CN108791282B - Method, device and equipment for protecting vehicle side collision - Google Patents

Method, device and equipment for protecting vehicle side collision Download PDF

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Publication number
CN108791282B
CN108791282B CN201710295580.5A CN201710295580A CN108791282B CN 108791282 B CN108791282 B CN 108791282B CN 201710295580 A CN201710295580 A CN 201710295580A CN 108791282 B CN108791282 B CN 108791282B
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vehicle
distance value
vehicle body
speed
obtaining
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CN108791282A (en
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孙成智
沈佳
王涛
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SAIC Motor Corp Ltd
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SAIC Motor Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • 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
    • 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
    • B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
    • B60R2021/01345—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 imminent contact with an obstacle, e.g. using radar systems using mechanical sensing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a method, a device and equipment for protecting a vehicle from side collision, wherein the method comprises the following steps: acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment; obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment; obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value; and if the predicted collision time is less than a preset time threshold, controlling the vehicle body to lift. Therefore, the lateral collision can be effectively identified according to the calculated estimated collision time, and the penetrability of the vehicle wall during the lateral collision is effectively reduced in a mode of lifting the vehicle body height, so that the personal safety of passengers is protected.

Description

Method, device and equipment for protecting vehicle side collision
Technical Field
The invention relates to the technical field of automobile safety and control, in particular to a method, a device and a system for protecting a vehicle from side collision.
Background
With the increase of the number of automobiles and the improvement of the speed of the automobiles, automobile traffic accidents are more and more serious. According to the traffic data statistics, heavy personnel and huge property loss are caused by vehicle impact every year, and serious traffic delay can be caused.
Vehicle collisions are generally classified into forward collisions, side collisions, backward collisions, and the like, wherein the side collisions are often caused by the fact that a vehicle driver cannot timely find a vehicle coming from a side direction or the vehicle speed of the vehicle coming from the side direction is estimated incorrectly. At present, vehicle safety protection is mainly focused on protection of forward collision and backward collision of a vehicle, for the front collision or the tail collision, a vehicle body is designed with a large buffer space, however, for the side collision, in the design of the vehicle body, even if a good enough material is used for manufacturing a buffer energy absorption structure, the buffer space provided by the side wall of the vehicle body for the side collision is also small, so that the protection of the lateral direction of the vehicle is far weaker than the forward protection and the backward protection of the vehicle, and the injury of the side collision to passengers is larger.
Based on this, the research of the side collision protection of the automobile is an important content of the active safety research of the automobile.
Disclosure of Invention
The invention aims to provide a method, a device and a system for protecting a vehicle from side collision, so as to effectively identify the lifting of a vehicle body caused by side collision and reduce the penetrability of the vehicle body collision, thereby protecting the safety of passengers.
In a first aspect, an embodiment of the present invention provides a method, where the method includes:
acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment;
obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment;
obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value;
and if the predicted collision time is less than a preset time threshold, controlling the vehicle body to lift.
Preferably, the method further comprises the following steps:
obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle;
H2＝m×L+n×(W+H1)；
the basic dimensions comprise the length of a vehicle body, the width of the vehicle body and the height of the vehicle body, wherein H2 is the raised height, L is the length of the vehicle body, W is the width of the vehicle body, HI is the height of the vehicle body, and m and n are preset constants.
Preferably, the first distance value and the second distance value are obtained by a sensor, and before obtaining the first distance value, the method further includes:
and determining the scanning range of the sensor according to the speed of the vehicle, wherein the scanning range is in direct proportion to the speed of the vehicle.
