CN113511160B - Safety system, apparatus, method and medium for improving road compatibility of vehicle - Google Patents
Safety system, apparatus, method and medium for improving road compatibility of vehicle Download PDFInfo
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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
- B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
- B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
- B60R19/18—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact
- B60R19/20—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable
- B60R19/205—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects characterised by the cross-section; Means within the bumper to absorb impact containing mainly gas or liquid, e.g. inflatable inflatable in the direction of an obstacle upon impending impact, e.g. using air bags
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01211—Expansion of air bags
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Abstract
The invention relates to a safety system, a device, a method and a medium for improving vehicle road compatibility. The safety system for improving the road compatibility of the vehicle comprises a monitoring system and an integrated safety domain control unit, wherein the monitoring system comprises a vehicle external information monitoring module and a vehicle body posture monitoring module; the integrated safety domain control unit is used for calculating the collision form between a vehicle and an obstacle according to the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, wherein the collision form comprises a collision relative speed and a collision overlapping rate, and judging whether the external airbag is deployed according to the collision relative speed and the collision overlapping rate; the judgment condition for controlling and triggering the external air bag to be deployed comprises whether the collision relative speed is smaller than a first speed threshold value and/or whether the collision overlapping rate is smaller than a first overlapping rate threshold value.
Description
Technical Field
The present invention relates to the field of vehicle safety, and in particular, to a safety system, apparatus, method and readable storage medium for improving vehicle road compatibility.
Background
For the collision accident of vehicles, due to the difference of the height, weight, body structure and even the height and shape of the bumper of various vehicles on the road, the vehicles must have active advantages and disadvantages in the collision accident. How to protect the safety of the automobile body and reduce the damage to the other side in the collision is the concept of vehicle road compatibility.
In the prior art, the technical scheme for improving the vehicle road compatibility is mainly realized by improving the structural design of a vehicle body, for example, the rigidity of a vehicle head part is reduced, so that the impact on a cab of a vehicle is reduced in the collision, and in addition, the impact force generated by the collision of two vehicles can be possibly absorbed in the collision of the two vehicles, so that the damage to the other side of the collision is reduced.
However, the requirement for road compatibility of vehicles is increasing, and for example, penalty requirements for road compatibility are newly added in the China New vehicle evaluation Program (CNCAP) version 2021.
Accordingly, there is a need in the art for a safety system, apparatus, method and readable storage medium that improves vehicle road compatibility to further improve vehicle road compatibility to meet increasingly stringent vehicle road compatibility requirements.
Disclosure of Invention
It is an object of the present invention to provide a safety system that improves vehicle road compatibility.
It is another object of the present invention to provide a vehicle safety device to improve vehicle road compatibility.
It is a further object of the present invention to provide a method for improving vehicle road compatibility.
It is still another object of the present invention to provide a computer-readable storage medium that can achieve an improvement in vehicle road compatibility.
A safety system for improving road compatibility of a vehicle according to an aspect of the present invention, for improving road compatibility of a vehicle, the safety system being capable of controlling an external airbag of the vehicle, the safety system comprising: a monitoring system, comprising: the vehicle external information monitoring module is used for monitoring obstacles around a vehicle body; the vehicle body posture monitoring module is used for monitoring vehicle body movement and vehicle body posture; the integrated safety domain control unit is used for calculating the collision form between a vehicle and an obstacle according to the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, wherein the collision form comprises a collision relative speed and a collision overlapping rate, and judging whether the external airbag is deployed according to the collision relative speed and the collision overlapping rate; wherein the judgment condition for controlling the triggering of the deployment of the external airbag includes whether the collision relative speed is less than a first speed threshold and/or whether the collision overlap rate is less than a first overlap rate threshold.
In one or more embodiments, controlling the determination condition that triggers deployment of the external airbag further comprises whether deployment of the external airbag in the crash configuration reduces injury to the vehicle; if not, the integrated security domain control unit controls the external air bag to keep folding.
In one or more embodiments, the monitoring system further comprises an in-vehicle monitoring module for collecting mental state data of an in-vehicle driver; the integrated safety domain control unit calculates the possibility that a driver notices collision with the obstacle according to the mental state data and the data collected by the vehicle external information monitoring module and the vehicle body posture monitoring module, and calculates the collision form according to the possibility.
