CN108725366A - Vehicle safety method, apparatus and system - Google Patents

Vehicle safety method, apparatus and system Download PDF

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Publication number
CN108725366A
CN108725366A CN201710244185.4A CN201710244185A CN108725366A CN 108725366 A CN108725366 A CN 108725366A CN 201710244185 A CN201710244185 A CN 201710244185A CN 108725366 A CN108725366 A CN 108725366A
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China
Prior art keywords
vehicle
grade
motor
relatively transverse
side impact
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Granted
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CN201710244185.4A
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Chinese (zh)
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CN108725366B (en
Inventor
李华斌
洪浩华
方嘉
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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Priority to CN201710244185.4A priority Critical patent/CN108725366B/en
Publication of CN108725366A publication Critical patent/CN108725366A/en
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    • 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
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements

Abstract

A kind of vehicle safety method, apparatus and system.The method includes：The Adjacent vehicles of the vehicular sideview and the relative lateral motion parameter of the vehicle are obtained, wherein：The relative lateral motion parameter includes：Relatively transverse speed and relatively transverse distance；According to the relative lateral motion parameter, the lateral intrusion grade of side impact event is estimated, wherein the lateral intrusion grade and the probability positive correlation that side impact event occurs；When the lateral intrusion grade that estimation obtains is more than default the first estate, the vehicle body of the vehicle is raised to preset height by control suspension system so that the sill strip of the Adjacent vehicles and the vehicle is collided.Using the above scheme, in side impact damaged vehicle degree can be reduced and improve the protection to Vehicular occupant.

Description

Vehicle safety method, apparatus and system
Technical field
The present invention relates to technical field of vehicle safety more particularly to a kind of vehicle safety method, apparatus and system.
Background technology
With the continuous development of vehicle, vehicle is being increasingly becoming a part indispensable in the modern life.And vehicle Intellectualized technology is gradually applied, and user can easily and safely make a phone call on vehicle, listen to music, receive and dispatch Information uses navigation etc..It is contemplated that many new systems, new results will appear as well in the electronization of vehicle, intelligence, make driving Vehicle becomes more environmentally-friendly, energy saving, comfortable and pleasant.But no matter how vehicle develops, travel safety is it in weight Weight.
Currently, for the safety of passenger in support vehicles, current vehicle speed can be acquired, judges whether to occur according to current vehicle speed Vehicle collision discharges corresponding protection air bag if vehicle collision has occurred.
But above-mentioned vehicle safety method, there is damaged vehicle is serious and protection to Vehicular occupant Low problem.
Invention content
Present invention solves the technical problem that being how to reduce the damaged vehicle degree in side impact and improve to Vehicular occupant Protection.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of vehicle safety method, including：Described in acquisition The relative lateral motion parameter of the Adjacent vehicles of vehicular sideview and the vehicle, wherein：The relative lateral motion parameter includes： Relatively transverse speed and relatively transverse distance；According to the relative lateral motion parameter, lateral intrusion of estimation side impact event etc. Grade, wherein the lateral intrusion grade and the probability positive correlation that side impact event occurs；When the lateral intrusion grade that estimation obtains is big When default the first estate, the vehicle body of the vehicle is raised to preset height by control suspension system so that the Adjacent vehicles It collides with the sill strip of the vehicle.
Optionally, described that the lateral intrusion grade of side impact event is estimated according to the relative lateral motion parameter, including： When the relatively transverse speed is less than preset first relatively transverse threshold speed, the lateral intrusion grade of side impact event is estimated For the lowest class, wherein the lowest class is less than described the first estate, and side impact event does not occur；When the relatively transverse speed When more than preset second relatively transverse threshold speed, estimate the lateral intrusion grade of side impact event as highest level, it is described most High-grade to be more than described the first estate, the second relatively transverse threshold speed is more than the described first relatively transverse threshold speed； When the relatively transverse speed be more than the described first relatively transverse threshold speed, be less than the described second relatively transverse threshold speed, And the relatively transverse distance be less than the relatively transverse distance threshold when, according to the relatively transverse distance and preset safety Relationship between distance threshold estimates the lateral intrusion grade of side impact event, wherein：The relatively transverse distance threshold with it is described Relative lateral motion speed meets preset relationship.
Optionally, the preset relation that the relatively transverse distance threshold meets with the relative lateral motion speed is：Wherein, VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the adjacent vehicle of vehicular sideview Wheel and ground between friction factor, g is acceleration of gravity.
Optionally, when the lateral intrusion grade obtained when estimation is more than default the first estate, control suspension system will The vehicle body of the vehicle is raised to preset height, including：When the lateral intrusion grade that estimation obtains is more than default the first estate, It calculates away from generation side impact duration required for the event；It obtains the suspension system and the vehicle body of the vehicle is raised to preset height institute The duration needed, and before the generation of side impact event, the vehicle body of the vehicle is raised to preset height by control suspension system.
Optionally, the suspension system includes：Motor, motor driver and raised part, wherein：The motor driving Device is coupled with the motor, is suitable for motor work described in the lifting order-driven according to reception；The motor is raised with described Component couples, and is suitable at work, driving the raised part that the vehicle body of the vehicle is raised to preset height.
Optionally, when the lateral intrusion grade obtained when estimation is more than default the first estate, control suspension system will Vehicle body is raised to preset height, including：When the lateral intrusion grade that estimation obtains is more than described the first estate, generates lifting and refer to It enables；Lifting instruction is sent to the motor driver, to drive the motor to drive the raised part by the vehicle Vehicle body be raised to preset height.
Optionally, the raised part includes：Connecting rod, subframe, damping device, transverse arm and bearing block, wherein：The pair Vehicle frame is suitable for connecting with the vehicle body of the vehicle；The motor push rod of the connecting rod, first end and the motor is hinged, and second End is hinged with the transverse arm, and hinged with the damping device, is suitable for described in the motor pushing when motor push rod, rotation Corresponding angle, to drive the damping device to move；The damping device, one end are connect with the vehicle body, the other end with it is described Connecting rod is hinged, suitable for being raised and lowered in vertical direction by the mobile vehicle body for driving the vehicle；The transverse arm, both ends point It is not hinged with corresponding bearing block；The bearing block is connect with the wheel of the vehicle.
Optionally, the connecting rod and the damping device hinged place are close to the second end.
Optionally, the transverse arm both ends are hinged with corresponding bearing block respectively using oscillating bearing.
Optionally, the transverse arm includes：Top Crossbeam and lower cross arm disposed in parallel, and the Top Crossbeam is arranged under described The top of transverse arm, the first end of the connecting rod are hinged with the lower cross arm；The both ends of the Top Crossbeam and the lower cross arm Both ends are hinged with the corresponding bearing block respectively.
Optionally, the number of the Top Crossbeam and the lower cross arm is 2；The motor is mounted on motor mounting plate It is interior；The motor mounting plate is located in the space that the Top Crossbeam is surrounded with lower cross arm, is fixedly mounted on the lower cross arm, And the intermediate position in the lower cross arm.
Optionally, the motor number is 2, and the connecting rod number is 2, and each motor corresponds to 1 connecting rod, institute Stating raised part further includes：The both ends of 2 cross bars, the cross bar are respectively fixedly disposed on 2 lower cross arms, and are hung down with lower cross arm Directly, the second end of the connecting rod is equipped with centre bore, and the cross bar passes through the centre bore by the connecting rod and corresponding lower cross Arm is hinged.
Optionally, the method further includes：When the lateral intrusion grade is more than default second grade, control alarm carries Awake device sends out alarm and reminding, wherein second grade is less than described the first estate.
Optionally, the control alarm and reminding device sends out alarm and reminding, including：It obtains and the lateral intrusion grade pair The default alarm and reminding frequency answered, and the alarm and reminding of alarm and reminding device output respective frequencies is controlled, the alarm and reminding frequency Rate and the lateral intrusion grade positive correlation.
Optionally, the method further includes：It receives bodywork height regulating command input by user and detects the vehicle When remaining static, according to the bodywork height regulating command, controls the suspension system and be adjusted to bodywork height pair It should height.
Optionally, described that the lateral intrusion grade of side impact event is estimated according to the relative lateral motion parameter, including： When detect the relatively transverse distance be less than preset minimum safe distance, and the relatively transverse speed be equal to 0 when, estimation The lateral intrusion grade of side impact event is the lowest class, wherein the lowest class is less than described the first estate, and side impact thing does not occur Part.
Optionally, described that the lateral intrusion grade of side impact event is estimated according to the relative lateral motion parameter, including： When detecting that the relatively transverse distance is less than preset minimum safe distance, and the relatively transverse speed is far from the vehicle When, the lateral intrusion grade of estimation side impact event is the lowest class, wherein the lowest class is less than described the first estate, and does not send out Raw side impact event.