Preferably, after obtaining the second distance value between the vehicle lateral obstacle and the vehicle at the second time, the method further includes:
if the second distance value is within the scanning range and the difference between the first distance value and the second distance value does not exceed a preset value, utilizing a first-order filtering formula Y2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and participating in obtaining the speed of the vehicle lateral obstacle approaching the vehicle by using the second corrected distance value, wherein the Y is1Is a first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
In a second aspect, an embodiment of the present invention provides a vehicle side impact protection apparatus, including:
the distance value acquisition unit is used for acquiring a first distance value between the vehicle side barrier and the vehicle at a first moment and a second distance value between the vehicle side barrier and the vehicle at a second moment;
a first obtaining unit, configured to obtain a speed at which the vehicle lateral obstacle approaches the vehicle from a distance difference between the first distance value and the second distance value and a time difference between the second time and the first time;
a second obtaining unit, configured to obtain a predicted collision time of the vehicle with the vehicle lateral obstacle according to a speed at which the vehicle lateral obstacle approaches the vehicle and the second distance value;
and the vehicle body control unit is used for controlling the vehicle body to lift if the predicted collision time is less than a preset time threshold.
Preferably, the method further comprises the following steps:
a third obtaining unit, which is used for obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle;
H2＝m×L+n×(W+H1)；
the basic dimensions comprise the length of a vehicle body, the width of the vehicle body and the height of the vehicle body, wherein H2 is the raised height, L is the length of the vehicle body, W is the width of the vehicle body, HI is the height of the vehicle body, and m and n are preset constants.
Preferably, the method further comprises the following steps:
and the scanning range determining unit is used for determining the scanning range of the sensor according to the speed of the vehicle, and the scanning range is in direct proportion to the speed of the vehicle.
Preferably, the method further comprises the following steps:
a fourth obtaining unit, configured to utilize a first-order filtering formula Y if the second distance value is within the scanning range and a difference between the first distance value and the second distance value does not exceed a preset value2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and participating in obtaining the speed of the vehicle lateral obstacle approaching the vehicle by using the second corrected distance value, wherein the Y is1Is a first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
In a second aspect, an embodiment of the present invention provides a vehicle side impact protection apparatus, the system including: the system comprises a processor, a sensor, a controller and a bus system;
the bus system for coupling together the various hardware components of the device;
the sensor is used for detecting the distance between the vehicle side obstacle and the vehicle;
the controller is used for controlling the lifting of the vehicle body according to the vehicle body lifting instruction;
the processor is used for reading the data detected in the sensor and executing the following operations:
acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment;
obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment;
obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value;
and if the predicted collision time is less than a preset time threshold, controlling the vehicle body to lift.
Preferably, the method further comprises the following steps:
and the electric push rod is used for pushing the car body to lift under the control of the controller.
Preferably, the method further comprises the following steps:
and the bus converter is used for converting the bus signal into a serial port signal and sending the serial port signal to the processor.
Compared with the prior art, the invention has at least the following advantages:
by adopting the technical scheme of the embodiment of the invention, the processor acquires the distance between the vehicle lateral barrier and the vehicle in real time, when the vehicle lateral barrier is gradually close to the vehicle, the speed of the vehicle lateral barrier close to the vehicle is calculated, the predicted collision time of the vehicle and the vehicle lateral barrier is calculated according to the distance and the speed data, and when the predicted collision time is smaller than the preset time threshold, the vehicle body is controlled to be lifted. Therefore, the embodiment of the invention can effectively identify the side collision according to the judgment of the calculated predicted collision time, and effectively reduce the penetrability of the vehicle wall during the side collision by lifting the vehicle body height, thereby protecting the personal safety of passengers.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a system framework involved in an application scenario according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for protecting a vehicle from a side collision according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of another method for vehicle side impact protection according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a device for protecting a vehicle from a side collision according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a vehicle side collision protection device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor of the invention has found that the vehicle safety protection is mainly focused on the protection of the forward collision and the backward collision of the vehicle at present, the vehicle body is designed to have a large buffer space for the front collision or the rear collision, but for the side collision, in the design of the vehicle body, even if a good enough material is used for manufacturing the buffer energy-absorbing structure, the buffer space provided by the side wall of the vehicle body for the side collision is small, so the protection of the side direction of the vehicle is far weaker than the protection of the forward collision and the backward collision of the vehicle, and the injury of the side collision to passengers is larger
In order to solve the problem, in the embodiment of the invention, the processor acquires the distance between the vehicle lateral obstacle and the vehicle in real time, when the vehicle lateral obstacle gradually approaches the vehicle, the speed of the vehicle lateral obstacle approaching the vehicle is calculated, the predicted collision time of the vehicle and the vehicle lateral obstacle is calculated according to the distance and speed data, and when the predicted collision time is smaller than a preset time threshold, a vehicle body lifting instruction is generated, and the vehicle is lifted through the controller. Therefore, the embodiment of the invention can effectively identify the side collision according to the judgment of the calculated predicted collision time, and effectively reduce the penetrability of the vehicle wall during the side collision by lifting the vehicle body height, thereby protecting the personal safety of passengers.