In one or more embodiments, the integrated safety domain control unit is further configured to output an alarm signal if the probability is below an alarm threshold, so as to increase the probability that the driver notices a collision with the obstacle.
In one or more embodiments, the in-vehicle monitoring module includes a camera and/or an in-vehicle radar.
In one or more embodiments, the mental state data includes one or a combination of health status data and facial data of the in-vehicle driver.
In one or more embodiments, the monitoring system further comprises a vehicle networking module that, in conjunction with the vehicle external information monitoring module, provides information about obstacles around the vehicle.
In one or more embodiments, the vehicle external information monitoring module includes one or a combination of a millimeter wave radar, an ultrasonic radar, a laser radar, and an external camera.
In one or more embodiments, the body attitude monitoring module includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor; wherein the speed sensor is configured to monitor the vehicle body movement, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the vehicle body attitude.
In one or more embodiments, the integrated safety domain control unit calculates a monitoring area according to data collected by the vehicle body posture monitoring module, and the vehicle external information monitoring module only monitors obstacles in the monitoring area.
In one or more embodiments, the integrated safety domain control unit is further configured to model an obstacle according to monitoring information of the vehicle external information monitoring module, model a vehicle body according to monitoring information of the vehicle body posture monitoring module, and calculate the collision form according to the modeling information.
In one or more embodiments, the safety system further comprises a cloud database for providing historical data of collisions of obstacles with the vehicle and a simulation database for providing simulation data of collisions of obstacles with the vehicle according to the modeling information; the integrated security domain control unit calculates the collision morphology according to the historical data and the simulation data.
A vehicle safety arrangement according to another aspect of the invention comprises an external air bag and a safety system as claimed in any one of the preceding claims.
A method of improving road compatibility of a vehicle including an external airbag according to still another aspect of the present invention includes:
monitoring obstacles around the vehicle and collecting data of the obstacles around the vehicle;
monitoring the vehicle body movement and the vehicle body posture, and acquiring vehicle body posture data and vehicle body movement data;
calculating the collision form between the vehicle and the obstacle according to the data of the obstacle around the vehicle, the data of the vehicle body motion and the data of the vehicle body posture, wherein the collision form comprises the collision relative speed and the collision overlapping rate;
judging whether to deploy the external airbag according to the collision relative speed and the collision overlapping rate; the judgment condition for controlling triggering and unfolding the external air bag comprises that if the collision relative speed is smaller than a first speed threshold value and/or the collision overlapping rate is smaller than a first overlapping rate threshold value, the external air bag is controlled to be kept folded, and the external air bag is not triggered and unfolded.
In one or more embodiments, controlling the determination condition that triggers deployment of the external airbag further comprises whether deployment of the external airbag in the crash configuration reduces a hazard value of the vehicle; if not, controlling the external air bag to keep folding.
In one or more embodiments, monitoring obstacles around the vehicle includes monitoring whether an obstacle is present around the vehicle, identifying a type of the obstacle, and predicting movement of the obstacle.
In one or more embodiments, the method further comprises: monitoring the mental state of a driver in the vehicle, and acquiring mental state data of the driver in the vehicle; calculating a possibility that a driver notices a collision with the obstacle based on the state data and the data of the obstacles around the vehicle, the data of the vehicle body motion, and the data of the vehicle body posture, and calculating the collision form based on the possibility.
In one or more embodiments, the method further comprises: and uploading the collision form record to a cloud database.
A computer-readable storage medium according to yet another aspect of the invention, having stored thereon a computer program for execution by a processor to perform the steps of:
calculating the collision form between the vehicle and the obstacle according to the input data of the obstacle around the vehicle, the vehicle body motion data and the vehicle body posture data, wherein the collision form comprises the collision relative speed and the collision overlapping rate;
and judging whether to trigger the expansion of the external air bag or not according to the collision relative speed and the collision overlapping rate, wherein the judgment condition comprises that if the collision relative speed is less than a first speed threshold value and/or the collision overlapping rate is less than a first overlapping rate threshold value, the external air bag is controlled to be kept folded, and the expansion of the external air bag is not triggered.