The embodiment of the present invention also provides a kind of safety protector for vehicle, including：Acquiring unit is suitable for obtaining the vehicle The relative lateral motion parameter of the Adjacent vehicles of side and the vehicle, wherein：The relative lateral motion parameter includes：Relatively Lateral velocity and relatively transverse distance；Evaluation unit, according to the relative lateral motion parameter, the lateral of estimation side impact event is invaded Enter grade, wherein the lateral intrusion grade and the probability positive correlation that side impact event occurs；Control unit is estimated suitable for working as When the lateral intrusion grade arrived is more than default the first estate, the vehicle body of the vehicle is raised to default height by control suspension system Degree so that the sill strip of the Adjacent vehicles and the vehicle is collided.
Optionally, the evaluation unit is suitable for being less than the preset first relatively transverse speed when the relatively transverse speed When threshold value, the lateral intrusion grade of estimation side impact event is the lowest class, wherein the lowest class is less than described the first estate, and Side impact event does not occur；When the relatively transverse speed is more than preset second relatively transverse threshold speed, side impact thing is estimated The lateral intrusion grade of part is highest level, and the highest level is more than described the first estate, the second relatively transverse speed Threshold value is more than the described first relatively transverse threshold speed；When the relatively transverse speed is more than the described first relatively transverse speed threshold Value, be less than the described second relatively transverse threshold speed, and the relatively transverse distance be less than the relatively transverse distance threshold when, According to the relationship between the relatively transverse distance and preset safety distance threshold, lateral intrusion of estimation side impact event etc. Grade, wherein：The relatively transverse distance threshold meets preset relationship with the relative lateral motion speed.
Optionally, the preset relation that the relatively transverse distance threshold meets with the relative lateral motion speed is：Wherein, VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the adjacent vehicle of vehicular sideview Wheel and ground between friction factor, g is acceleration of gravity.
Optionally, described control unit, when the lateral intrusion grade suitable for being obtained when estimation is more than default the first estate, meter It calculates away from generation side impact duration required for the event；It obtains the suspension system vehicle body of the vehicle is raised to needed for preset height Duration, and side impact event generation before, control suspension system the vehicle body of the vehicle is raised to preset height.
Optionally, the suspension system includes：Motor, motor driver and raised part, wherein：The motor driving Device is coupled with the motor, is suitable for motor work described in the lifting order-driven according to reception；The motor is raised with described Component couples, and is suitable at work, driving the raised part that the vehicle body of the vehicle is raised to preset height.
Optionally, described control unit, it is raw when the lateral intrusion grade suitable for being obtained when estimation is more than described the first estate It is instructed at lifting；Lifting instruction is sent to the motor driver, to drive the motor to drive the raised part The vehicle body of the vehicle is raised to preset height.
Optionally, the safety protector for vehicle further includes：Alarm and reminding unit is suitable for working as the lateral intrusion grade When more than default second grade, alarm and reminding is carried out, wherein second grade is less than described the first estate.
Optionally, the alarm and reminding unit is suitable for obtaining default alarm and reminding corresponding with the lateral intrusion grade Frequency, and the alarm and reminding of respective frequencies is exported, the alarm and reminding frequency and the lateral intrusion grade positive correlation.
Optionally, the safety protector for vehicle further includes：Receiving unit is suitable for receiving bodywork height input by user Regulating command；Described control unit is further adapted for after receiving the bodywork height regulating command, and detects that the vehicle is in When stationary state, according to the bodywork height regulating command, controls the suspension system and bodywork height is adjusted to respective heights.
Optionally, the evaluation unit detects that the relatively transverse distance is less than preset minimum safe distance suitable for working as From, and when the relatively transverse speed is equal to 0, estimate the lateral intrusion grade of side impact event for the lowest class, wherein most low Grade is less than described the first estate, and side impact event does not occur.
Optionally, the evaluation unit detects that the relatively transverse distance is less than preset minimum safe distance suitable for working as From, and when the relatively transverse speed is far from the vehicle, estimate the lateral intrusion grade of side impact event as the lowest class, In, the lowest class is less than described the first estate, and side impact event does not occur.
The embodiment of the present invention also provides a kind of safety protective system for vehicle, including：Suspension system and coupled thereto upper State any safety protector for vehicle.
Optionally, the suspension system includes：Motor, motor driver and raised part, wherein：The motor driving Device is coupled with the motor, suitable for according to motor work described in lifting order-driven is received, the lifting instruction is by the vehicle Safety device generates；The motor is coupled with the raised part, is suitable at work, driving the raised part The vehicle body of the vehicle is raised to preset height so that the sill strip of the Adjacent vehicles and the vehicle is collided.
Optionally, the safety protector for vehicle, the lateral intrusion grade suitable for being obtained in estimation are more than default first When grade, lifting instruction is generated, and be sent to the motor driver；The motor driver, suitable for being referred to according to the lifting It enables and the motor is driven to drive the raised part that the vehicle body of the vehicle is raised to preset height.
Optionally, raised part is stated, including：Connecting rod, subframe, damping device, transverse arm and bearing block, wherein：The pair Vehicle frame is suitable for connecting with the vehicle body of the vehicle；The motor push rod of the connecting rod, first end and the motor is hinged, and second End is hinged with the transverse arm, and hinged with the damping device, is suitable for described in the motor pushing when motor push rod, rotation Corresponding angle, to drive the damping device to move；The damping device, one end are connect with the vehicle body, the other end with it is described Connecting rod is hinged, suitable for being raised and lowered in vertical direction by the mobile vehicle body for driving the vehicle；The transverse arm, both ends point It is not hinged with corresponding bearing block；The bearing block is connect with the wheel of the vehicle.
Optionally, the connecting rod and the damping device hinged place are close to the second end.
Optionally, the transverse arm both ends are hinged with corresponding bearing block respectively using oscillating bearing.
Optionally, the transverse arm includes：Top Crossbeam and lower cross arm disposed in parallel, and the Top Crossbeam is arranged under described The top of transverse arm, the first end of the connecting rod are hinged with the lower cross arm；The both ends of the Top Crossbeam and the lower cross arm Both ends are hinged with the corresponding bearing block respectively.
Optionally, the number of the Top Crossbeam and the lower cross arm is 2；The motor is mounted on motor mounting plate It is interior；The motor mounting plate is located in the space that the Top Crossbeam is surrounded with lower cross arm, is fixedly mounted on the lower cross arm, And the intermediate position in the lower cross arm.
Optionally, the motor number is 2, and the connecting rod number is 2, and each motor corresponds to 1 connecting rod, institute Stating raised part further includes：The both ends of 2 cross bars, the cross bar are respectively fixedly disposed on 2 lower cross arms, and are hung down with lower cross arm Directly, the second end of the connecting rod is equipped with centre bore, and the cross bar passes through the centre bore by the connecting rod and corresponding lower cross Arm is hinged.
Optionally, safety protective system for vehicle further includes：Alarm and reminding device；The safety protector for vehicle, is suitable for When the lateral intrusion grade is more than default second grade, control alarm and reminding device sends out alarm and reminding, wherein described the Two grades are less than described the first estate.
Optionally, the safety protector for vehicle is suitable for obtaining default alarm corresponding with the lateral intrusion grade Remind frequency, and control the alarm and reminding of alarm and reminding device output respective frequencies, the alarm and reminding frequency with it is described lateral Invade grade positive correlation.
Optionally, the alarm and reminding device includes following at least one：Buzzer and indicator light.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
It is mainly to carry out the longeron of vehicle to collide with the center body pillar collided when side impact occurs for two vehicles, usual bottom The lower damaged vehicle of disk is more serious, and the degree of danger of passenger is higher.In the car, the sill strip of vehicle compares center body pillar Structure is more firm, it more difficult to is crushed by collision.Therefore, when side impact occurs, the height of vehicle body namely collision effect force effect position It sets closely bound up to the damaged condition of vehicle and the safety of passenger inside the vehicle with side impact.Collision effect when side impact occurs for vehicle Force effect can effectively reduce extent of injury of the side impact to amount of vehicle damage and to passenger on sill strip.Therefore it obtains The opposite row kinematic parameter of the Adjacent vehicles of vehicular sideview, when according to the opposite row kinematic parameter got, estimation is touched When hitting the lateral intrusion grade of event more than default the first estate, the vehicle body of the vehicle is raised to default by control suspension system Highly, when can to occur side impact, the sill strip of Adjacent vehicles and the vehicle is collided, vehicle when so as to reduce side impact The extent of damage and improve to the protection of passenger in the vehicle.
