CN112009416A - A vehicle protection method, system and automobile - Google Patents

Abstract

The invention provides a vehicle protection method, a vehicle protection system and an automobile, wherein the method comprises the steps of controlling a camera to be started and shooting a video of an object falling from the high altitude when the object falling from the high altitude passes through a camera opening area located at a first preset height above the top of the vehicle; identifying the real object type of the falling object according to the video of the falling object; when the falling object is detected to pass through a roof protection range at a second preset height above the top of the vehicle, acquiring the position and the speed of the falling object; judging whether the falling object damages the top of the vehicle according to the type, the position and the speed of the falling object; if yes, the roof airbag is controlled to open to cover the top of the vehicle. The invention solves the problem that the vehicle ceiling and the panoramic sunroof are damaged due to the fact that the existing vehicle is parked outside and falls into high-altitude objects without protective measures.

Description

A vehicle protection method, system and automobile

technical field

The invention relates to the technical field of automobile safety, in particular to a vehicle protection method, system and automobile.

Background technique

With the development of automobile technology, automobile active and passive safety protection technology has been well used. However, with the growth of vehicles, many times the vehicles will be parked outdoors, and there are no effective protection measures to deal with falling objects. Nowadays, most vehicles are equipped with panoramic sunroofs, and falling objects from high altitudes can easily cause damage to the panoramic sunroofs, which brings great trouble to car owners.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a vehicle protection method, system and automobile, which are used to solve the problem of damage to the roof and panoramic sunroof of the existing vehicle parked outdoors due to the lack of protective measures due to falling objects.

A vehicle protection method provided by the present invention, the method includes:

Step S11, when it is detected that the falling object passes through the camera opening area located at the first preset height above the top of the vehicle, control the camera to turn on and shoot a video of the falling object;

Step S12, identifying the physical type of the falling object according to the video of the falling object;

Step S13, obtaining the position and speed of the falling object when it is detected that the falling object passes through the roof protection area at the second preset height above the top of the vehicle;

Step S14, according to the physical type, position and speed of the falling object, determine whether the falling object causes damage to the top of the vehicle; if so, control the roof airbag to open to cover the top of the vehicle.

Further, the step S12 specifically includes:

converting the video of the falling object into a plurality of consecutive images;

The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object.

Further, the deep learning network for image classification adopts an AlexNet network structure.

Further, the step S14 specifically includes:

According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object;

According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range;

When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle.

Further, the method also includes:

When the kinetic energy of the falling object passing through the roof protection range is less than the preset safe kinetic energy threshold, or the position of the falling object is outside the roof protection range, it is determined that the falling object has a negative impact on the vehicle. The top of the vehicle described is not enough to cause damage.

The present invention provides a vehicle protection system, which comprises an ECU, a radar, a camera and an airbag which are arranged on the top of the vehicle and are all electrically connected to the control ECU;

The ECU is configured to trigger the opening of the camera to shoot the video of the falling object when the radar detects that the falling object passes through the camera opening area at the first preset height above the top of the vehicle, and according to the high-altitude falling object The video of the falling object identifies the physical type of the falling object;

The ECU is further configured to acquire the position and speed of the falling object when the radar detects that the falling object passes through a roof protection area located at a second preset height above the top of the vehicle;

The ECU is further configured to judge whether the falling object causes damage to the top of the vehicle according to the physical type, position and speed of the falling object; if so, control the airbag to open to cover the roof of the vehicle.

Further, the radar is arranged in the middle or rear of the vehicle, and is arranged along the center line of the vehicle, and the radar detection angle range along the length direction of the vehicle body is [-15°, +15°], and the detection angle range along the vehicle body width direction is [-15°, +15°]. The detection angle range is [-20°,+20°].

Further, the ECU identifying the physical type of the falling object according to the video of the falling object specifically includes:

converting the video of the falling object into a plurality of consecutive images;

The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object.

Further, according to the physical type, position and speed of the high-altitude falling object, the ECU determines whether the high-altitude falling object causes damage to the top of the vehicle, which specifically includes:

According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object;

According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range;

When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle.

The present invention provides an automobile having the above-mentioned vehicle protection system.