For example, one of the scenarios of the embodiment of the present invention may be applied to the scenario shown in fig. 1. In this scenario, a sensor 101, a processor 102, and a controller 103, the sensor 101 may interact with the processor 102, and the processor 102 may interact with the controller 103. The processor 102 acquires a first distance value between the vehicle side barrier and the vehicle at a first moment and a second distance value between the vehicle side barrier and the vehicle at a second moment; from the distance difference between the first distance value and the second distance value and the time difference between the second time and the first time, the processor 102 obtains the speed of the vehicle approaching the vehicle from the vehicle lateral obstacle; the processor 102 obtains the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value; if the predicted collision time is less than the preset time threshold, the processor 102 controls the controller 103 to control the vehicle body to lift.
It will be appreciated that in the application scenarios described above, the actions of the embodiments of the present invention are described as being performed by the processor 102. The invention is not limited in its implementation to the details of execution, provided that the acts disclosed in the embodiments of the invention are performed.
It is to be understood that the above scenario is only one scenario example provided by the embodiment of the present invention, and the embodiment of the present invention is not limited to this scenario.
The following describes in detail a specific implementation manner of the method, the apparatus, and the device for planning a navigation end point according to the embodiments of the present invention with reference to the accompanying drawings.
Exemplary method
Referring to fig. 2, a flow diagram of a method for vehicle side impact protection in an embodiment of the invention is shown. In this embodiment, the method may include, for example, the steps of:
step 201, a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment are obtained.
It CAN be understood that the sensors are installed on two sides of the vehicle, the sensors CAN collect the distance between the lateral obstacle of the vehicle and the vehicle, and if the lateral obstacle of the vehicle is far away from the vehicle, the time required by the sensors to collect distance data is longer, so that on the premise of ensuring the validity of the collected distance data, the time required by the sensors to collect the distance data is saved, the speed of the vehicle needs to be acquired from a CAN bus before the sensors collect the distance data, and the scanning range required by the sensors is judged according to the speed of the vehicle. In some embodiments of this embodiment, the first distance value and the second distance value are obtained by a sensor, and before obtaining the first distance value, the method further includes: and determining the scanning range of the sensor according to the speed of the vehicle, wherein the scanning range is in direct proportion to the speed of the vehicle. For example, the ultrasonic sensor obtains the speed of the vehicle from the CAN bus, and when the speed of the vehicle is less than 60km/h, the scanning range of the sensor is 3 m; when the speed of the vehicle is less than 60-70km/h, the scanning range of the sensor is 3.3 m; when the speed of the vehicle is less than 70-80km/h, the scanning range of the sensor is 3.6 m; when the speed of the vehicle is less than 80-90km/h, the scanning range of the sensor is 3.9 m; when the speed of the vehicle is less than 90-100km/h, the scanning range of the sensor is 4.2 m; when the speed of the vehicle is less than 100-110km/h, the scanning range of the sensor is 4.5 m; when the speed of the vehicle is more than 110km/h, the scanning range of the sensor is 4.8 m.