The beneficial effects of the invention include but are not limited to:
1. whether the external air bag is deployed is judged by taking the collision relative speed and the collision overlapping rate as judgment conditions, and if the collision relative speed and the collision overlapping rate are lower than the first speed threshold value and the first overlapping rate threshold value, the external air bag does not need to be deployed, so that the road compatibility can be improved more pertinently by the arrangement of the external air bag, and the danger caused by the false triggering of the external air bag is avoided;
2. through the arrangement of the vehicle external information monitoring module, the vehicle internal monitoring module and the vehicle body posture monitoring module, the information of the mental state of a driver, the vehicle external state and the vehicle body posture is fused to calculate the collision form, so that the triggering and unfolding time of the external air bag is more accurate;
3. the collision form is calculated more accurately by utilizing the simulation database and the cloud historical collision database, and the database has learning capacity by uploading collision data, so that the calculation accuracy can be continuously improved.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings, in which:
FIG. 1 is a schematic illustration of a security system in accordance with one or more embodiments;
FIG. 2 is a flow diagram of a method of improving vehicle road compatibility according to an embodiment.
Fig. 3A and 3B are flowcharts of a method of improving vehicle road compatibility according to another embodiment.
Detailed Description
The invention is further described in the following description with reference to specific embodiments and the accompanying drawings, in which more details are set forth to provide a thorough understanding of the invention, but it will be apparent that the invention can be practiced in many other ways than those specifically described herein, and that a person skilled in the art can make similar generalizations and deductions as to the practice of the invention without departing from the spirit of the invention, and therefore the scope of the invention should not be limited by the contents of this specific embodiment.
Also, the present application uses specific words to describe embodiments of the application. The terms "inner" and "outer" refer to the inner and outer contours of the respective components themselves, and further, such as "one embodiment," "an embodiment," and/or "some embodiments" mean a feature, structure, or characteristic described in connection with at least one embodiment of the present application. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" in various places throughout this specification are not necessarily to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.
Referring to fig. 1, fig. 3A and fig. 3B together, an embodiment of the safety system 10 for improving vehicle road compatibility includes a monitoring system 1 and an integrated safety domain control unit 2, the safety system 10 can control folding and unfolding of an external airbag 20 of a vehicle, that is, the safety system 10 and the external airbag 20 can constitute a vehicle safety device 100. It will be understood by those skilled in the art that the safety system 10 and the outer air bag 20 may be disposed together in the vehicle, or may be separate, such as the safety system 10 being disposed outside the vehicle and the deployment or retraction of the outer air bag 20 being controlled by wireless communication. The external airbag 20 may be embodied in the form of a front airbag disposed at a front portion, i.e., a head portion, of a vehicle body, or may further include a rear airbag disposed at a rear portion of the vehicle body to improve road compatibility in the event of a high-speed rear-end collision, or may further include side airbags disposed at both sides of the vehicle body, the front airbag, the rear airbag and the side airbags together forming an external airbag integrally surrounding the vehicle body to improve road compatibility in the event of a collision in all directions.
The monitoring system 1 may include a vehicle external information monitoring module 11 and a vehicle body posture monitoring module 12, wherein the vehicle external information monitoring module 11 is configured to monitor obstacles around a vehicle body, where an obstacle refers to a generalized obstacle, that is, to a collision object that may collide in a road. The body attitude monitoring module 12 is used for monitoring body motion and body attitude. And the integrated safety domain control unit 2 is used for processing the data collected from the monitoring system 1 and outputting a control signal to the external air bag 20.
The integrated safety domain control unit 2 is configured to calculate a collision form between the vehicle and the obstacle according to data collected by the vehicle external information monitoring module 11 and the vehicle body posture monitoring module 12, where the collision form at least includes a collision relative speed and a collision overlap rate, and may further include a collision probability, a collision time, and a collision position, and determine whether to deploy the external airbag 20 according to the collision relative speed and the collision overlap rate. The determination conditions for controlling the triggering of the deployment of the external airbag 20 include whether the collision relative speed is greater than the first speed threshold V1 and whether the collision overlap rate is greater than the first overlap rate threshold X1. Specifically, in a certain crash situation, if the integrated safety domain control unit 2 calculates that the crash relative speed is less than the first speed threshold V1 and/or the crash overlap ratio is less than the first overlap threshold X1, the control signal for keeping collapsing is output to the external airbag 20, so that the external airbag is kept collapsing. On the other hand, if the collision relative speed is greater than the first speed threshold V1 and the collision overlap rate is greater than the first overlap threshold X1, it can be determined that road compatibility can be improved by deploying the outer bag 20 in the collision mode.