Implement the present invention, have the following beneficial effects:

Through the present invention, combined with the camera and radar, the physical type, speed and position of the high-altitude falling object located at a certain height above the top of the vehicle are acquired, and the kinetic energy of the high-altitude falling object is calculated and the position is judged, when the high-altitude falling object kinetic energy reaches the threshold value conditions, and the falling object is within the roof protection range, control the opening of the airbag to protect the roof and panoramic sunroof of the vehicle; solve the problem of existing vehicles parked outdoors, and the roof and panoramic sunroof of the vehicle are damaged due to the lack of protective measures when encountering a falling object. The problem.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a front view of the operating background of a vehicle protection method provided by an embodiment of the present invention.

FIG. 2 is a left side view of the running background of the vehicle protection method provided by the embodiment of the present invention.

FIG. 3 is a top view of the operating background of the vehicle protection method provided by the embodiment of the present invention.

FIG. 4 is a structural diagram of a vehicle protection system provided by an embodiment of the present invention.

FIG. 5 is a flowchart of a vehicle protection method provided by an embodiment of the present invention.

FIG. 6 is a structural diagram of an AlexNet network provided by an embodiment of the present invention.

Detailed ways

In this patent, the specific implementation is further described below with reference to the accompanying drawings and examples.

As shown in FIG. 1 , an embodiment of the present invention provides an operating background of a vehicle protection method. A millimeter-wave radar is provided on the top of the vehicle, and the millimeter-wave radar detects the angle in the X-axis direction (that is, the length direction of the vehicle body) in FIG. 1 . The range is [-15°, +15°], and the detection angle range in the Z-axis direction (that is, the width direction of the vehicle body) is [-20°, +20°] mmWave radar; with the help of Figure 2, you can see the top of the vehicle A camera is provided. In order to ensure that it can work normally in different environments, the camera adopts an infrared camera to avoid being disturbed by the environment. If there are other special requirements for the environment, the radar and camera types can be appropriately replaced; when the radar and camera types or parameters change, the installation angle of the radar and camera needs to be calibrated and adjusted to ensure the best anti-falling effect of the vehicle.

The installation of the radar and camera on the top of the vehicle needs to form a certain angle with the top of the vehicle. This is to better collect the information of the falling object and to reserve a part of the safety time for the deployment of the airbag set on the top of the vehicle. Referring to Figure 1, the radar center line forms an angle of 10° with the vertical line of the radar installation position. Assuming that the length of the vehicle roof is l=2.5m, the roof protection range S to the roof plane height h can be calculated:

It should be noted that, the roof protection range S to the roof plane height h is the second preset height in this embodiment.

Referring to Figure 2, the radar and the camera are installed in the center or rear of the vehicle, where the radar needs to be installed on the center line of the vehicle, which can ensure that the detection range of the radar along the Z-axis direction is symmetrical, but the camera can be slightly deviated from the center line of the vehicle. It is because the camera has a large wide-angle shooting and is slightly deviated from the center line, which will not affect the protection effect;

If the distance from the center line of the radar to the Z axis of the single edge of the radar detection range is a, and the width of the vehicle roof is d=2m, it can be proved by calculation that the radar detection range includes the roof protection range S, which can play a good role in the vehicle. Protection:

a=h*tan20°=5.36*tan20°=1.95m>1m.

1 and 2, there is a camera opening position S' at a height h'=2m above the Z-axis projection of the roof protection range S, which is an area whose size and shape are consistent with the roof protection range S. When the radar detects that the falling object falls into the area, the ECU triggers to turn on the smart camera to start video shooting of the falling object. The distance from this area to the roof protection range S is h`, which is reserved for the camera to transmit video information, the ECU to identify the type of the falling object, and to make a decision on whether to open the airbag.

It should be noted that the sum of the heights of h+h` above is the first preset height.

Referring to Figure 3, the roof protection area S is a rectangular area with the same size as the top of the real vehicle, with a length of 2.5m and a width of 2m. This area is one of the basis for the radar to judge whether the falling position of the falling object damages the roof of the vehicle. At the same time, the ECU sends the airbag deployment command to the starting position of the roof airbag. According to different models, the roof protection range S will have different shapes and sizes. When the shape and size change, the radar installation angle needs to be adjusted and calibrated to ensure the best anti-falling effect of the vehicle.