Further, it when the lateral intrusion grade that estimation obtains is more than default the first estate, calculates away from generation side impact thing Duration needed for part, and before the generation of side impact event, the vehicle body of the vehicle is raised to preset height by control suspension system. Before side impact event occurs, the vehicle body by the vehicle of active is raised to preset height, so as to effectively reduce side The degree of damaged vehicle when touching, and improve the protection to passenger in the vehicle.
Further, when laterally intrusion grade is more than default second grade, control alarm and reminding device sends out alarm and carries It wakes up, the lateral intrusion situation of driver's Adjacent vehicles and the vehicle can be reminded, since the second grade is less than the first estate, I.e. alarm and reminding is happened at before the bodywork height that suspension system raises vehicle, the driver can be enable to have enough Time is adjusted the transport condition of current vehicle, with the preparation that properly protects in advance, so as to effectively avoid side impact event Generation.
Into once, according to the difference of lateral intrusion grade, the alarm of control alarm and reminding device output respective frequencies carries It wakes up, so that driver learns the lateral intrusion etc. that the vehicle is presently in intuitively according to alarm and reminding frequency Grade, so that driver can take corresponding safeguard procedures to avoid the hair of side impact event according to the lateral intrusion grade It is raw.
Further, when receiving bodywork height regulating command, and detecting that vehicle remains static, according to vehicle body Height regulating command, is adjusted bodywork height, and with the enhancing vehicle of active to the dynamics of bearing of side impact, raising multiplies car The safeguard protection dynamics of visitor.
Further, when detecting that the relatively transverse distance is less than preset minimum safe distance, and it is described relatively horizontal When being equal to 0 to speed, it is judged to that side impact event does not occur, so as to when vehicle is in some special operation conditions, to vehicle Bodywork height does not adjust, and to save energy consumption of vehicles, extends the service life of suspension system.
Description of the drawings
Fig. 1 is a kind of flow chart of vehicle safety method in the embodiment of the present invention；
Fig. 2 is a kind of structure front view of suspension system in the embodiment of the present invention；
Fig. 3 is a kind of dimensional structure diagram of suspension system in the embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of safety protector for vehicle in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of another safety protector for vehicle in the embodiment of the present invention.
Specific implementation mode
As described above, the vehicle safety method of the prior art, there are damaged vehicle is serious and protection to vehicle Spend low problem.
To solve the above problems, in embodiments of the present invention, obtaining the opposite row movement of the Adjacent vehicles of vehicular sideview Parameter presets first when being more than according to the lateral intrusion grade of the opposite row kinematic parameter got, the collision accident of estimation When grade, the vehicle body of the vehicle is raised to preset height by control suspension system, when can to occur side impact, Adjacent vehicles Collide with the sill strip of the vehicle, when so as to reduce side impact the extent of damage of vehicle and improve to passenger in the vehicle Protection.
It is understandable to enable above-mentioned purpose, feature and the advantageous effect of the present invention to become apparent, below in conjunction with the accompanying drawings to this The specific embodiment of invention is described in detail.
Referring to Fig.1, a kind of flow chart of vehicle safety method in the embodiment of the present invention is given, below by specific Step is described in detail.
Step 11, the Adjacent vehicles of the vehicular sideview and the relative lateral motion parameter of the vehicle are obtained.
In specific implementation, the relative lateral motion parameter may include：Relatively transverse speed and relatively transverse distance. According to actual needs, those skilled in the art can also obtain other relative lateral motion parameters.It is understood that if Side impact event occurs, the vehicle herein is by side impact vehicle, and the Adjacent vehicles of the vehicular sideview carry out vehicle for side impact.Its In, the relative lateral motion speed refer to the Adjacent vehicles relative to the vehicle horizontal direction relative velocity, it is described Relatively transverse distance refers to the Adjacent vehicles relative to the vehicle in the relative distance of horizontal direction, the horizontal direction and institute The direction of advance for stating vehicle is vertical.
In specific implementation, the relative lateral motion parameter that sensor obtains the Adjacent vehicles may be used.For example, adopting The relatively transverse speed is obtained with velocity sensor, is acquired using range sensor and obtains the relatively transverse distance.? In practical application, the sensor for acquiring the relative lateral motion parameter can be thought as the relatively independent velocity pick-up Device and the range sensor can also be have the relatively transverse speed of acquisition and relatively transverse range capability simultaneously same Sensor.
In an embodiment of the present invention, to realize the side running environment of vehicle described in conduct monitoring at all levels, in the vehicle Both sides sensor is respectively installed.Wherein, the installation site of the sensor is that can collect the Adjacent vehicles Relatively transverse speed speed and relatively transverse distance are advisable, and specific installation site and number do not limit herein.
In specific implementation, the sensor can be ultrasonic sensor, or laser range sensor.It can be with Understand, in practical applications, radar etc. can also be used to acquire the transverse movement parameter of the Adjacent vehicles, it specifically can be with It is selected according to actual application scenarios and demand.
Step 12, according to the relative lateral motion parameter, the lateral intrusion grade of side impact event is estimated.
In specific implementation, usual sensor has certain detection range to the Adjacent vehicles of surrounding, only when described When Adjacent vehicles are in the detection range of sensor, the relative lateral motion ginseng of the Adjacent vehicles can be acquired and obtained Number.
In specific implementation, ultrasonic sensor and laser range sensor have certain finding range, when detecting When the Adjacent vehicles of the vehicle are in the finding range of the ultrasonic sensor and the laser range sensor, you can It is acquired with the speed and distance that start to the Adjacent vehicles.
It in specific implementation, can be according to the relative lateral motion after getting the relative lateral motion parameter Parameter estimates the lateral intrusion grade of side impact event, wherein lateral intrusion grade and the probability positive correlation that side impact event occurs, Namely laterally intrusion higher grade, the probability that side impact event occurs is bigger, and correspondingly, the lateral lower grade that invades, generation side impact The probability of event is smaller.
Step 13, when the lateral intrusion grade that estimation obtains is more than default the first estate, control suspension system will be described The vehicle body of vehicle is raised to preset height.
In specific implementation, the lateral intrusion grade of estimation is compared with default the first estate, when the side estimated When being more than default the first estate to intrusion grade, at this time the Adjacent vehicles and the vehicle occur the probability of side impact event compared with The vehicle body of the vehicle is raised to preset height by height, control suspension system.After the vehicle body of the vehicle is raised, the vehicle Sill strip also increase accordingly.When the vehicle body of the vehicle is in preset height, if side impact event, the adjacent vehicle occurs It will collide the sill strip position of the vehicle.
In specific implementation, the preset height can pass through big data point with vehicle chassis away from the highly relevant of ground Analysis, to determine the preset height.Usually when the vehicle chassis is relatively low away from ground level, the corresponding value of preset height compared with Greatly, correspondingly, when the vehicle chassis is higher away from ground level, the corresponding value of preset height is smaller, specifically can basis The actual conditions of the vehicle are set, in short, need to only meet when the vehicle body of the vehicle is in preset height, Neng Goushi The sill strip and Adjacent vehicles side impact, specific value of the existing vehicle body do not limit.
As shown in the above, the opposite row kinematic parameter for obtaining the Adjacent vehicles of vehicular sideview, when basis is got Opposite row kinematic parameter, when the lateral intrusion grade of the collision accident of estimation is more than default the first estate, control suspension system The vehicle body of the vehicle is raised to preset height by system, when can to occur side impact, the threshold of Adjacent vehicles and the vehicle Beam is collided, and since the solidness of sill strip is preferable, is not likely to produce deformation, and the energy generated when by side impact more acts on described On the sill strip of vehicle, the lateral intrusion volume of the vehicle can be reduced, therefore the lateral intrusion grade obtained in estimation is more than in advance If when the first estate, raising the vehicle body of the vehicle to preset height, when can effectively reduce side impact, the extent of damage of vehicle is simultaneously Improve the protection to passenger in the vehicle.
It in specific implementation, in step 12, can be according to used sensing when the intrusion grade of estimation side impact event The corresponding maximum measure distance range of device calculates separately when obtaining the measurement range that Adjacent vehicles appear in the sensor, and side occurs It touches event critical point relative velocity and the relative velocity of side impact event necessarily occurs.
Side impact event critical point relative velocity will occur and be denoted as minimum relatively transverse speed.When the collected adjacent vehicle Relatively transverse speed when being less than or equal to the minimum relatively transverse speed, side impact event will not occur；When the acquisition The relatively transverse speed of the Adjacent vehicles arrived is more than minimum relatively transverse speed, it may occur that side impact event.
The relative velocity that side impact event necessarily occurs can be denoted as maximum relatively transverse speed.When the collected phase When the relatively transverse speed of adjacent vehicle is more than the maximum relatively transverse speed, according to the vehicle at this time and the Adjacent vehicles Transport condition, side impact event will necessarily occur.
