CN111674348A - Method and device for buffering vehicle collision and vehicle - Google Patents
Method and device for buffering vehicle collision and vehicle Download PDFInfo
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- CN111674348A CN111674348A CN202010555600.XA CN202010555600A CN111674348A CN 111674348 A CN111674348 A CN 111674348A CN 202010555600 A CN202010555600 A CN 202010555600A CN 111674348 A CN111674348 A CN 111674348A
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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
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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
- B60R21/0134—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
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Abstract
The embodiment of the invention discloses a method and a device for buffering vehicle collision and a vehicle. The method comprises the steps of judging whether a collision obstacle exists in the current driving direction of the vehicle or not; if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle; and if the collision time is less than the first time threshold value, controlling the safety protection device to pop out of the vehicle. The technical scheme provided by the embodiment of the invention can control the safety protection device to pop up in time, so that the safety protection device can generate a buffer effect between the vehicle and the obstacle when the vehicle collides with the obstacle, and the collision injury is reduced.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle safety, in particular to a method and a device for buffering vehicle collision and a vehicle.
Background
Currently, to ensure the personal safety of the driver and passengers, vehicles are usually provided with anti-collision systems based on laser radar. The anti-collision system can provide timely sound and visual alarm for the driver before danger occurs, and prompt the driver to take measures in time to avoid road traffic accidents.
However, most of the current anti-collision systems on the market are in the trajectory planning stage, so as to avoid collision between vehicles. Then, when the vehicle starts the maximum braking force, the collision has become inevitable due to the inertia of the vehicle speed, and how to reduce the collision damage has become the most urgent matter of the working condition at that time.
Disclosure of Invention
The invention provides a method and a device for buffering vehicle collision and a vehicle, and aims to reduce collision injury by generating a buffering effect between the vehicle and an obstacle through a popup safety protection device when the vehicle collides with the obstacle.
In a first aspect, an embodiment of the present invention provides a method for buffering a vehicle collision, where a body of the vehicle is provided with a safety protection device, and the method includes:
judging whether a collision barrier exists in the current driving direction of the vehicle;
if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle;
and if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle.
Optionally, the determining whether there is a collision obstacle in the current driving direction of the vehicle includes:
acquiring current attitude information of the vehicle;
acquiring laser point cloud data of obstacles in front of and behind the vehicle;
and judging whether collision obstacles exist in the current driving direction of the vehicle or not according to the current attitude information and the laser point cloud data of the obstacles.
Optionally, the safety protection device includes a plurality of discrete sub-safety protection devices, and the plurality of sub-safety protection devices are respectively disposed around the vehicle body; the method further comprises the following steps:
determining a part, closest to the collision obstacle, in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle;
if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle comprises:
and if the collision time is less than a first time threshold value, controlling the sub-safety protection device corresponding to the collision occurrence prediction position to pop out of the vehicle.
Optionally, the determining the collision time according to the current distance between the vehicle and the collision obstacle, the movement information of the collision obstacle, and the driving information of the vehicle includes:
judging whether the collision barrier is in a static state or not according to the motion information of the barrier;
and if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the driving information of the vehicle.
Optionally, the method further includes: and if the collision time is less than a first time threshold value and the collision obstacle is positioned in front of the vehicle, controlling the opening degree of a brake pedal to reach 100%.
Optionally, the method further includes: and if the collision time is greater than the first time threshold and less than a second time threshold, controlling an alarm to give an alarm.
In a second aspect, an embodiment of the present invention further provides an apparatus for buffering a vehicle collision, including:
the collision obstacle existence judging module, the collision time determining module and the safety protection device ejecting module are arranged on the vehicle body;
the collision obstacle existence judging module is used for judging whether a collision obstacle exists in the current driving direction of the vehicle;
the collision time determination module is used for determining collision time according to the current distance between the vehicle and a collision obstacle, the motion information of the collision obstacle and the running information of the vehicle when the collision obstacle exists in the current running direction of the vehicle;
and the safety protection device ejecting module is used for controlling the safety protection device to eject out of the vehicle when the collision time is less than a first time threshold value.