As shown in FIG. 4 , an embodiment of the present invention provides a vehicle protection system. The system includes a radar 41 arranged on the roof of the vehicle, a camera 42 arranged on the roof of the vehicle, an ECU 43 and an airbag 44 arranged on the roof of the vehicle. The ECU 43 respectively The radar 41, the camera 42 and the airbag 44 are electrically connected, wherein:

The ECU 43 is used to trigger the opening of the camera 42 to shoot the video of the falling object when the radar 41 detects that the falling object passes through the camera opening area located at the first preset height above the top of the vehicle, and according to the The video of the falling object identifies the physical type of the falling object;

The ECU 43 is further configured to acquire the position and speed of the falling object when the radar 41 detects and finds that the falling object passes through a roof protection area located at a second preset height above the top of the vehicle;

The ECU 43 is also used to judge whether the falling object causes damage to the top of the vehicle according to the physical type, position and speed of the falling object; if so, control the airbag 44 to open to cover the roof of the vehicle.

Further, the ECU 43 identifying the physical type of the falling object according to the video of the falling object specifically includes:

converting the video of the falling object into a plurality of consecutive images;

The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object.

Further, according to the physical type, position and speed of the falling object, the ECU 43 determines whether the falling object causes damage to the top of the vehicle, which specifically includes:

According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object;

According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range;

When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle.

It should be noted that, in this embodiment, a table corresponding to the physical type of the falling object and the estimated mass is pre-established.

As shown in FIG. 5 , an embodiment of the present invention provides a vehicle protection method, and the method includes:

Step S11, when it is detected that the falling object passes through a camera lens opening area located at a first preset height above the top of the vehicle, control the camera to turn on and shoot a video of the falling object;

It should be noted that the camera opening area is located in a virtual area at the first preset height above the top of the vehicle, which is consistent with the shape and size of the top of the vehicle, and is located directly above the top of the vehicle; the radar detects that there is a falling object passing through this virtual area. area, notify the ECU that the ECU controls the camera to turn on and shoot the video of the falling object.

Step S12, identifying the physical type of the falling object according to the video of the falling object;

It should be noted that step S12 specifically includes:

converting the video of the falling object into a plurality of consecutive images;

The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object.

It should be noted that the deep learning network for image classification that has been trained by the training sample set adopts the AlexNet network structure; please refer to Figure 6 for the AlexNet network structure.

The image recognition algorithm utilizes other trained artificial intelligence networks, such as the AlexNet network structure in this embodiment, and is directly used to realize the image recognition in this embodiment, which can save a lot of time.

Step S13, when it is detected that the falling object passes through the roof protection area located at a second preset height above the top of the vehicle, obtain the position and speed of the falling object, and the second preset height is smaller than the second preset height. a preset height;

It should be noted that the purpose of setting the second preset height is to provide the time for judging the physical type of the falling object and opening the airbag.

Step S14, according to the physical type, position and speed of the falling object, determine whether the falling object causes damage to the top of the vehicle;

If so, control the deployment of the roof airbag to cover the roof of the vehicle.

The step S14 specifically includes:

According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object;

According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range;

When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle.

It should be noted that the roof protection area is located just above the top of the vehicle and at a second preset height from the top of the vehicle, which is also a virtual area. If a falling object passes through this area and has a certain kinetic energy, it must be Protect.

Further, the method also includes:

When the kinetic energy of the falling object passing through the roof protection range is less than the preset safe kinetic energy threshold, or the position of the falling object is outside the preset roof protection range, it is determined that the falling object Not enough damage to the top of the vehicle.

In order to verify the effectiveness of the scheme, the height range of the fallable objects is calculated. According to market data, the airbag deployment time is generally 0.03s. In order to ensure sufficient airbag deployment time, a safety factor of 3.5 is selected, that is, the airbag deployment time is assumed to be t ₂ =0.105s. The calculation is divided into the following two cases:

Case 1: Free fall from the height of h+h`, calculate the free fall time t;

Case 2: If the time from when the falling object enters the roof protection range S to when the airbag is fully deployed is t ₂ =0.105s, calculate the height from which the falling object falls, and the system can effectively protect.

The speed of the falling object to the roof protection area S is V ₀ , then:

The height of the falling object from the free fall position to the height of the falling object to the roof protection range S is △h, and the free fall time is T, then:

The distance from the position where the object begins to free fall to the roof of the vehicle is H, then:

H=Δh+h=127.5+5.36=132.86m.