In specific implementation, the transverse movement parameter may be used, side impact event is estimated by following several modes Lateral intrusion grade：
For example, when the relatively transverse speed is less than preset first relatively transverse threshold speed, side impact event is estimated Lateral intrusion grade be the lowest class, wherein the lowest class be less than described the first estate, be in the lowest class when, do not occur Side impact event.In specific implementation, the described first relatively transverse threshold speed can be minimum relatively transverse speed, can also be small In the relatively transverse relative velocity of minimum, Chinese new car assessment routine (China-New Car can also be passed through Assessment Program, CNCAP) in side impact experiment be determined, according to two vehicles occur side impact when, the vehicle by The injured degree and injured probability of damage degree and passenger inside the vehicle are determined, and the usual vehicle is hit by slow-moving vehicle When, the extent of damage of the vehicle is relatively low, and the injured degree of passenger inside the vehicle and the probability of injury are also relatively small.
For another example, when the relatively transverse speed is more than preset second relatively transverse threshold speed, side impact event is estimated Lateral intrusion grade be highest level, the highest level be more than described the first estate, the second relatively transverse speed threshold Value is more than the described first relatively transverse threshold speed.When the lateral intrusion grade is highest level, side impact event necessarily occurs. Wherein, the described second relatively transverse threshold speed can be maximum relatively transverse speed, can also pass through the side impact in CNCAP Experiment is determined, after the relatively transverse speed of the Adjacent vehicles is more than certain threshold speed, in spite of to described Vehicle is lifted, and side impact all inevitably occurs, and damage to the safety of the vehicle and passenger inside the vehicle.
For another example, when the relatively transverse speed is more than the described first relatively transverse threshold speed, it is opposite to be less than described second Lateral velocity threshold, and the relatively transverse distance be less than the relatively transverse distance threshold when, according to it is described it is relatively transverse away from From the relationship between preset safety distance threshold, the lateral intrusion grade of side impact event is estimated, wherein：It is described relatively transverse Distance threshold meets preset relationship with the relative lateral motion speed.
In an embodiment of the present invention, meet between the relatively transverse distance threshold and the relatively transverse speed as public Preset relation shown in formula (1)：
Wherein, VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the Adjacent vehicles of vehicular sideview Wheel and ground between friction factor, g is acceleration of gravity.
In specific implementation, it can be set more between the Adjacent vehicles and the vehicle according to test run experimental analysis A safety distance threshold, and different safety distance thresholds corresponds to corresponding lateral intrusion grade respectively.For example, safe distance threshold Value include be sequentially reduced S0, S1, S2 ..., Sn, wherein the corresponding lateral intrusion grades of S0 be 0 grade, side impact thing does not occur Part；The corresponding lateral intrusion grades of S1 are 1 grade, it may occur that side impact event, and probability of happening is relatively low；S2 is corresponding laterally to be invaded It is 2 grades to enter grade, and the corresponding lateral intrusion grades of Sn are n grades, and with the reduction of safety distance threshold, the lateral grade that invades increases Greatly, the probability that side impact event occurs also increases accordingly.
It in specific implementation, can also be according to the relatively transverse speed in order to improve the estimation precision of lateral intrusion grade Degree and relatively transverse distance, are compared with relatively transverse distance with the relatively transverse speed stored, determine presently described phase The relatively transverse speed of adjacent vehicle and the lateral intrusion grade corresponding to relatively transverse distance.
In specific implementation, it in the step 13 provided in the above embodiment of the present invention, may be used as under type control is outstanding The vehicle body of the vehicle is raised to preset height by frame system：
When the lateral intrusion grade that estimation obtains is more than default the first estate, calculate required for the event apart from side impact occurs Duration obtains the suspension system and the vehicle body of the vehicle is raised to duration needed for preset height.Side occurs according to distance It touches duration required for the event and the vehicle body is raised to duration needed for preset height by the suspension system, in side impact event Before generation, controls the suspension system and the vehicle body of the vehicle is raised to preset height.
In specific implementation, the vehicle body of the vehicle is raised to the duration needed for preset height by the suspension system, can With by being verified, being calculated and being stored.
In order to enable those skilled in the art are better understood from and realize the present invention, Fig. 2 shows in the embodiment of the present invention A kind of safety protective system for vehicle structural schematic diagram, with reference to Fig. 2, to the structure of suspension system to illustrate.
In specific implementation, the suspension system may include：Motor 21, motor driver 22 and raised part, wherein：
The motor driver 22 is coupled with the motor 21, described in the driving when receiving the lifting instruction Motor 21 works.
The motor 21 is coupled with the raised part, is suitable at work, driving raised part by the vehicle of the vehicle Body is raised to preset height.In the present invention one is implemented, the motor can be linear motor.
In specific implementation, when the lateral intrusion grade that estimation obtains is higher than default the first estate, lifting instruction is generated. After generating lifting instruction, the lifting of generation can be instructed and be sent to motor driver, to drive described in the motor drive The vehicle body of the vehicle is raised to preset height by raised part.
In specific implementation, the raised part may include connecting rod 231, subframe 232, damping device 233, transverse arm 234 and bearing block 235, wherein：
The subframe 232 is connect with the vehicle body of the vehicle, the vehicle of one end of the damping device 233 and the vehicle Body connects, and the other end is hinged with the connecting rod 231.In an embodiment of the present invention, the damping device 233 and the connecting rod The 231 hinged the second ends for being located proximate to the connecting rod 231.By the damping device 233 and the hinged position of the connecting rod 231 Meter is installed at the second end, the transmission efficiency of the active force between the damping device 233 and vehicle body can be improved, from And preset height can be raised to smaller active force by the vehicle body of the vehicle by realizing.
The connecting rod 231 includes first end and the second end, the motor push rod of the first end and the motor 21 Hinged, the second end is hinged with the transverse arm 234.22 driving motor 21 of the motor driver pushes away the motor push rod Go out, the connecting rod 231 can surround the second end and the hinged position of the transverse arm 234 under the promotion of the motor push rod Rotate corresponding angle.When the connecting rod 231 rotates, moved corresponding with the damping device 233 that the connecting rod 231 is hinged It is dynamic.Since 233 one end of the damping device connects vehicle body, the other end is hinged with the connecting rod 231, so as to when moving will Active force in vertical direction is transferred to vehicle body, to drive the vehicle body of the vehicle to be raised and lowered in vertical direction.
234 both ends of the transverse arm are hinged with corresponding bearing block 235 respectively.The vehicle of the bearing block 235 and the vehicle Wheel connection.In an embodiment of the present invention, in order to not influence the rotation of the wheel of the vehicle, the bearing block 235 with it is described It is hinged using oscillating bearing between the vehicle of vehicle.
In specific implementation, the transverse arm 234 includes Top Crossbeam disposed in parallel and lower cross arm, and the Top Crossbeam is arranged In the top of the lower cross arm.The both ends of the Top Crossbeam and the lower cross arm are hinged respectively at the bearing block 235.The company The first end of bar 231 is hinged with the lower cross arm.
In specific implementation, the number of the Top Crossbeam and the lower cross arm is 2；The Top Crossbeam and the lower cross A space is formed between arm, and motor mounting plate, the motor mounting plate are installed at the intermediate position of the lower cross arm In the space formed between the Top Crossbeam and the lower cross arm, the motor mounting plate is for installing the motor 21.
In practical applications, the suspension system of the vehicle is generally divided into front suspension and rear suspension, wherein front suspension is arranged Between two front-wheels of vehicle, the rear suspension is set between two trailing wheels of the vehicle.Suspension system can be divided into solely again Vertical suspension system and Non-separation suspension system.The front wheels and rear wheels of the vehicle can be all made of independent suspension system, also may be used To be all made of Non-separation suspension system, independent suspension system, trailing wheel can be used to use Non-separation suspension system with front-wheel.
In specific implementation, the suspension system provided in the embodiment of the present invention can be as the rear suspension of vehicle, can also Front suspension as vehicle.For example, using the suspension system as the rear suspension of the vehicle, the left side peace of suspension in the rear A motor 21 is filled, there are one connecting rods for corresponding setting.The left side lifting of the vehicle can be controlled.For another example, in order to realize pair The both sides of vehicle carry out omnibearing protection, and two motors 21 are symmetrically arranged in the suspension system.For another example, the vehicle Front suspension and rear suspension are all made of the suspension system provided in the embodiment of the present invention, and are respectively set in front suspension and rear suspension It is equipped with 2 motors.