In a third aspect, an embodiment of the present invention further provides a vehicle, including: the system comprises an attitude information sensor, a driving information sensor, a laser radar, a safety protection device and a controller; the attitude information sensor, the driving information sensor, the laser radar and the safety protection device are all connected with the controller;
the attitude information sensor is used for acquiring attitude information of the vehicle;
the driving information sensor is used for acquiring driving information of the vehicle;
the laser radar is used for detecting obstacles around the vehicle and generating laser point cloud data;
the safety protection device is arranged on the body of the vehicle and used for popping out of the vehicle under the control of the controller;
the controller comprises a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements any of the methods of buffering a vehicle collision as set forth in the first aspect.
Optionally, the safety shield apparatus comprises a plurality of discrete sub-safety shield apparatuses; the plurality of sub-safety protection devices are respectively arranged around the vehicle body.
Optionally, the number of the laser radars is at least two; at least one laser radar is arranged on the vehicle head; at least one laser radar is arranged at the tail of the vehicle.
According to the method for buffering the vehicle collision provided by the embodiment of the invention, when the collision obstacle exists in the current driving direction of the vehicle, the collision time of the vehicle and the collision obstacle is predicted, and the safety protection device is controlled to pop out of the vehicle when the collision time is smaller than the first time threshold value, so that when the vehicle collides with the obstacle, the safety protection device positioned between the vehicle and the obstacle can buffer the collision between the vehicle and the obstacle, the collision energy received by the vehicle body is reduced, the problem that an anti-collision system in the prior art cannot generate protection during collision is solved, and the effect of reducing collision injury is realized.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for buffering a vehicle collision according to an embodiment of the present invention;
FIG. 2 is a schematic view of an impact barrier and a non-impact barrier according to an embodiment of the present invention;
FIG. 3 is a schematic view of a safety shield apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a method for buffering a vehicle collision according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a device for buffering a vehicle collision according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a schematic flow chart of a method for buffering a vehicle collision according to an embodiment of the present invention, where the method is applicable to a situation where a vehicle collides during a driving process of the vehicle and generates a buffer, and a safety protection device is disposed on a body of the vehicle, and when a predicted collision time is less than a first time threshold, the safety protection device is controlled to pop out of the vehicle, so as to achieve an effect of buffering the collision, and solve a problem that an anti-collision system in the prior art cannot generate a protection during the collision. The method can be executed by a device for buffering vehicle collision, the device can be realized by software and/or hardware and is generally integrated on a terminal, and the terminal can be an intelligent terminal with a processing function, such as a driving computer, a vehicle-mounted computer and the like.
Referring to fig. 1, the method for buffering a vehicle collision specifically includes the steps of:
and S110, judging whether a collision obstacle exists in the current running direction of the vehicle.
Specifically, there are various detection ways for detecting obstacles around the vehicle, and those skilled in the art can set the detection ways according to actual situations, and the detection ways are not limited herein. For example, machine vision sensors and/or lidar sensors may be mounted at the nose and tail portions to detect obstacles in front of and behind the vehicle.
Specifically, there are various ways to detect the current driving direction of the vehicle, and those skilled in the art can set the detection according to actual situations, and the detection is not limited herein. For example, the current traveling direction of the vehicle may be detected by a Global Positioning System (GPS) or a gyroscope.
Specifically, the obstacles include two types, a collision obstacle and a non-collision obstacle, the obstacle located in the current driving direction may be determined as the collision obstacle, the obstacle not located in the current driving direction may be determined as the non-collision obstacle, the non-collision obstacle may include a non-collision static obstacle and a non-collision dynamic obstacle, the non-collision obstacle stationary with respect to the ground may be determined as the non-collision static obstacle, and the non-collision obstacle moving with respect to the ground may be determined as the non-collision dynamic obstacle. The collision barrier is located in the current driving direction, that is, at least a portion of the collision barrier is located in a region defined between a straight line extending along the current driving direction along a left boundary line of the vehicle and a straight line extending along the current driving direction along a right boundary line of the vehicle, and fig. 2 is a schematic view of a collision barrier and a non-collision barrier according to an embodiment of the present invention. Referring to fig. 2, the vehicle travels in the direction indicated by the arrow, the straight line extending the left boundary line of the vehicle in the traveling direction is L1, the straight line extending the right boundary line of the vehicle in the traveling direction is L2, the obstacle OSB1 is entirely located in the region defined between the straight line L1 and the straight line L2, the obstacle OSB2 is partially located in the region defined between the straight line L1 and the straight line L2, and the obstacle OSB3 is entirely located outside the region defined between the straight line L1 and the straight line L2, and therefore, the obstacle OSB1 and the obstacle OSB2 are collision obstacles and the obstacle OSB3 is a non-collision obstacle.