Step 202: and obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment. It will be appreciated that the ultrasonic sensor collects distance data due to the beam angleThe influence of (2) is that the ultrasonic wave may collect the distance beyond the distance between the vehicle lateral obstacle and the vehicle, and then the data analysis that leads to collecting in real time obtains fluctuation range great, in order to reduce the influence of beam angle, avoids the interference of this kind of condition to subsequent step, needs to filter the data that the treater obtained from ultrasonic sensor. Firstly, filtering distance data which exceed the scanning range of the ultrasonic sensor, and then filtering distance data which have overlarge difference with the distance value obtained in the previous time; and secondly, correcting data by adopting a first-order filtering method. In some embodiments of this embodiment, after obtaining the second distance value between the vehicle lateral obstacle and the vehicle at the second time, the method further includes: if the second distance value is within the scanning range and the difference between the first distance value and the second distance value does not exceed a preset value, utilizing a first-order filtering formula Y2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and participating in obtaining the speed of the vehicle lateral obstacle approaching the vehicle by using the second corrected distance value, wherein Y1 is a first corrected distance value obtained after the first distance value is corrected, Y2 is the second corrected distance value, X2 is the second distance value, and a is a preset constant. For example, if a is 0.132 according to practical experience, the first-order filtering formula Y2＝(1-a)×Y1+a×X2Can be as follows: y is2＝0.868×Y1+0.132×X2。
Step 203: and obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value.
It can be understood that the vehicle body needs to be lifted when the vehicle is impacted laterally, so that the penetrability of the vehicle wall during the lateral impact can be effectively reduced, the personal safety of passengers is protected, but if the vehicle body is lifted too low, the passenger protection effect cannot be effectively realized; if the vehicle body is lifted too high, the vehicle body can roll over when the vehicle is impacted laterally, and therefore, the proper lifting height of the vehicle body needs to be determined, and the lifting height is related to the vehicle. In some embodiments of this embodiment, before controlling the lifting of the vehicle body, the method further includes: obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle;
H2＝m×L+n×(W+H1)；
the basic dimensions comprise the length of a vehicle body, the width of the vehicle body and the height of the vehicle body, wherein H2 is the raised height, L is the length of the vehicle body, W is the width of the vehicle body, HI is the height of the vehicle body, and m and n are preset constants. For example, a user inputs basic dimensions of the vehicle, including length, width, height, etc., data via a touch screen display on the device. The processor may pass through equation H based on the input base size of the vehicle2＝0.0005×L+0.00025×(L+H1) And calculating the height to be lifted, wherein H2 is the height to be lifted, L is the length of the vehicle body, W is the width of the vehicle body, and HI is the height of the vehicle body.
Step 204: and if the predicted collision time is less than a preset time threshold, controlling the vehicle body to lift.
The situation that the expected collision time obtained at this time is smaller than the preset time threshold value and the expected collision time obtained several times later is not smaller than the preset time threshold value may occur, that is, the vehicle lateral barrier and the vehicle do not collide with each other, if the vehicle body is controlled to lift only at this time, the operation of mistakenly triggering the vehicle body to lift belongs to the operation of mistakenly triggering the vehicle body to lift, so that the possibility of mistakenly triggering is avoided, the vehicle body to lift is controlled only if the expected collision time obtained for several times is smaller than the preset time threshold value, and the lateral collision of the vehicle can be effectively identified. For example, when the estimated collision time acquired 5 times is less than 0.5s, the vehicle body is controlled to be lifted.
If the predicted collision time is less than the preset time threshold, the processor controls the voice alarm device to perform voice reminding on the user, so that the user can be more alert.
After the vehicle is lifted, in response to the operation of clicking a return button by a user, the processor acquires a vehicle body return instruction and then controls the vehicle body to return.
Through various implementation manners provided by the embodiment, the processor acquires the distance between the vehicle lateral obstacle and the vehicle in real time, filters the distance data, calculates the speed of the vehicle lateral obstacle approaching the vehicle when the vehicle lateral obstacle gradually approaches the vehicle, calculates the predicted collision time of the vehicle and the vehicle lateral obstacle according to the distance and speed data, and controls the vehicle body to lift to a proper height when the predicted collision time obtained through multiple calculations is smaller than a preset time threshold. Therefore, the distance data acquired in the embodiment of the invention can be filtered, so that the accuracy of the data is improved; the lateral collision can be effectively identified according to the judgment of the predicted collision time calculated for multiple times, and the penetrability of the vehicle wall during the lateral collision is effectively reduced by lifting the proper vehicle body height, so that the personal safety of passengers is protected.