For ease of understanding, below by taking the number of the motor 21 in the suspension system is 2 as an example, in conjunction with Fig. 2 and Fig. 3, illustrates vehicle safety method and suspension system, is a kind of suspension in the embodiment of the present invention given by Fig. 3 The dimensional structure diagram of system.
In specific implementation, 2 motors 21 are symmetrically mounted on the motor mounting plate, then connect motor mounting plate with Guide rail, and motor mounting plate is placed in the subframe 232.Correspondingly, 231 number of the connecting rod be two, respectively with it is right The motor 21 answered is hinged.The raised part can also include 2 cross bars 236.Between the connecting rod 231 and the lower cross arm Articulated manner is as follows：The both ends of the cross bar 236 are respectively fixedly disposed on 2 lower cross arms, and vertical with lower cross arm.The company The second end of bar 231 is equipped with centre bore, and the connecting rod is hinged by the cross bar across the centre bore with corresponding lower cross arm.
In specific implementation, the position that the cross bar 236 is specifically connect with the lower cross arm, can be according to the motor 21 Type, the length of motor push rod, the length of connecting rod 231 and the preset height of lifting be determined.The usual cross bar 236 The position being connect with the lower cross arm is the lower cross arm close to the bearing block 235.
In specific implementation, the Top Crossbeam and the lower cross arm all can be integral structures, or multisection type knot Structure.When the Top Crossbeam or the lower cross arm are multi-segment structure, oscillating bearing connection may be used between every section.In this hair In a bright embodiment, the Top Crossbeam and the lower cross arm are multisection type.It is illustrated by taking one of lower cross arm as an example, institute It includes first segment, second segment and third section to state lower cross arm, and the second segment is between the first segment and the third section.Institute It states and is connected using oscillating bearing between first segment and the second segment, joint shaft is used between the second segment and the third section Connection is held, the first segment is hinged with the bearing block of respective side respectively with the second segment.The both ends of the cross bar 236 are solid respectively Dingan County is on the first segment of the lower cross arm.
In specific implementation, to allow the operator to the lateral intrusion feelings for intuitively knowing Adjacent vehicles to the vehicle Condition properly protects in advance so that the driver can have time enough to be adjusted the transport condition of current vehicle Prepare, so as to effectively avoid the generation of side impact event.In an embodiment of the present invention, when the lateral intrusion grade is more than When default second grade, control alarm and reminding device sends out alarm and reminding, wherein second grade is less than described first etc. Grade.
In specific implementation, to allow the operator to more intuitively to know that Adjacent vehicles invading the lateral of the vehicle Enter situation.In an embodiment of the present invention, preset alarm prompting frequency corresponding with the lateral intrusion grade is obtained, and is controlled Warning reminding device exports the alarm and reminding of respective frequencies, the alarm and reminding frequency and the lateral intrusion grade positive correlation.
In specific implementation, the warning reminding device can be buzzer, or indicator light can also be simultaneously Buzzer and indicator light.It is understood that in practical applications, other devices can also be used to carry out alarm and reminding.
In an embodiment of the present invention, when the lateral intrusion grade reaches the corresponding grade of corresponding alarm and reminding, It determines the corresponding alarm and reminding frequency of the lateral intrusion grade, controls the buzzer that the buzzer sends out respective frequencies.Side To intrusion higher grade, alarm and reminding frequency is higher, and the corresponding buzzer of the buzzer is more rapid；Lateral intrusion grade is got over Low, alarm and reminding frequency is smaller, and the corresponding buzzer of the buzzer more mitigates.
In an alternative embodiment of the invention, when the lateral intrusion grade reaches the corresponding grade of corresponding alarm and reminding When, it determines the corresponding alarm and reminding frequency of the lateral intrusion grade, controls the buzzer indicator light and dodged with corresponding frequency It is bright.Lateral intrusion higher grade, and alarm and reminding frequency is higher, and the time interval that the indicator light flickers twice is shorter；Laterally invade Enter lower grade, alarm and reminding frequency is smaller, and the time interval that the indicator light flickers twice is longer.
In yet another embodiment of the invention, when the lateral intrusion grade reaches the corresponding grade of corresponding alarm and reminding When, the buzzer can be controlled simultaneously to be worked with corresponding alarm and reminding frequency with indicator light.
In specific implementation, to be preventive from possible trouble, it is easy to act as vehicle in advance and occurs to mitigate the damage of vehicle when side impact event It degree and improves to the protection of passenger, in one embodiment of the invention, refers to when receiving bodywork height adjusting input by user When enabling, and detecting that the vehicle remains static, according to the bodywork height regulating command, controlling the suspension system will Bodywork height is adjusted to respective heights.
In an embodiment of the present invention, it is provided with bodywork height regulation button in the driver's cabin of the vehicle, works as user When triggering the bodywork height regulation button, corresponding bodywork height regulating command can be generated, and be sent to controller.It is described Controller is receiving the bodywork height regulating command, and detect current vehicle travel speed be 0 when, can be according to institute Bodywork height regulating command is stated, the suspension system is controlled and the bodywork height is adjusted to corresponding height, to actively adjust Body gesture is saved, realizes the active defense to side impact.
It in specific implementation, can be by the extension elongation of the motor push rod of regulation motor 21, by hinged with motor 21 Connecting rod 231 drive damping device 233, vehicle body is raised to respective heights, after bodywork height changes, correspondingly, vehicle The distance between wheel and vehicle body also change.
In practical applications, the Real-road Driving Cycle of vehicle is complex, when vehicle is in some special driving cycles, For example, vehicle, by width-limited door, vehicle stops overtaking other vehicles when waiting driving cycles into relatively narrow parking stall and Adjacent vehicles short distance, can It can not need to control suspension system and raise vehicle body, however according to the relative lateral motion parameter estimation got laterally intrusion etc. Grade, and according to the relationship between lateral intrusion grade and default the first estate, false triggering may be caused.
It is lifted the triggering accuracy of vehicle body for raising control suspension system, avoids false triggering, in an embodiment of the present invention, It is described relatively transverse when detecting when estimating the lateral intrusion grade of side impact event according to the relative lateral motion parameter Distance be less than preset minimum safe distance, and the relatively transverse speed be equal to 0 when, estimation side impact event it is lateral invade etc. Grade is the lowest class, and the lowest class is less than described the first estate, side impact event does not occur.At this point, the vehicle is likely to be at vehicle The driving cycle into relatively narrow parking stall being stopped by width-limited door or vehicle, the probability that side impact event occurs is relatively low, so as to False triggering is avoided, the triggering accuracy of control suspension system lifting vehicle body is improved.
In an alternative embodiment of the invention, according to the relative lateral motion parameter, the lateral of estimation side impact event is invaded When entering grade, when detecting that the relatively transverse distance is less than preset minimum safe distance, and the relatively transverse speed is remote When from the vehicle, the lateral intrusion grade of estimation side impact event is the lowest class, and the lowest class is less than described the first estate.
It is better understood from and realizes that the present invention, the embodiment of the present invention also provide a kind of vehicle for the ease of those skilled in the art Safety device.
With reference to Fig. 4, a kind of structural schematic diagram of safety protector for vehicle in the embodiment of the present invention is given.The vehicle Safety device may include：Acquiring unit 41, evaluation unit 42 and control unit 43, wherein：
The acquiring unit 41 is suitable for obtaining the relative lateral motion of the Adjacent vehicles and the vehicle of the vehicular sideview Parameter, wherein：The relative lateral motion parameter includes：Relatively transverse speed and relatively transverse distance；
The evaluation unit 42 estimates the lateral intrusion grade of side impact event according to the relative lateral motion parameter, In, the lateral intrusion grade and the probability positive correlation that side impact event occurs；
Described control unit 43, when the lateral intrusion grade suitable for being obtained when estimation is more than default the first estate, control is outstanding The vehicle body of the vehicle is raised to preset height by frame system so that the sill strip of the Adjacent vehicles and the vehicle is collided.
In specific implementation, the safety protector for vehicle can be microcontroller.The safety protector for vehicle can Independently of the suspension system, can also be integrated in the suspension system.
As shown in the above, the opposite row kinematic parameter for obtaining the Adjacent vehicles of vehicular sideview, when basis is got Opposite row kinematic parameter, when the lateral intrusion grade of the collision accident of estimation is more than default the first estate, control suspension system The vehicle body of the vehicle is raised to preset height by system, when can to occur side impact, the threshold of Adjacent vehicles and the vehicle Beam is collided, and since the solidness of sill strip is preferable, is not likely to produce deformation, and the energy generated when by side impact more acts on described On the sill strip of vehicle, the lateral intrusion volume of the vehicle can be reduced, therefore the lateral intrusion grade obtained in estimation is more than in advance If when the first estate, raising the vehicle body of the vehicle to preset height, when can effectively reduce side impact, the extent of damage of vehicle is simultaneously Improve the protection to passenger in the vehicle.