It will be appreciated that for a colliding obstacle, when the driver is not as late to brake or turn, the vehicle will collide with the colliding obstacle, i.e. the vehicle will have a greater chance of colliding with the colliding obstacle. For a non-collision static obstacle, since it is not located in the current driving direction, even if the distance to the vehicle is short, for example, 1cm, the probability of the vehicle colliding with the non-collision static obstacle is low, almost 0. For the non-collision dynamic obstacle, the obstacle with avoidance awareness, such as a pedestrian, other running vehicles and the like, is usually not located in the current running direction, and the probability of collision between the vehicle and the non-collision dynamic obstacle is relatively low. Therefore, the present application focuses on a collision obstacle located in the current traveling direction of the vehicle, which has a greater probability of collision with the vehicle.
And S120, if so, determining the collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the running information of the vehicle.
Specifically, the manner of obtaining the current distance between the vehicle and the collision obstacle may be set by a person skilled in the art according to actual conditions, and is not limited herein. For example, it can be obtained by a laser radar detector.
Specifically, the travel information of the vehicle may include the current vehicle speed, or other information known to those skilled in the art. The current vehicle speed may be obtained by a vehicle speed sensor. The movement information of the colliding obstacle may include a current operation speed, which may be obtained by the laser radar detector, or other information known to those skilled in the art.
Specifically, the calculation mode of the collision time can be set by a person skilled in the art according to actual conditions, for example, the relative operating speeds of the vehicle and the collision obstacle can be determined according to the current vehicle speed of the vehicle and the current operating speed of the collision obstacle; the time to collision may be equal to the ratio of the current distance to the relative speed of travel.
And S130, if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle.
Specifically, the specific value of the first time threshold may be set by those skilled in the art according to the actual conditions such as the performance of the vehicle itself, the time required for the safety protection device to pop up, and the like, and is not limited herein.
Specifically, the specific implementation form of the safety protection device and the specific location of the safety protection device on the vehicle body may be set by those skilled in the art according to the actual situation, and the present disclosure is not limited herein. Illustratively, fig. 3 is a schematic view of a safety device according to an embodiment of the present invention. Referring to fig. 3, the safety device includes eight sub safety devices SAF, one sub safety device SAF is provided right in front, left in front, right in front, left in back, right in back, and right in back of the vehicle body, and two sub safety devices SAF are provided in left and right of the vehicle body, respectively. The safety protection device can be formed by a device with an elastic buffering function, when a vehicle collides, the safety protection device can be in contact with a collision barrier to deform, and partial collision energy is absorbed, so that the impact energy directly received by the vehicle body is reduced, and further the collision damage of the vehicle is reduced. It should be noted that, in fig. 3, the sub safety device SAF is drawn outside the vehicle body for clarity of illustrating the installation position of the sub safety device SAF, but in actual circumstances, the sub safety device SAF should be located inside the vehicle body when not ejected.
According to the method for buffering the vehicle collision provided by the embodiment of the invention, when the collision obstacle exists in the current driving direction of the vehicle, the collision time of the vehicle and the collision obstacle is predicted, and the safety protection device is controlled to pop out of the vehicle when the collision time is smaller than the first time threshold value, so that when the vehicle collides with the obstacle, the safety protection device positioned between the vehicle and the obstacle can buffer the collision between the vehicle and the obstacle, the collision energy received by the vehicle body is reduced, the problem that an anti-collision system in the prior art cannot generate protection during collision is solved, and the effect of reducing collision injury is realized.
Example two
Fig. 4 is a schematic flow chart of a method for buffering a vehicle collision according to a second embodiment of the present invention. The present embodiment is optimized based on the above embodiments. Specifically, referring to fig. 4, the method specifically includes the following steps:
s210, judging whether a collision obstacle exists in the current running direction of the vehicle.