The safety system 10 and the vehicle safety device 100 adopting the above embodiment have the beneficial effects that whether the external airbag is deployed is judged by taking the collision relative speed and the collision overlapping rate as judgment conditions through the integrated safety domain unit 2, and if the collision relative speed and the collision overlapping rate are lower than the first speed threshold value V1 and/or the collision overlapping rate is lower than the first overlapping rate threshold value X1, the external airbag does not need to be deployed, so that the road compatibility can be improved more specifically by the external airbag, and the danger caused by the false triggering of the external airbag 20 is avoided. It is not necessary to perform the judgment and calculation of whether the external airbag 20 is deployed or not in the middle-low speed collision, so that the operation speed of the integrated safety domain unit 2 is increased, and the road compatibility is improved.
With continued reference to fig. 1 and 3A, 3B, in some embodiments, the integrated safety domain control unit 2 controlling the conditions that trigger deployment of the external airbag 20 may further include whether deployment of the external airbag 20 in a crash configuration reduces injury to the vehicle; if not, the integrated security domain control unit 2 controls the external airbag 20 to keep folding. Specifically, for example, the collision position is not the protection area covered by the external airbag 20, and for example, the mass of the obstacle identified by the vehicle external information monitoring module 11 is much larger than that of the host vehicle, such as a truck or a bus, which cannot reduce the damage even if the external airbag 20 is deployed, the integrated safety domain control unit 2 controls the external airbag 20 to keep folded.
The monitoring system 1 may further comprise an in-vehicle monitoring module 13 for collecting mental state data of the driver inside the vehicle, for example, one or a combination of health state data of the driver inside the vehicle and facial data of the driver inside the vehicle, and the collection of the above data may be implemented by a camera and/or hardware of an in-vehicle radar. Specifically, the health status data monitored by the camera may include, for example, heartbeat information, etc., the facial data information may include facial emotional state information (e.g., excitement, rage), facial fatigue state information (e.g., blink frequency, hail), facial gaze information (e.g., the camera tracks the gaze of the person to determine whether the driver is paying attention to an obstacle), facial orientation information (e.g., determining whether the occupant is focusing his or her attention on the front based on facial orientation for head turn analysis), and the in-vehicle radar may perform in-vehicle liveness detection, and heartbeat detection functions.
The integrated security domain control unit 2 can combine the mental state data of the driver in the vehicle and the data collected by the vehicle external information monitoring module 11 and the vehicle body posture monitoring module 12 to calculate the possibility that the driver in the vehicle notices the collision with the obstacle, and calculate the collision form according to the possibility. For example, if the integrated safety domain control unit 2 calculates that the possibility that the driver in the vehicle notices a collision with an obstacle is low, the collision relative speed is increased, the collision time is advanced, the collision probability is increased, and the like in the calculation result of the collision form. It can be seen that the in-vehicle monitoring module 13 is arranged, and the integrated security domain control unit 2 can fuse the information of the mental state of the driver, the outside of the vehicle and the posture of the vehicle body to calculate the collision form, so that the calculation result is more accurate, and the result of the road condition closest to the actual condition and the vehicle condition is obtained. However, it can be understood by those skilled in the art that the possibility that the driver in the vehicle notices the collision with the obstacle can also be obtained by other means, for example, the integrated safety domain control unit 2 matches the vehicle body posture with the big data of the mental state of the driver, and obtains the data of the possibility directly through the data collected by the vehicle body posture monitoring module 12, so as to reduce the amount of calculation, and the cost of hardware and software is low, but the accuracy of calculation is lower compared with the arrangement of the vehicle interior monitoring module 13.