In specific implementation, the evaluation unit 42 is suitable for being less than preset first relatively when the relatively transverse speed When lateral velocity threshold, the lateral intrusion grade of estimation side impact event is the lowest class, and the lowest class is less than described the first estate, And side impact event does not occur；When the relatively transverse speed is more than preset second relatively transverse threshold speed, side impact is estimated The lateral intrusion grade of event is highest level, and the highest level is more than described the first estate, the second relatively transverse speed It spends threshold value and is more than the described first relatively transverse threshold speed；When the relatively transverse speed is more than the described first relatively transverse speed Threshold value is less than the described second relatively transverse threshold speed, and the relatively transverse distance is less than the relatively transverse distance threshold When, according to the relationship between the relatively transverse distance and preset safety distance threshold, estimate the lateral intrusion of side impact event Grade, wherein：The relatively transverse distance threshold meets preset relationship with the relative lateral motion speed.
In an embodiment of the present invention, the relatively transverse distance threshold meets pre- with the relative lateral motion speed If relationship is：
VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the vehicle of the Adjacent vehicles of vehicular sideview Friction factor between wheel and ground, g is acceleration of gravity.
In specific implementation, described control unit 43, the lateral intrusion grade suitable for being obtained when estimation are more than default first When grade, calculate away from generation side impact duration required for the event；Obtain the suspension system vehicle body of the vehicle is raised to it is pre- If highly desired duration, and before the generation of side impact event, the vehicle body of the vehicle is raised to default by control suspension system Highly.
In specific implementation, the suspension system includes：Motor, motor driver and raised part, wherein：The motor Driver is coupled with the motor, is suitable for motor work described in the lifting order-driven according to reception；The motor, and it is described Raised part couples, and is suitable at work, driving the raised part that the vehicle body of the vehicle is raised to preset height.
In specific implementation, described control unit 43, the lateral intrusion grade suitable for being obtained when estimation are more than default first When grade, lifting instruction is generated；Lifting instruction is sent to the motor driver, to drive described in the motor drive The vehicle body of the vehicle is raised to preset height by raised part.
The structural schematic diagram of another safety protector for vehicle in the embodiment of the present invention provided with reference to Fig. 5, specific In implementation, in order to enable whether driver, which can intuitively be known to have between Adjacent vehicles and the vehicle, occurs the side impact time May, on the basis of Fig. 4, the safety protector for vehicle can also include：Alarm and reminding unit 44 is suitable for working as the side When being more than default second grade to intrusion grade, alarm and reminding is carried out, wherein second grade is less than described the first estate.
In specific implementation, the alarm and reminding unit 44 is suitable for obtaining corresponding with the lateral intrusion grade default Alarm and reminding frequency, and the alarm and reminding of respective frequencies is exported, the alarm and reminding frequency and the lateral intrusion grade positive It closes.
In specific implementation, the safety protector for vehicle can also include：Receiving unit 45 is suitable for receiving user defeated The bodywork height regulating command entered；Described control unit 43 is further adapted for after receiving the bodywork height regulating command, and detects When remaining static to the vehicle, according to the bodywork height regulating command, the suspension system is controlled by bodywork height It is adjusted to respective heights.
In specific implementation, the evaluation unit 42, suitable for when detect the relatively transverse distance be less than it is preset most Small safe distance, and when the relatively transverse speed is equal to 0, estimates the lateral intrusion grade of side impact event as the lowest class, In, the lowest class is less than described the first estate, and side impact event does not occur.
In specific implementation, the evaluation unit 42, suitable for when detect the relatively transverse distance be less than it is preset most Small safe distance, and when the relatively transverse speed is far from the vehicle, estimate that the lateral intrusion grade of side impact event is minimum Grade, wherein the lowest class is less than described the first estate, and side impact event does not occur.
It is better understood from and realizes that the present invention, the embodiment of the present invention also provide a kind of vehicle for ease of those skilled in the art Security protection system.The safety protective system for vehicle is described in detail with reference to Fig. 2 and Fig. 3.
In specific implementation, the suspension system may include：What raised part and the above embodiment of the present invention provided appoints A kind of safety protector for vehicle (not shown).
In specific implementation, the safety protector for vehicle can be mutual indepedent with the suspension system, can also be with The suspension system integrates, and can be specifically determined with the actual demand during Car design.
In specific implementation, the suspension system includes：Motor, motor driver and raised part, wherein：
The motor driver 22 is coupled with the motor 21, can be generated receiving the safety protector for vehicle Lifting instruction when, drive the motor 21 work.The motor 21 is coupled with the raised part, can at work, band It moves the raised part and the vehicle body of the vehicle is raised to preset height so that the threshold of the Adjacent vehicles and the vehicle Beam is collided.
In specific implementation, the safety protector for vehicle, the lateral intrusion grade suitable for being obtained in estimation are more than pre- If when the first estate, generating lifting instruction, and be sent to the motor driver 22；The motor driver 22 is suitable for basis Motor 21 drives the raised part that the vehicle body of the vehicle is raised to preset height described in the lifting order-driven.
In specific implementation, the raised part may include：Connecting rod 231, subframe 232, damping device 233, transverse arm 234 and bearing block 235, wherein：
The subframe 232 is connect with the vehicle body of the vehicle.The connecting rod 231 includes first end and the second end, Wherein, the motor push rod of first end and the motor 21 is hinged, and the second end is hinged with the transverse arm 234, and subtracts with described It is hinged to shake device 233, corresponding angle can be rotated, when the motor 21 pushes the motor push rod to drive the damping Device 233 moves.The damping device 233, one end are connect with the vehicle body, and the other end is hinged with the connecting rod 231, Ke Yi The vehicle body of the vehicle is driven to be raised and lowered in vertical direction when mobile.234 both ends of the transverse arm respectively with corresponding axis Bearing 235 is hinged.The bearing block 235 is connect with the wheel of the vehicle.
In an embodiment of the present invention, the connecting rod 231 and 233 hinged place of the damping device are close to the connecting rod 231 The second end.
In specific implementation, 234 both ends of the transverse arm may be used oscillating bearing and be cut with scissors respectively with corresponding bearing block 235 It connects.
In specific implementation, the transverse arm 234 may include：Top Crossbeam and lower cross arm disposed in parallel, and the upper cross Arm is arranged in the top of the lower cross arm, and the first end of the connecting rod 231 is hinged with the lower cross arm；The two of the Top Crossbeam End and the both ends of the lower cross arm are hinged with the corresponding bearing block 235 respectively.
In specific implementation, the number of the Top Crossbeam and the lower cross arm is 2；The motor 21 is mounted on motor In mounting plate；The motor mounting plate is located in the space that the Top Crossbeam and lower cross arm are surrounded, be fixedly mounted on it is described under On transverse arm, and the intermediate position in the lower cross arm.
In an embodiment of the present invention, 21 number of the motor is 2, and 231 number of the connecting rod is 2, and each electricity Machine corresponds to 1 connecting rod 231, and the raised part further includes：2 cross bars 236.Fixation is set respectively at the both ends of the cross bar 236 It sets on 2 lower cross arms, and vertical with lower cross arm, the second end of the connecting rod 231 is equipped with centre bore, and the cross bar passes through institute Centre bore is stated to be hinged the connecting rod with corresponding lower cross arm.
In an alternative embodiment of the invention, the raised part may include 4 cross bars 236, wherein 2 cross bars 236 with Lower cross arm connects, and remaining 2 cross bars 236 are connect with Top Crossbeam, for ease of description, the cross bar 236 being connect with lower cross arm can be described as Sheer pole, the cross bar 236 being connect with Top Crossbeam can be described as cross tube.Specifically, fixation is set respectively at the both ends of the sheer pole It sets on 2 lower cross arms, and vertical with lower cross arm, the second end of the connecting rod 231 is equipped with centre bore, and the sheer pole passes through The connecting rod is hinged by the centre bore with corresponding lower cross arm.The both ends of the cross tube are respectively fixedly disposed at 2 upper cross On arm, and it is vertical with Top Crossbeam.In specific implementation, the cross tube is parallel with corresponding sheer pole respectively, the cross tube Position with sheer pole setting can not also be in same vertical line, specifically set on it may be at same vertical line The position set can be selected according to actual needs.Using 4 cross bars 236, the stability of suspension system can be improved.