To sum up, if the vehicle height is assumed to be 1.7m, the scheme has a good protective effect on the falling objects with a height of 9.06-134.56m from the ground (if the floor height is 3m/floor, it is 3-45 floors).

The present invention also provides an automobile having the above-mentioned vehicle protection system.

Implement the present invention, have the following beneficial effects:

Through the invention, combined with the camera and the radar, the physical type, speed and position of the falling object at a certain height on the top of the vehicle are obtained, and the kinetic energy of the falling object is calculated and the position is judged. When the kinetic energy of the falling object reaches the threshold condition, And the high-altitude falling object is within the roof protection range, control the opening of the airbag to protect the vehicle roof and panoramic sunroof; solve the problem that the existing vehicle parked outdoors, encountering a high-altitude falling object due to lack of protective measures, the vehicle roof and panoramic sunroof are damaged. .

The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be considered that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deductions or substitutions can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (10)

1. A vehicle protection method, wherein the method comprises: Step S11, when it is detected that the falling object passes through the camera opening area located at the first preset height above the top of the vehicle, control the camera to turn on and shoot a video of the falling object; Step S12, identifying the physical type of the falling object according to the video of the falling object; Step S13, obtaining the position and speed of the falling object when it is detected that the falling object passes through the roof protection area at the second preset height above the top of the vehicle; Step S14, according to the physical type, position and speed of the falling object, determine whether the falling object causes damage to the top of the vehicle; if so, control the roof airbag to open to cover the top of the vehicle. 2. The method according to claim 1, wherein the step S12 specifically comprises: converting the video of the falling object into a plurality of consecutive images; The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object. 3. The method of claim 2, wherein the deep learning network for image classification adopts an AlexNet network structure. 4. The method of claim 1, wherein the step S14 specifically comprises: According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object; According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range; When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle. 5. The method of claim 4, wherein the method further comprises: When the kinetic energy of the falling object passing through the roof protection range is less than the preset safe kinetic energy threshold, or the position of the falling object is outside the roof protection range, it is determined that the falling object has a negative impact on the vehicle. The top of the vehicle described is not enough to cause damage. 6. A vehicle protection system, characterized in that it comprises an ECU and a radar, a camera and an airbag which are arranged on the top of the vehicle and are all electrically connected to the ECU; The ECU is configured to trigger the opening of the camera to shoot the video of the falling object when the radar detects that the falling object passes through the camera opening area at the first preset height above the top of the vehicle, and according to the high-altitude falling object The video of the falling object identifies the physical type of the falling object; The ECU is further configured to acquire the position and speed of the falling object when the radar detects that the falling object passes through a roof protection area located at a second preset height above the top of the vehicle; The ECU is further configured to judge whether the falling object causes damage to the top of the vehicle according to the physical type, position and speed of the falling object; if so, control the airbag to open to cover the roof of the vehicle. 7. The system according to claim 6, wherein the radar is arranged in the middle or rear of the vehicle, and is arranged along the centerline of the vehicle, and the detection angle range of the radar along the length direction of the vehicle body is [-15 °,+15°], the detection angle range along the vehicle body width direction is [-20°,+20°]. 8. The system according to claim 6, wherein the ECU identifying the physical type of the falling object according to the video of the falling object specifically comprises: converting the video of the falling object into a plurality of consecutive images; The multiple consecutive images are input into the trained image classification deep learning network to identify the physical type of the falling object. 9 . The system according to claim 6 , wherein the ECU determines whether the falling object causes damage to the top of the vehicle according to the physical type, position and speed of the falling object, which specifically includes: 10 . According to the physical type of the falling object, obtain the estimated mass corresponding to the physical type of the falling object; According to the estimated mass and the speed of the falling object, calculate the kinetic energy of the falling object when it passes through the roof protection range; When the kinetic energy of the falling object passing through the roof protection range is greater than or equal to a preset safe kinetic energy threshold, and the position of the falling object is within the roof protection range, it is determined that the falling object is not suitable for damage to the top of the vehicle. 10. An automobile, characterized in that the automobile has the vehicle protection system according to any one of claims 6 to 9.

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