With continued reference to fig. 1, in an embodiment, the integrated security domain control unit 2 may include a function of warning indication, and if the possibility that the driver in the vehicle notices a collision with an obstacle is lower than a warning threshold, the integrated security domain control unit 2 outputs a warning signal to make the vehicle emit a sharp warning sound, or light up on an instrument panel or a center console screen, or warn the driver in a manner of steering wheel vibration, etc., so as to increase the possibility that the driver notices a collision with the obstacle. The specific monitoring and judging step may be that the in-vehicle monitoring module 13 acquires that the heartbeat data of the driver is a first value and the blink frequency is a second value, judges that the driver is in a first mental state at the moment according to the database information, and notices that the possibility of collision is higher than an alarm threshold value, so that no prompt is made; the heartbeat data of the driver collected by the in-vehicle monitoring module 13 is a third value, the blink frequency is a fourth value, the distance from the face sight to the road surface exceeds the first time, the driver is judged to be in a second mental state at the moment according to the database information, the possibility that the driver notices that the driver collides with the obstacle is lower than an alarm threshold value, and the driver is warned to be reminded. Therefore, the occurrence of collision accidents can be avoided as much as possible, and even if the collision cannot be completely avoided, the driver can timely react to reduce the relative collision speed, so that the occurrence of high-speed collision is avoided. The integrated safety domain control unit 2 repeats the calculation process of the possibility until the possibility is larger than the alarm threshold value, cancels the output of the alarm signal, and simultaneously calculates the collision form after the change according to the change possibility value after the alarm in real time.
With continued reference to fig. 1, in some embodiments, the monitoring system 1 may further include an internet of vehicles module 14, which can provide information between vehicles and obstacles through communication of the internet of vehicles with other running vehicles and/or obstacles and/or network systems, wherein the internet of vehicles module 14 may provide obstacle information around the vehicle together with the vehicle external information monitoring module 11 to further improve the calculation accuracy of the integrated safety domain control unit 2.
In one or more embodiments, the vehicle external information monitoring module 11 includes one or a combination of a millimeter wave radar, a laser radar, and an external camera. The millimeter wave radar and the laser radar are used for positioning the obstacle and collecting data such as the speed, the angle and the distance of the obstacle. Wherein millimeter wave radar is difficult for receiving weather interference and detection distance is far away, can monitor remote barrier. The laser radar has higher precision and simple data processing, and can complement the information collected by the millimeter wave radar in data content and precision so that the monitoring result is more accurate. The external camera is used for collecting image information of the obstacles and distinguishing and identifying the obstacles.
The vehicle body attitude monitoring module 12 includes a speed sensor for monitoring vehicle body movement, a yaw rate sensor and a steering wheel angle sensor for monitoring vehicle body attitude. It is to be understood that the body attitude monitoring module 12 includes sensors that are not limited to those described above, but may also include other body-mounted sensors.
The integrated safety domain control unit 2 can calculate a monitoring area according to data collected by the vehicle body posture monitoring module 12, namely, an area which corresponds to the vehicle body posture and the vehicle body movement and is likely to be collided by an obstacle, and the vehicle external information monitoring module 11 only monitors the obstacle in the monitoring area, so that the data collection amount and the data processing amount of the vehicle external information monitoring module 11 can be reduced, the data processing amount of the integrated safety domain control unit 2 is also reduced, the running speed of the safety system 10 is higher, the requirements on software and hardware are reduced, and the cost is reduced.
With continued reference to fig. 1, in some embodiments, the integrated security domain control unit 2 may have modeling functionality and perform calculations based on the modeling information. The integrated security domain control unit 2 models the obstacle and the vehicle, respectively. Specifically, on one hand, the integrated security domain control unit 2 performs fusion processing on data collected by a millimeter wave radar, a laser radar and an external camera to continuously perform real-time modeling on the obstacle, and on the other hand, the integrated security domain control unit 2 continuously performs real-time modeling on a vehicle in driving according to vehicle body motion information monitored by a speed sensor, vehicle body yaw rate information monitored by a yaw rate sensor and vehicle steering wheel angle information monitored by a steering wheel angle sensor. The integrated safety domain control unit 2 compares and calculates collision forms of the barrier modeling information and the vehicle body modeling information which are updated in real time, meanwhile, the integrated safety domain control unit 2 updates calculation results in real time during calculation, compares the calculation results with real-time observation results continuously, corrects calculation accuracy and reduces errors.