Referring to FIG. 3, a schematic flow chart of another method of vehicle side impact protection in an embodiment of the present invention is shown. In this embodiment, the method may include, for example, the steps of:
step 301: according to the basic dimensions of the vehicle, according to H2＝m×L+n×(W+H1) Obtaining the lifting height of the vehicle body according to a formula; the basic dimensions comprise the length of a vehicle body, the width of the vehicle body and the height of the vehicle body, wherein H2 is the raised height, L is the length of the vehicle body, W is the width of the vehicle body, HI is the height of the vehicle body, and m and n are preset constants.
Step 302: and determining the scanning range of the sensor according to the speed of the vehicle, wherein the scanning range is in direct proportion to the speed of the vehicle.
Step 303: and acquiring a first distance value between the vehicle lateral obstacle and the vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment.
Step 304: if the second distance value is within the scanning range and the difference between the first distance value and the second distance value does not exceed a preset value, utilizing a first-order filtering formula Y2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, wherein Y is1Is a stand forA first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
Step 305: and obtaining the speed of the vehicle lateral obstacle approaching the vehicle according to the distance difference between the first correction distance value and the second correction distance value and the time difference between the second moment and the first moment.
Step 306: and obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value.
Step 307: and if the predicted collision time is less than a preset time threshold value, controlling the alarm and the lifting of the vehicle body.
Step 308: and controlling the vehicle sound to return according to the indication of the vehicle sound to return.
Through various implementation manners provided by the embodiment, the processor acquires the distance between the vehicle lateral obstacle and the vehicle in real time, filters the distance data, calculates the speed of the vehicle lateral obstacle approaching the vehicle when the vehicle lateral obstacle gradually approaches the vehicle, calculates the predicted collision time of the vehicle and the vehicle lateral obstacle according to the distance and speed data, and controls the vehicle body to lift to a proper height when the predicted collision time obtained through multiple calculations is smaller than a preset time threshold. Therefore, the distance data acquired in the embodiment of the invention can be filtered, so that the accuracy of the data is improved; the lateral collision can be effectively identified according to the judgment of the predicted collision time calculated for multiple times, and the penetrability of the vehicle wall during the lateral collision is effectively reduced by lifting the proper vehicle body height, so that the personal safety of passengers is protected.
Exemplary device
Referring to fig. 4, a schematic structural diagram of a vehicle side collision protection apparatus according to an embodiment of the present invention is shown. In this embodiment, the apparatus may specifically include:
a distance value obtaining unit 401, configured to obtain a first distance value between the vehicle side obstacle and the vehicle at a first time and a second distance value between the vehicle side obstacle and the vehicle at a second time;
a first obtaining unit 402, configured to obtain a speed at which the vehicle lateral obstacle approaches the vehicle from a distance difference between the first distance value and the second distance value and a time difference between the second time and the first time;
a second obtaining unit 403, configured to obtain a predicted collision time between the vehicle and the vehicle lateral obstacle according to a speed at which the vehicle lateral obstacle approaches the vehicle and the second distance value;
and the vehicle body control unit 404 is configured to control the vehicle body to lift if the predicted collision time is less than a preset time threshold.
Optionally, the apparatus may further include:
a third obtaining unit, which is used for obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle;
H2＝m×L+n×(W+H1)；
the basic dimensions comprise the length of a vehicle body, the width of the vehicle body and the height of the vehicle body, wherein H2 is the raised height, L is the length of the vehicle body, W is the width of the vehicle body, HI is the height of the vehicle body, and m and n are preset constants.
Optionally, the apparatus may further include:
and the scanning range determining unit is used for determining the scanning range of the sensor according to the speed of the vehicle, and the scanning range is in direct proportion to the speed of the vehicle.