In specific implementation, for allow the operator to intuitively know whether Adjacent vehicles to this vehicle formed side impact can Can, in an embodiment of the present invention, the safety protective system for vehicle can also include alarm and reminding device (not shown).When When the lateral intrusion grade is more than default second grade, the safety protector for vehicle control alarm and reminding device sends out police Report is reminded, wherein second grade is less than described the first estate.Under normal conditions, as safety protector for vehicle head It first controls the alarm and reminding device and carries out alarm and reminding, so that driver can have traveling of the grace time to the vehicle State is adjusted, and since the safety protector for vehicle periodically carries out tracing and monitoring to the Adjacent vehicles, is invaded when laterally When entering grade and being increased to described the first estate, then controls raised part and the vehicle body of the vehicle is raised to preset height.
In specific implementation, the alarm and reminding device may be mounted in driver's cabin, to facilitate driver to obtain alarm It reminds.
In specific implementation, to make driver intuitively according to alarm and reminding frequency, learn that the vehicle is presently in Lateral intrusion grade, so as to take corresponding safeguard procedures to avoid side impact event according to the lateral intrusion grade Occur.In an embodiment of the present invention, the safety protector for vehicle is suitable for obtaining corresponding with the lateral intrusion grade Default alarm and reminding frequency, and control the alarm and reminding of alarm and reminding device output respective frequencies, the alarm and reminding frequency with The lateral intrusion grade positive correlation.
In specific implementation, the alarm and reminding device may include buzzer, can also include indicator light, can also be same When include buzzer and indicator light.
In specific implementation, the operation principle and flow of the safety protective system for vehicle can refer to the above-mentioned reality of the present invention The description in the vehicle safety method provided in example or safety protector for vehicle is applied, details are not described herein again.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage Medium may include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute Subject to the range of restriction.

Claims (40)

1. a kind of vehicle safety method, which is characterized in that including：
The Adjacent vehicles of the vehicular sideview and the relative lateral motion parameter of the vehicle are obtained, wherein：It is described relatively transverse Kinematic parameter includes：Relatively transverse speed and relatively transverse distance；
According to the relative lateral motion parameter, the lateral intrusion grade of side impact event is estimated, wherein the lateral intrusion grade With the probability positive correlation that side impact event occurs；
When the lateral intrusion grade that estimation obtains is more than default the first estate, control suspension system lifts the vehicle body of the vehicle Up to preset height so that the sill strip of the Adjacent vehicles and the vehicle is collided.
2. vehicle safety method as described in claim 1, which is characterized in that described to be joined according to the relative lateral motion Number estimates the lateral intrusion grade of side impact event, including：
When the relatively transverse speed is less than preset first relatively transverse threshold speed, the lateral intrusion of side impact event is estimated Grade is the lowest class, wherein the lowest class is less than described the first estate, and side impact event does not occur；
When the relatively transverse speed is more than preset second relatively transverse threshold speed, the lateral intrusion of side impact event is estimated Grade is highest level, and the highest level is more than described the first estate, and the second relatively transverse threshold speed is more than described First relatively transverse threshold speed；
When the relatively transverse speed be more than the described first relatively transverse threshold speed, be less than the described second relatively transverse speed threshold Value, and the relatively transverse distance be less than the relatively transverse distance threshold when, according to the relatively transverse distance with it is preset Relationship between safety distance threshold estimates the lateral intrusion grade of side impact event, wherein：The relatively transverse distance threshold with The relative lateral motion speed meets preset relationship.
3. vehicle safety method as claimed in claim 2, which is characterized in that the relatively transverse distance threshold with it is described Relative lateral motion speed meet preset relation be：
Wherein, VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the vehicle of the Adjacent vehicles of vehicular sideview Friction factor between wheel and ground, g is acceleration of gravity.
4. vehicle safety method as described in claim 1, which is characterized in that the lateral intrusion etc. obtained when estimation When grade is more than default the first estate, the vehicle body of the vehicle is raised to preset height by control suspension system, including：
When the lateral intrusion grade that estimation obtains is more than default the first estate, calculate away from generation side impact duration required for the event；
It obtains the suspension system and the vehicle body of the vehicle is raised to duration needed for preset height, and occur in side impact event Before, the vehicle body of the vehicle is raised to preset height by control suspension system.
5. vehicle safety method as described in claim 1, which is characterized in that the suspension system includes：Motor, motor Driver and raised part, wherein：
The motor driver is coupled with the motor, is suitable for motor work described in the lifting order-driven according to reception；
The motor is coupled with the raised part, is suitable at work, driving the raised part by the vehicle body of the vehicle It is raised to preset height.
6. vehicle safety method as claimed in claim 5, which is characterized in that the lateral intrusion etc. obtained when estimation When grade is more than default the first estate, vehicle body is raised to preset height by control suspension system, including：
When the lateral intrusion grade that estimation obtains is more than described the first estate, lifting instruction is generated；
Lifting instruction is sent to the motor driver, to drive the motor to drive the raised part by the vehicle Vehicle body be raised to preset height.
7. vehicle safety method as claimed in claim 5, which is characterized in that the raised part includes：
Connecting rod, subframe, damping device, transverse arm and bearing block, wherein：
The subframe is suitable for connecting with the vehicle body of the vehicle；
The motor push rod of the connecting rod, first end and the motor is hinged, and the second end is hinged with the transverse arm, and with it is described Damping device is hinged, is suitable for described in the motor pushing when motor push rod, corresponding angle being rotated, to drive the damping device It is mobile；
The damping device, one end are connect with the vehicle body, and the other end is hinged with the connecting rod, are suitable for by described in mobile drive The vehicle body of vehicle is raised and lowered in vertical direction；
The transverse arm, both ends are hinged with corresponding bearing block respectively；
The bearing block is connect with the wheel of the vehicle.
8. vehicle safety method as claimed in claim 7, which is characterized in that the connecting rod is hinged with the damping device Place is close to the second end.
9. vehicle safety method as claimed in claim 7, which is characterized in that the transverse arm both ends are using oscillating bearing point It is not hinged with corresponding bearing block.
10. vehicle safety method as claimed in claim 7, which is characterized in that the transverse arm includes：On disposed in parallel Transverse arm and lower cross arm, and the Top Crossbeam is arranged in the top of the lower cross arm, the first end of the connecting rod and the lower cross Arm is hinged；The both ends of the Top Crossbeam and the both ends of the lower cross arm are hinged with the corresponding bearing block respectively.
11. vehicle safety method as claimed in claim 10, which is characterized in that the Top Crossbeam and the lower cross arm Number is 2；The motor is mounted in motor mounting plate；The motor mounting plate is located at the Top Crossbeam and lower cross arm institute It in the space surrounded, is fixedly mounted on the lower cross arm, and the intermediate position in the lower cross arm.
12. vehicle safety method as claimed in claim 11, which is characterized in that the motor number is 2, the company Bar number is 2, and each motor corresponds to 1 connecting rod, and the raised part further includes：2 cross bars, the both ends of the cross bar It is respectively fixedly disposed on 2 lower cross arms, and vertical with lower cross arm, the second end of the connecting rod is equipped with centre bore, the cross The connecting rod is hinged by bar across the centre bore with corresponding lower cross arm.
13. vehicle safety method as described in claim 1, which is characterized in that further include：
When the lateral intrusion grade is more than default second grade, control alarm and reminding device sends out alarm and reminding, wherein institute It states the second grade and is less than described the first estate.
14. vehicle safety method as claimed in claim 13, which is characterized in that the control alarm and reminding device is sent out Alarm and reminding, including：
Default alarm and reminding frequency corresponding with the lateral intrusion grade is obtained, and controls alarm and reminding device output correspondence frequently The alarm and reminding of rate, the alarm and reminding frequency and the lateral intrusion grade positive correlation.
15. vehicle safety method as described in claim 1, which is characterized in that further include：
When receiving bodywork height regulating command input by user and detecting that the vehicle remains static,
According to the bodywork height regulating command, controls the suspension system and bodywork height is adjusted to respective heights.
16. vehicle safety method as described in claim 1, which is characterized in that described according to the relative lateral motion Parameter estimates the lateral intrusion grade of side impact event, including：
When detect the relatively transverse distance be less than preset minimum safe distance, and the relatively transverse speed be equal to 0 when, Estimate that the lateral intrusion grade of side impact event is the lowest class, wherein the lowest class is less than described the first estate, and side does not occur Touch event.
17. vehicle safety method as described in claim 1, which is characterized in that described according to the relative lateral motion Parameter estimates the lateral intrusion grade of side impact event, including：
When detecting that the relatively transverse distance is less than preset minimum safe distance, and the relatively transverse speed is far from described When vehicle, the lateral intrusion grade of estimation side impact event is the lowest class, wherein the lowest class is less than described the first estate, and Side impact event does not occur.