Optionally, S210 specifically includes:
and S211, acquiring the current posture information of the vehicle.
S212, laser point cloud data of obstacles in front of and behind the vehicle are acquired.
And S213, judging whether collision obstacles exist in the current driving direction of the vehicle according to the current attitude information and the laser point cloud data of the obstacles.
Specifically, the current attitude information of the vehicle may include a heading angle, or other attitude information known to those skilled in the art. The laser point cloud data of the obstacle in front of the vehicle can be acquired by a laser radar located at the head of the vehicle, and the laser point cloud data of the obstacle behind the vehicle can be acquired by a laser radar located at the tail of the vehicle.
And S220, if so, determining the collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the running information of the vehicle.
Optionally, S220 specifically includes:
and S221, judging whether the collision obstacle is in a static state or not according to the movement information of the obstacle.
And S222, if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the running information of the vehicle.
Specifically, the collision obstacle is in a stationary state as described herein, which means that the collision obstacle is stationary with respect to the ground, such as a tree, a stone, a vehicle parked on a roadside, or the like.
It can be understood that when the collision obstacle is in a static state, the collision time is completely determined by the vehicle running information, namely, the factors influencing the calculation accuracy of the collision time are reduced, and the collision time calculated by the vehicle running information is closer to the real collision time, so that the probability that the ejected safety protection device can play a buffering role can be improved, and the false ejection rate of the safety protection device is reduced. The travel information for the vehicle may include a current vehicle speed, a current acceleration, or other information known to those skilled in the art, and the time-to-collision is calculated, for example, based on the current distance, the current vehicle speed, and the current acceleration.
And S230, determining a part closest to the collision obstacle in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle.
Specifically, three-dimensional coordinate data of each point on the vehicle body when the heading angle is 0 are obtained in advance, the three-dimensional coordinate data of each point on the current vehicle body can be obtained according to the current attitude information of the vehicle and the three-dimensional coordinate data of each point on the vehicle body, and the position, which is closest to the collision obstacle, in the vehicle body can be obtained according to the three-dimensional coordinate data of each point on the current vehicle body and the laser point cloud data of the collision obstacle.
Specifically, the safety device comprises a plurality of discrete sub-safety devices which are respectively arranged around the vehicle body. Specifically, the specific number of the sub safety protection devices and the specific position where each sub safety protection device is disposed on the vehicle body may be set by those skilled in the art according to the actual situation, and the setting is not limited herein.
And S240, if the collision time is less than the first time threshold value, controlling the sub-safety protection device corresponding to the collision occurrence prediction position to pop out of the vehicle.
Specifically, the correspondence between the collision occurrence prediction bit and the safety protection device may be set by a person skilled in the art according to actual conditions, and is not limited herein.
It can be understood that when a vehicle collides with a collision obstacle, the collision prediction position collides with the collision obstacle, and other parts do not contact with the collision obstacle, so that the sub safety protection device corresponding to the collision prediction position pops out of the vehicle to play a role in buffering impact force, and the effective utilization rate of the safety protection device is improved.
According to the method for buffering the vehicle collision, provided by the embodiment of the invention, the collision occurrence prediction position is predicted, and when the collision time is less than the first time threshold value, the sub-safety protection device corresponding to the collision occurrence prediction position is controlled to pop out of the vehicle, so that the sub-safety protection device not corresponding to the collision occurrence prediction position can be prevented from popping out, and the effective utilization rate of the safety protection device is further improved.
On the basis of the above technical solution, optionally, the method further includes: and if the collision time is less than a first time threshold value and the collision barrier is positioned in front of the vehicle, controlling the opening degree of a brake pedal to reach 100%.
This arrangement has the advantage that the vehicle can be braked with maximum braking power, and even if the vehicle finally collides with a collision obstacle, the impact force at the time of collision can be reduced, and collision damage can be reduced.
Optionally, the method further includes: and if the collision time is greater than the first time threshold and less than the second time threshold, controlling an alarm to give an alarm.
Specifically, the specific value of the second time threshold may be set by a person skilled in the art according to actual conditions such as the performance of the vehicle itself, and is not limited herein.