Optionally, the apparatus may further include:
a fourth obtaining unit, configured to utilize a first-order filtering formula Y if the second distance value is within the scanning range and a difference between the first distance value and the second distance value does not exceed a preset value2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and using the second corrected distance value to participate in obtaining the speed of the vehicle lateral obstacle approaching the vehicle, wherein the second corrected distance value is used for obtaining the speed of the vehicle lateral obstacle approaching the vehicleY1Is a first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
Through various implementation manners provided by the embodiment, the processor acquires the distance between the vehicle lateral obstacle and the vehicle in real time, filters the distance data, calculates the speed of the vehicle lateral obstacle approaching the vehicle when the vehicle lateral obstacle gradually approaches the vehicle, calculates the predicted collision time of the vehicle and the vehicle lateral obstacle according to the distance and speed data, and controls the vehicle body to lift to a proper height when the predicted collision time obtained through multiple calculations is smaller than a preset time threshold. Therefore, the distance data acquired in the embodiment of the invention can be filtered, so that the accuracy of the data is improved; the lateral collision can be effectively identified according to the judgment of the predicted collision time calculated for multiple times, and the penetrability of the vehicle wall during the lateral collision is effectively reduced by lifting the proper vehicle body height, so that the personal safety of passengers is protected.
Referring to fig. 5, there is shown a schematic structural view of an apparatus for vehicle side impact protection in an embodiment of the present invention. In this embodiment, the device may specifically include: a processor 501, a controller 502, a sensor 503, a bus system 504;
the bus system 504 for coupling the various hardware components of the device together;
the sensor 503 is used for detecting the distance between the vehicle side obstacle and the vehicle;
the controller 502 is configured to control the lifting of the vehicle body according to a vehicle body lifting instruction;
the processor 501 is configured to read data detected in the sensor, and for example, may perform the following operations:
acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment;
obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment;
obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value;
and if the predicted collision time is less than a preset time threshold, controlling the vehicle body to lift.
Optionally, the apparatus may further include, for example:
and the electric push rod is used for pushing the car body to lift under the control of the controller 502.
Optionally, the apparatus may further include, for example:
the bus converter is configured to convert the bus signal into a serial port signal, and send the serial port signal to the processor 501.
The sensors are respectively arranged on two sides of the vehicle and used for collecting the distance between lateral obstacles on the two sides of the vehicle and the vehicle; the controller is arranged between the processor and the electric push rod and is used for controlling the electric push rod; one end of the processor is connected with the ultrasonic sensor and the intelligent CAN converter through a CAN bus, and the other end of the processor is connected with the controller and the voice alarm device through the CAN bus; the electric push rod is arranged between the chassis and the shock absorber and is used for raising the height of the vehicle body when the vehicle is subjected to side collision; the bus converter is arranged at an idle position beside the CAN bus and used for converting CAN signals into serial port signals and transmitting the serial port signals to the processor; the voice alarm device is arranged at a free position near the vehicle instrument panel, can receive signals transmitted by the processor in real time and drives a loudspeaker arranged on the device to give out voice prompt.
Through various implementation manners provided by the embodiment, the processor acquires the distance between the vehicle lateral obstacle and the vehicle in real time, filters the distance data, calculates the speed of the vehicle lateral obstacle approaching the vehicle when the vehicle lateral obstacle gradually approaches the vehicle, calculates the predicted collision time of the vehicle and the vehicle lateral obstacle according to the distance and speed data, and controls the vehicle body to lift to a proper height when the predicted collision time obtained through multiple calculations is smaller than a preset time threshold. Therefore, the distance data acquired in the embodiment of the invention can be filtered, so that the accuracy of the data is improved; the lateral collision can be effectively identified according to the judgment of the predicted collision time calculated for multiple times, and the penetrability of the vehicle wall during the lateral collision is effectively reduced by lifting the proper vehicle body height, so that the personal safety of passengers is protected.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalent embodiments to equivalent variations, without departing from the scope of the present teachings, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.

Claims (9)

1. A method of vehicle side impact protection, comprising:
acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment;
obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment;
obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value;
if the predicted collision time is smaller than a preset time threshold, controlling the vehicle body to lift; wherein controlling the body lift comprises: obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle; h2＝m×L+n×(W+H1) (ii) a Wherein the basic dimensions include a vehicle body length, a vehicle body width and a vehicle body height, and H2Is the height of the lifting, L is the length of the vehicle body, W is the width of the vehicle body, H1And m and n are preset constants for the height of the vehicle body.