With continued reference to fig. 1, in some embodiments, the safety system 10 further includes a cloud database 3 and a simulation database 4, the cloud database 3 being configured to provide historical data of collisions of obstacles with the vehicle, and the simulation database 4 being configured to provide simulation data of collisions of obstacles with the vehicle based on the modeled information. The integrated safety domain control unit 2 calculates a collision form between the obstacle and the vehicle at the time of collision thereof based on the history data and the simulation data. Specifically, on the one hand, the distance S = VT and the speed V = V traveled by the vehicle during a certain time 0 + aT, if the deceleration cannot bring the velocity down to 0 within the corresponding time and distance, the collision probability can be considered high. On the other hand, it takes time to rotate the vehicle by a certain angle, and if the vehicle cannot rotate by a sufficient angle within a corresponding time and distance, the collision cannot be avoided. The collision position of the obstacle at the time of collision can be calculated by calculating the angle that can be rotated within a limited time.
The example of calculating the collision probability may be that the cloud database 3 provides historical data of the collision between the obstacle and the vehicle as a first collision model, the simulation database 4 is configured to provide simulation data of the collision between the obstacle and the vehicle as a second collision model according to the modeling information, and the integrated safety domain control unit 2 calculates the collision form between the obstacle and the vehicle by fusing data information of the first collision model and the second collision model.
It is understood that the integrated security domain control unit 2 in the previous embodiments may include one or more hardware processors, such as one or more combinations of systems on a chip (SOC), microcontrollers, microprocessors (e.g., MCU chips or 51 singlechips), reduced Instruction Set Computers (RISC), application Specific Integrated Circuits (ASICs), application specific instruction integrated processors (ASIPs), central Processing Units (CPUs), graphics Processing Units (GPUs), physical Processing Units (PPUs), microcontroller units, digital Signal Processors (DSPs), field Programmable Gate Arrays (FPGAs), advanced RISC Machines (ARMs), programmable Logic Devices (PLDs), any circuit or processor capable of performing one or more functions, and the like.
Referring to fig. 2, 3A and 3B, as can be seen from the above description, for a vehicle including an external airbag, a method for improving road compatibility of the vehicle may include the steps of:
a, monitoring obstacles around a vehicle and collecting data of the obstacles around the vehicle;
b, monitoring the movement and the posture of the vehicle body, and acquiring the posture data and the movement data of the vehicle body;
specifically, as shown in fig. 3A, in one or more embodiments, vehicle body data is collected through a vehicle-mounted sensor to monitor vehicle body data, which includes vehicle body movement and vehicle body posture data, a monitoring area is obtained through calculation, that is, a region where collision may occur corresponding to the vehicle body posture and the vehicle body movement is obtained, and a radar and a camera monitor obstacle information around the vehicle, and the obstacle information around the vehicle may be provided in addition to a vehicle networking.
C, calculating a collision form between the vehicle and the obstacle according to the data of the obstacle around the vehicle, the motion data of the vehicle body and the attitude data of the vehicle body, wherein the collision form comprises a collision relative speed and a collision overlapping rate;
d, judging whether an external air bag is unfolded or not according to the collision relative speed and the collision overlapping rate; the judgment condition for controlling triggering and unfolding the external airbag comprises that if the collision relative speed is smaller than a first speed threshold value V1 and/or the collision overlapping rate is smaller than a first overlapping rate threshold value X1, the external airbag is controlled to be kept folded, and the external airbag is not triggered and unfolded.
Specifically, as shown in fig. 3A, in some embodiments, whether an obstacle exists in the monitored area is determined according to the monitored obstacle, the vehicle body movement and the vehicle body movement posture around the vehicle, the type of the obstacle is identified as a static obstacle or a dynamic obstacle, such as a running vehicle, the static obstacle may be a road block, a stopped vehicle and the like. Then modeling is carried out on the obstacles, the movement of the obstacles is predicted, the movement comprises the movement direction and the movement speed, the collision form of each obstacle is calculated, the collision form at least comprises the collision relative speed and the collision overlapping rate, and the collision form also comprises the collision probability, the collision time and the collision position. And calculating the probability of collision with each obstacle, and selecting the obstacle with the highest collision probability to carry out judgment on the compatibility of the vehicle road by deploying the external air bag. The first judgment can be whether the relative collision speed is smaller than a first speed threshold value V1 and the collision overlapping rate X1, if any one of the two is yes, the external air bag is controlled to be kept folded, so that whether the external air bag needs to be unfolded can be judged quickly and accurately, the external air bag can be unfolded in time, and the road compatibility of the vehicle is improved. It is then determined whether the predicted collision time is before the first time T1.