It can be understood that the driver often has the condition of inattention in the driving process, and the warning of the alarm can play a role in early warning for the driver so that the driver can concentrate on paying attention to the road condition.
Optionally, if the collision time is greater than the first time threshold and less than the second time threshold and the collision obstacle is located in front of the vehicle, determining whether the opening degree of the brake pedal reaches a first opening degree threshold; and if not, increasing the opening degree of the brake pedal until the opening degree of the brake pedal reaches a first opening degree threshold value.
Specifically, the specific value of the first opening degree threshold may be set by a person skilled in the art according to the actual conditions of the vehicle performance, the current vehicle speed, and the like, and is not limited herein.
It can be understood that a driver usually needs a certain reaction judgment time from paying attention to the alarm to alarming until the driver presses a steering wheel or presses a brake pedal according to road conditions, and when the driver presses the brake pedal, the situation that the braking force is not large enough may also occur, and the opening degree of the brake pedal is directly controlled to reach the first opening degree through a device for buffering vehicle collision, so that the vehicle can start braking in time, and even if the vehicle finally collides with a collision obstacle, the impact force during collision can be reduced.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a device for buffering a vehicle collision according to a third embodiment of the present invention. Referring to fig. 5, the apparatus includes: a collision obstacle existence judgment module 110, a collision time determination module 120 and a safety guard ejection module 130; a collision obstacle existence judging module 110, configured to judge whether a collision obstacle exists in a current driving direction of the vehicle; a collision time determination module 120, configured to determine a collision time according to a current distance between the vehicle and a collision obstacle, motion information of the collision obstacle, and driving information of the vehicle when the collision obstacle exists in a current driving direction of the vehicle; and the safety protection device ejecting module 130 is used for controlling the safety protection device to eject out of the vehicle when the collision time is less than the first time threshold value.
On the basis of the above technical solution, optionally, the collision obstacle existence judging module 110 includes a current attitude information obtaining unit, a laser point cloud data obtaining unit, and a collision obstacle existence judging unit; a current attitude information acquisition unit for acquiring current attitude information of the vehicle; a laser point cloud data acquisition unit for acquiring laser point cloud data of obstacles in front of and behind the vehicle; and the collision obstacle existence judging unit is used for judging whether a collision obstacle exists in the current driving direction of the vehicle according to the current attitude information and the laser point cloud data of the obstacle.
Optionally, the safety protection device comprises a plurality of discrete sub-safety protection devices, and the plurality of sub-safety protection devices are respectively arranged around the vehicle body; the device also includes: the collision occurrence prediction position module is used for determining a position, closest to a collision obstacle, in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle; the safing device popping module 130 is specifically configured to control the sub-safing device corresponding to the collision occurrence prediction bit to pop out of the vehicle when the collision time is less than the first time threshold.
Optionally, the collision time determining module 120 is specifically configured to determine whether the collision obstacle is in a stationary state according to the movement information of the obstacle; and if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the running information of the vehicle.
Optionally, the apparatus further includes a brake pedal opening control module configured to control the brake pedal opening to 100% when the collision time is less than a first time threshold and the collision obstacle is located in front of the vehicle.
Optionally, the device further includes an alarm module, configured to control the alarm to alarm when the collision time is greater than the first time threshold and less than the second time threshold.
The device for buffering the vehicle collision provided by the third embodiment of the invention can be used for executing the method for buffering the vehicle collision provided by the third embodiment of the invention, and has corresponding functions and beneficial effects.
Example four
Fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention. Referring to fig. 6, the vehicle includes a travel information sensor 230, a laser radar 240, a safety guard 250, and a controller 210; the attitude information sensor 220, the driving information sensor 230, the laser radar 240 and the safety device 250 are all connected with the controller 210; the attitude information sensor 220 is used for acquiring attitude information of the vehicle; the driving information sensor 230 is used for collecting driving information of the vehicle; the laser radar 240 is used for acquiring the current distance between the vehicle and the collision obstacle; the safety guard 250 is provided on the body of the vehicle for popping out to the outside of the vehicle under the control of the controller 210; the controller 210 includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, performs the following:
judging whether collision obstacles exist in the current driving direction of the vehicle or not;
if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle;
and if the collision time is less than the first time threshold value, controlling the safety protection device 250 to pop out of the vehicle.