2. The method according to claim 1, wherein the first and second distance values are obtained by a sensor, and wherein before obtaining the first distance value, the method further comprises:
and determining the scanning range of the sensor according to the speed of the vehicle, wherein the scanning range is in direct proportion to the speed of the vehicle.
3. The method of claim 1, after obtaining a second distance value between the vehicle lateral obstacle and the vehicle at a second time, further comprising:
if the second distance value is in the scanning range and the difference between the first distance value and the second distance value does not exceed a preset value, utilizing a first-order filtering formula Y2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and using the second corrected distance value to participate in obtaining the speed of the vehicle lateral obstacle approaching the vehicleDegree, wherein said Y1Is a first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
4. A vehicle side impact protection apparatus, comprising:
the distance value acquisition unit is used for acquiring a first distance value between the vehicle side barrier and the vehicle at a first moment and a second distance value between the vehicle side barrier and the vehicle at a second moment;
a first obtaining unit, configured to obtain a speed at which the vehicle lateral obstacle approaches the vehicle from a distance difference between the first distance value and the second distance value and a time difference between the second time and the first time;
a second obtaining unit, configured to obtain a predicted collision time of the vehicle with the vehicle lateral obstacle according to a speed at which the vehicle lateral obstacle approaches the vehicle and the second distance value;
the vehicle body control unit is used for controlling the vehicle body to lift if the predicted collision time is smaller than a preset time threshold;
a third obtaining unit, which is used for obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle; h2＝m×L+n×(W+H1) (ii) a Wherein the basic dimensions include a vehicle body length, a vehicle body width and a vehicle body height, and H2Is the height of the lifting, L is the length of the vehicle body, W is the width of the vehicle body, H1And m and n are preset constants for the height of the vehicle body.
5. The apparatus of claim 4, further comprising:
and the scanning range determining unit is used for determining the scanning range of the sensor according to the speed of the vehicle, and the scanning range is in direct proportion to the speed of the vehicle.
6. The apparatus of claim 4, further comprising:
a fourth obtaining unit, configured to utilize a first-order filtering formula Y if the second distance value is within the scanning range and a difference between the first distance value and the second distance value does not exceed a preset value2＝(1-a)×Y1+a×X2Correcting the second distance value to obtain a second corrected distance value, and participating in obtaining the speed of the vehicle lateral obstacle approaching the vehicle by using the second corrected distance value, wherein the Y is1Is a first corrected distance value obtained by correcting the first distance value, Y2For the second corrected distance value, the X2And a is a preset constant and is the second distance value.
7. An apparatus for vehicle side impact protection, comprising: the system comprises a processor, a sensor, a controller and a bus system;
the bus system for coupling together the various hardware components of the device;
the sensor is used for detecting the distance between the vehicle side obstacle and the vehicle;
the controller is used for controlling the lifting of the vehicle body according to the vehicle body lifting instruction;
the processor is used for reading the data detected in the sensor and executing the following operations:
acquiring a first distance value between a vehicle lateral obstacle and a vehicle at a first moment and a second distance value between the vehicle lateral obstacle and the vehicle at a second moment;
obtaining the speed of the vehicle side barrier approaching the vehicle according to the distance difference between the first distance value and the second distance value and the time difference between the second moment and the first moment;
obtaining the predicted collision time of the vehicle and the vehicle lateral obstacle according to the speed of the vehicle lateral obstacle approaching the vehicle and the second distance value;
if the predicted collision time is smaller than a preset time threshold, controlling the vehicle body to lift; wherein the control bodyThe lifting comprises the following steps: obtaining the lifting height of the vehicle body according to the following formula according to the basic size of the vehicle; h2＝m×L+n×(W+H1) (ii) a Wherein the basic dimensions include a vehicle body length, a vehicle body width and a vehicle body height, and H2Is the height of the lifting, L is the length of the vehicle body, W is the width of the vehicle body, H1And m and n are preset constants for the height of the vehicle body.
8. The apparatus of claim 7, further comprising:
and the electric push rod is used for pushing the car body to lift under the control of the controller.
9. The apparatus of claim 7, further comprising:
and the bus converter is used for converting the bus signal into a serial port signal and sending the serial port signal to the processor.
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