bigger), makes the main passive safety system cooperating operation in automobile, inevitable to reduce
Collision caused by casualties.
Therefore, in the present embodiment, rear car hits the angle of front truck lateral column when default collision angle and position are car to car impact
Degree and position.Lateral column is A posts or B posts corresponding to driver or occupant side, and A posts or B posts are as shown in Figure 6.Touched when in advance
When hitting angles and positions with default collision angle and position difference, then corrected by active safety system and passive safety system
Pre-impact angles and positions, when colliding generation, make pre-impact angles and positions identical with default collision angle and position, drop
The injures and deaths of low personnel.
Because the forms of collision complexity between vehicle is various, therefore, 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 cars, it is appreciated that by setting collide corresponding with collision mode
Rule can be achieved to minimize the purpose for reducing collision loss.
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, it includes：
Judge module, for judge whether can be with safe avoidance target object；
Generation module, for when judge module judges that target object can not be avoided safely, generating and object body phase
The collision strategy of matching；
Control module, for controlling active safety system and passive safety system to perform collision strategy.
It is appreciated that the pre-impact control system of the present embodiment is based on pre-impact control method described above, it has
Body implementation is identical with the content in 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 with its vehicle, and camera can be three-dimensional camera；
Radar is additionally provided with vehicle, can be with information such as the speed of detecting objects body, positions；Corresponding biography can also be set on vehicle
Sensor etc..AutoBox controllers are set in vehicle, be connecteds with camera, radar etc., camera can be received, radar gathers
Information, and the position occurred, angle etc. are collided according to the information analysis of reception, so as to control the running orbit of vehicle.Vehicle adds
Actuator, the controllers such as dress EPS, ESC＆EPB, EMS＆TCU＆BMS are connected with these actuators by CAN, these execution
Device can receive the control instruction of controller transmission, and perform control instruction and realize that Vehicular turn, braking, deceleration etc. operate, from
And finally realize by active safety control to obtain the optimal utilization of passive safety feature.
It is appreciated that pass through above vehicle, it is possible to achieve the content described in above method.For example, work as running car
During when there is pedestrian, controller receives the information of radar and camera collection, wherein, radar can obtain to pedestrian detection
Speed and the position of pedestrian is taken, camera can obtain front pedestrian and pedestrian's place Road or face, believe by multisensor
Breath integration technology can obtain information, these information such as the position of front pedestrian, relative velocity and can be sent to by CAN
Micro AutoBox controllers, controller interacts with host computer judges whether automobile can be with safe avoidance pedestrian.
If control instruction can then occur with safe avoidance, controller, send the instrument to automobile via CAN and show
Showing device, avoidance prompting is carried out, meanwhile, controller sends control instruction to electric steering system EPS, control unit of engine
The execution units such as ECU, brakes ESP+EPB, to realize the Automobile operations such as fast steering, deceleration, braking, so as to realize rapidly
To the Emergency avoidance of pedestrian.
When controller judges that automobile will inevitably collide with pedestrian, controller is then according to radar and camera
The information of collection, to obtain imminent position of collision and angle, afterwards, controller makes corresponding collision strategy again.When
When collision between automobile and pedestrian is occurred in the middle part of headstock, then it is real to meter displaying device by CAN to send control instruction
Now alarm, and send control instruction and realized to control unit of engine ECU and brakes ESP+EPB and slowed down and braking procedure,
Alleviate collsion damage by reducing impact velocity, simultaneously as collision occurs in the middle part of headstock, therefore its passive safety system energy
Effectively pedestrian is hit in protection, reduces collsion damage.When controller judges that position of collision occurs in headstock both sides, then except the above
Outside control instruction, controller can also send control instruction to electric steering system EPS, by retarding braking and turn to comprehensive control
System, adjustment headstock position, to cause the collision of automobile and pedestrian to occur, in headstock medium position, to give full play to main passive security system
The synergistic protective effect of system, reduce collision damage to caused by pedestrian.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply 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, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
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, it is characterised in that methods described includes：
Judging whether can be with safe avoidance target object；
If it is not, the collision strategy that then generation matches with the target object；
The active safety system and passive safety system is controlled to perform the collision strategy.
2. according to the method for claim 1, it is characterised in that methods described also includes：
Judge whether in the hole between vehicle and the target object.
3. according to the method for claim 2, it is characterised in that described to judge whether locate between vehicle and the target object
In precarious position, including：
Judge the distance between the vehicle and the target object whether in default collision distance；
Or
Detect whether to receive dangerous tip signal.
4. according to the method for claim 1, it is characterised in that the generation and the collision plan of the object body phase
Omit, including：
When the target object is pedestrian, then strategy is collided according to corresponding to the rule generation of default pedestrian impact；
When the target object is vehicle, then strategy is collided according to corresponding to default vehicle collision rule generation.
5. according to the method for claim 4, it is characterised in that when the target object is pedestrian, described in the control
Active safety system and passive safety system perform the collision strategy, including：
Calculate the pre-impact position between the vehicle and the pedestrian；
Judge whether the pre-impact position is default position of collision；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact position, make the pre-impact
Position is identical with the default position of collision.
6. according to the method for claim 4, it is characterised in that vehicle collision rule includes the first collision rule and the
Two collision rules, it is described to collide strategy according to corresponding to default vehicle collision rule generation, including：
Judge the collision mode of the target object and the vehicle, the collision mode includes positive collision and side collision；
When being collided for forward direction, then strategy is collided according to corresponding to first collision rule generation；
When for side collision when, then collision is tactful according to corresponding to generating second collision rule.
7. according to the method for claim 6, it is characterised in that described to be touched according to corresponding to first collision rule generation
Strategy is hit, including：
Calculate the pre-impact angle between the vehicle-to-target object；
Judge whether the pre-impact angle is default collision angle；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact angle, make the pre-impact
Angle is identical with default collision angle.
8. according to the method for claim 7, it is characterised in that the default collision angle is 90 degree.
9. according to the method for claim 6, it is characterised in that described to be touched according to corresponding to second collision rule generation
Strategy is hit, including：
Calculate the pre-impact angles and positions between the vehicle-to-target object；
Judge whether the pre-impact angles and positions are default collision angle and position；
If it is not, then controlling the active safety system and passive safety system to correct the pre-impact angles and positions, make described
Pre-impact angles and positions are identical with default collision angle and position.
10. a kind of pre-impact control system based on Vehicle security system, the Vehicle security system include active safety system
And passive safety system, it is characterised in that the system includes：
Judge module, for judge whether can be with safe avoidance target object；
Generation module, for when the judge module judges that target object can not be avoided safely, generating and the object
The collision strategy of body phase matching；
Control module, for controlling the active safety system and passive safety system to perform the collision strategy.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454621A (en) * | 2018-03-12 | 2018-08-28 | 长沙智能驾驶研究院有限公司 | Intelligent vehicle and its control method, device, system and computer storage media |
| CN116720356A (en) * | 2023-06-08 | 2023-09-08 | 中国汽车工程研究院股份有限公司 | Design method of active safety module of vehicle based on accident damage prediction of cyclist |
| CN116767187A (en) * | 2023-08-01 | 2023-09-19 | 重庆大学 | Pedestrian head collision protection method, device, equipment and storage medium |
| 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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