Based on the above technical solution, optionally, the safety guard 250 includes a plurality of discrete sub-safety guards 250; the plurality of sub-safety guards 250 are respectively arranged around the vehicle body.
Specifically, the driving information sensor 230 may include a vehicle speed sensor, an acceleration sensor, or other sensors known to those skilled in the art for acquiring vehicle driving information. Attitude information sensor 220 may include a gyroscope, a GPS, or other sensor known to those skilled in the art for obtaining vehicle attitude information. The vehicle may also include a brake pedal position sensor, alarm, etc. as would be known to one skilled in the art.
Optionally, the number of the laser radars 240 is at least two; wherein, at least one laser radar 240 is arranged on the vehicle head; at least one lidar 240 is mounted to the vehicle rear.
The controller in the vehicle provided by the fourth embodiment of the invention can be used for executing the method for buffering the vehicle collision provided by the above embodiment, and has corresponding functions and beneficial effects.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of cushioning a vehicle collision, the vehicle having a body with a safety shield disposed thereon, the method comprising:
judging whether a collision barrier exists in the current driving direction of the vehicle;
if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle;
and if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle.
2. The method of buffering a vehicle collision according to claim 1, wherein the determining whether there is a collision obstacle in a current traveling direction of the vehicle comprises:
acquiring current attitude information of the vehicle;
acquiring laser point cloud data of obstacles in front of and behind the vehicle;
and judging whether collision obstacles exist in the current driving direction of the vehicle or not according to the current attitude information and the laser point cloud data of the obstacles.
3. The method of cushioning a vehicle collision of claim 2, wherein said safety shield apparatus comprises a plurality of discrete sub-safety shield apparatuses, said plurality of sub-safety shield apparatuses being disposed around said vehicle body; the method further comprises the following steps:
determining a part, closest to the collision obstacle, in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle;
if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle comprises:
and if the collision time is less than a first time threshold value, controlling the sub-safety protection device corresponding to the collision occurrence prediction position to pop out of the vehicle.
4. The method of buffering a vehicle collision according to claim 1, wherein the determining a collision time based on the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle, and the traveling information of the vehicle includes:
judging whether the collision barrier is in a static state or not according to the motion information of the barrier;
and if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the driving information of the vehicle.
5. The method of cushioning a vehicle collision of claim 1, further comprising: and if the collision time is less than a first time threshold value and the collision obstacle is positioned in front of the vehicle, controlling the opening degree of a brake pedal to reach 100%.
6. The method of cushioning a vehicle collision of claim 1, further comprising:
and if the collision time is greater than the first time threshold and less than a second time threshold, controlling an alarm to give an alarm.
7. An apparatus for cushioning a vehicle collision, comprising: the collision obstacle existence judging module, the collision time determining module and the safety protection device ejecting module are arranged on the vehicle body;
the collision obstacle existence judging module is used for judging whether a collision obstacle exists in the current driving direction of the vehicle;
the collision time determination module is used for determining collision time according to the current distance between the vehicle and a collision obstacle, the motion information of the collision obstacle and the running information of the vehicle when the collision obstacle exists in the current running direction of the vehicle;
and the safety protection device ejecting module is used for controlling the safety protection device to eject out of the vehicle when the collision time is less than a first time threshold value.
8. A vehicle is characterized by comprising an attitude information sensor, a driving information sensor, a laser radar, a safety protection device and a controller; the attitude information sensor, the driving information sensor, the laser radar and the safety protection device are all connected with the controller;
the attitude information sensor is used for acquiring attitude information of the vehicle;
the driving information sensor is used for acquiring driving information of the vehicle;
the laser radar is used for detecting obstacles around the vehicle and generating laser point cloud data;
the safety protection device is arranged on the body of the vehicle and used for popping out of the vehicle under the control of the controller;
the controller comprises a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the method of any one of claims 1-6.
9. The vehicle of claim 8, characterized in that the safety shield comprises a plurality of discrete sub-safety shields; the plurality of sub-safety protection devices are respectively arranged around the vehicle body.
10. The vehicle of claim 8, characterized in that the number of lidar is at least two; at least one laser radar is arranged on the vehicle head; at least one laser radar is arranged at the tail of the vehicle.
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