18. a kind of safety protector for vehicle, which is characterized in that including：
Acquiring unit is suitable for obtaining the relative lateral motion parameter of the Adjacent vehicles and the vehicle of the vehicular sideview, wherein： The relative lateral motion parameter includes：Relatively transverse speed and relatively transverse distance；
Evaluation unit estimates the lateral intrusion grade of side impact event, wherein the side according to the relative lateral motion parameter To intrusion grade and the probability positive correlation that side impact event occurs；
Control unit when the lateral intrusion grade suitable for being obtained when estimation is more than default the first estate, controls suspension system by institute The vehicle body for stating vehicle is raised to preset height so that the sill strip of the Adjacent vehicles and the vehicle is collided.
19. safety protector for vehicle as claimed in claim 18, which is characterized in that the evaluation unit is suitable for when described When relatively transverse speed is less than preset first relatively transverse threshold speed, the lateral intrusion grade of estimation side impact event is minimum Grade, wherein the lowest class is less than described the first estate, and side impact event does not occur；
When the relatively transverse speed is more than preset second relatively transverse threshold speed, the lateral intrusion of side impact event is estimated Grade is highest level, and the highest level is more than described the first estate, and the second relatively transverse threshold speed is more than described First relatively transverse threshold speed；
When the relatively transverse speed be more than the described first relatively transverse threshold speed, be less than the described second relatively transverse speed threshold Value, and the relatively transverse distance be less than the relatively transverse distance threshold when, according to the relatively transverse distance with it is preset Relationship between safety distance threshold estimates the lateral intrusion grade of side impact event, wherein：The relatively transverse distance threshold with The relative lateral motion speed meets preset relationship.
20. safety protector for vehicle as claimed in claim 19, which is characterized in that the relatively transverse distance threshold and institute Stating the preset relation that relative lateral motion speed meets is：
Wherein, VtFor relative lateral motion speed, SmaxFor relatively transverse distance threshold, β is the vehicle of the Adjacent vehicles of vehicular sideview Friction factor between wheel and ground, g is acceleration of gravity.
21. safety protector for vehicle as claimed in claim 18, which is characterized in that described control unit is suitable for when estimation When obtained lateral intrusion grade is more than default the first estate, calculate away from generation side impact duration required for the event；It obtains described outstanding The vehicle body of the vehicle is raised to the duration needed for preset height by frame system, and before the generation of side impact event, controls suspension The vehicle body of the vehicle is raised to preset height by system.
22. safety protector for vehicle as claimed in claim 18, which is characterized in that the suspension system includes：
Motor, motor driver and raised part, wherein：
The motor driver is coupled with the motor, is suitable for motor work described in the lifting order-driven according to reception；
The motor is coupled with the raised part, is suitable at work, driving the raised part by the vehicle body of the vehicle It is raised to preset height.
23. safety protector for vehicle as claimed in claim 22, which is characterized in that described control unit is suitable for when estimation When obtained lateral intrusion grade is more than described the first estate, lifting instruction is generated；Lifting instruction is sent to the electricity Machine driver, to drive the motor to drive the raised part that the vehicle body of the vehicle is raised to preset height.
24. safety protector for vehicle as claimed in claim 18, which is characterized in that further include：Alarm and reminding unit, is suitable for When the lateral intrusion grade is more than default second grade, alarm and reminding is carried out, wherein second grade is less than described the One grade.
25. safety protector for vehicle as claimed in claim 24, which is characterized in that the alarm and reminding unit, suitable for obtaining Default alarm and reminding frequency corresponding with the lateral intrusion grade is taken, and exports the alarm and reminding of respective frequencies, the alarm Remind frequency and the lateral intrusion grade positive correlation.
26. safety protector for vehicle as claimed in claim 18, which is characterized in that further include：Receiving unit is suitable for receiving Bodywork height regulating command input by user；
Described control unit is further adapted for after receiving the bodywork height regulating command, and detects that the vehicle is in static When state, according to the bodywork height regulating command, controls the suspension system and bodywork height is adjusted to respective heights.
27. safety protector for vehicle as claimed in claim 18, which is characterized in that the evaluation unit is suitable for when detection To the relatively transverse distance be less than preset minimum safe distance, and the relatively transverse speed be equal to 0 when, estimate side impact thing The lateral intrusion grade of part is the lowest class, wherein the lowest class is less than described the first estate, and side impact event does not occur.
28. the safety protector for vehicle described in claim 18, which is characterized in that the evaluation unit is detected suitable for working as The relatively transverse distance is less than preset minimum safe distance, and when the relatively transverse speed is far from the vehicle, estimation The lateral intrusion grade of side impact event is the lowest class, wherein the lowest class is less than described the first estate, and side impact thing does not occur Part.
29. a kind of safety protective system for vehicle, which is characterized in that including：Suspension system and coupled thereto such as claim 18~28 any one of them safety protector for vehicle.
30. safety protective system for vehicle as claimed in claim 29, which is characterized in that the suspension system includes：Electricity is mechanical, electrical Machine driver and raised part, wherein：
The motor driver is coupled with the motor, and motor work described in lifting order-driven is received suitable for basis, described Lifting instruction is generated by the safety protector for vehicle；
The motor is coupled with the raised part, is suitable at work, driving the raised part by the vehicle body of the vehicle It is raised to preset height so that the sill strip of the Adjacent vehicles and the vehicle is collided.
31. safety protective system for vehicle as claimed in claim 30, which is characterized in that the safety protector for vehicle is fitted When the lateral intrusion grade obtained in estimation is more than default the first estate, lifting instruction is generated, and is sent to the motor and drives Dynamic device；
The motor driver is suitable for driving the raised part by the vehicle according to motor described in the lifting order-driven Vehicle body be raised to preset height.
32. safety protective system for vehicle as claimed in claim 30, which is characterized in that the raised part, including：Connecting rod, Subframe, damping device, transverse arm and bearing block, wherein：
The subframe is suitable for connecting with the vehicle body of the vehicle；
The motor push rod of the connecting rod, first end and the motor is hinged, and the second end is hinged with the transverse arm, and with it is described Damping device is hinged, is suitable for described in the motor pushing when motor push rod, corresponding angle being rotated, to drive the damping device It is mobile；
The damping device, one end are connect with the vehicle body, and the other end is hinged with the connecting rod, are suitable for by described in mobile drive The vehicle body of vehicle is raised and lowered in vertical direction；
The transverse arm, both ends are hinged with corresponding bearing block respectively；
The bearing block is connect with the wheel of the vehicle.
33. safety protective system for vehicle as claimed in claim 32, which is characterized in that the connecting rod is cut with scissors with the damping device Place is met close to the second end.
34. safety protective system for vehicle as claimed in claim 32, which is characterized in that the transverse arm both ends use oscillating bearing It is hinged with corresponding bearing block respectively.
35. safety protective system for vehicle as claimed in claim 32, which is characterized in that the transverse arm includes：It is disposed in parallel Top Crossbeam and lower cross arm, and the Top Crossbeam is arranged in the top of the lower cross arm, the first end of the connecting rod with it is described under Transverse arm is hinged；The both ends of the Top Crossbeam and the both ends of the lower cross arm are hinged with the corresponding bearing block respectively.
36. safety protective system for vehicle as claimed in claim 35, which is characterized in that the Top Crossbeam and the lower cross arm Number is 2；The motor is mounted in motor mounting plate；The motor mounting plate is located at the Top Crossbeam and lower cross arm institute It in the space surrounded, is fixedly mounted on the lower cross arm, and the intermediate position in the lower cross arm.
37. safety protective system for vehicle as claimed in claim 36, which is characterized in that the motor number is 2, the company Bar number is 2, and each motor corresponds to 1 connecting rod, and the raised part further includes：2 cross bars, the both ends of the cross bar It is respectively fixedly disposed on 2 lower cross arms, and vertical with lower cross arm, the second end of the connecting rod is equipped with centre bore, the cross The connecting rod is hinged by bar across the centre bore with corresponding lower cross arm.
38. safety protective system for vehicle as claimed in claim 29, which is characterized in that further include：Alarm and reminding device；
The safety protector for vehicle is suitable for when the lateral intrusion grade is more than default second grade, and control alarm carries Awake device sends out alarm and reminding, wherein second grade is less than described the first estate.
39. safety protective system for vehicle as claimed in claim 38, which is characterized in that the safety protector for vehicle is fitted In obtaining default alarm and reminding frequency corresponding with the lateral intrusion grade, and controls alarm and reminding device and export respective frequencies Alarm and reminding, the alarm and reminding frequency and the lateral intrusion grade positive correlation.
40. the safety protective system for vehicle as described in claim 38 or 39, which is characterized in that the alarm and reminding device includes Following at least one：Buzzer and indicator light.
CN201710244185.4A 2017-04-14 2017-04-14 Vehicle safety protection method, device and system Active CN108725366B (en)

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