Preferably, as shown in fig. 3A, in some embodiments, mental state data of the driver in the vehicle may also be collected by monitoring the mental state of the driver in the vehicle; a possibility that the driver notices a collision with the obstacle is calculated from the state data and the data of the obstacles around the vehicle, the data of the motion of the vehicle body, and the data of the attitude of the vehicle body, and a collision form is calculated from the possibility. If the possibility is lower than the warning threshold, the driver is warned, the possibility of the collision is increased, the collision time is corrected according to the possibility calculation result, whether the predicted collision time is before the second time T2 is judged, and if not, the collision can be avoided or the external airbag does not need to be triggered to be deployed even if the collision occurs.
Preferably, as shown in fig. 3B, in one or more embodiments, historical data of collision between the vehicle and the obstacle may be obtained through the cloud database, a simulation result of collision between the vehicle and the obstacle is obtained through the simulation database, and comparison and reference are provided for calculation of the integrated safety domain control unit 2, so that calculation of the collision form is more accurate.
Preferably, as shown in fig. 3B, the method for improving the road compatibility of the vehicle may further include calculating and determining whether the deployment of the external airbag in the collision mode reduces the damage of the vehicle; if not, the external air bag is controlled to be kept folded, and the external air bag is not triggered to be unfolded. For example, the mass of the obstacle in collision recognition by the obstacle data around the vehicle is much larger than that of the own vehicle, such as a large truck, a large bus and the like, and the own vehicle cannot reduce the damage even if the external airbag is deployed, controls the external airbag not to trigger the deployment, and keeps the folding.
Continuing with fig. 3B, determining that deploying the external airbag may reduce injury, a determination may then be made as to whether the predicted time of collision is before a third time T3, if so, it may be checked whether the communications and components are functioning properly, and if so, the external airbag may be deployed.
Preferably, with reference to fig. 3B, after the collision is finished, the collision form may be recorded in the cloud database, including parameters such as collision probability, collision time, collision location, collision relative speed, and collision overlap rate. It can be understood by those skilled in the art that, although some embodiments shown in fig. 3B illustrate that the recording is performed after the external airbag is deployed, this is not limited to this, for example, if the external airbag is not deployed due to the judgment that the external airbag is deployed and cannot reduce the damage, the data of the collision may also be recorded in the cloud database, so that samples of the database may be increased, and the accuracy of the prediction is continuously enhanced through the learning capability of the database itself.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the steps are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as may be understood by those skilled in the art, e.g., steps a and B, presented above, may occur concurrently.
According to another aspect of the present disclosure, a computer-readable storage medium is also provided.
The computer readable storage medium provided by the present disclosure has computer instructions stored thereon. The computer instructions, when executed by the processor, may implement the program to be executed by the processor to perform the steps of:
calculating the collision form between the vehicle and the obstacle according to the input data of the obstacle around the vehicle, the vehicle body motion data and the vehicle body posture data, wherein the collision form comprises collision probability, collision time, collision position, collision relative speed and collision overlapping rate;
and judging whether to trigger the external air bag 20 to be unfolded or not according to the collision relative speed and the collision overlapping rate, wherein the judging condition comprises that if the collision relative speed is less than a first speed threshold value V1 and/or the collision overlapping rate is less than a first overlapping rate threshold value X1, the external air bag 20 is controlled to be kept folded, and the external air bag 20 is not triggered to be unfolded.
It will be appreciated by those skilled in the art that the program may also be implemented with additional steps, such as those that may be implemented by the program in the above method of improving vehicle road compatibility.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
Although the present invention has been disclosed in terms of the preferred embodiment, it is not intended to limit the invention, and variations and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. Therefore, any modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope defined by the claims of the present invention, unless the technical essence of the present invention departs from the content of the present invention.
Claims (17)
1. A safety system for improving road compatibility of a vehicle, the safety system operable to control an external airbag of the vehicle, the safety system comprising:
a monitoring system, comprising:
the vehicle external information monitoring module is used for monitoring obstacles around a vehicle body;
the vehicle body posture monitoring module is used for monitoring vehicle body movement and vehicle body posture;
the integrated safety domain control unit is used for calculating the collision form between a vehicle and an obstacle according to the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, wherein the collision form comprises a collision relative speed and a collision overlapping rate, and judging whether the external airbag is deployed according to the collision relative speed and the collision overlapping rate; wherein the judgment condition for controlling triggering of deployment of the external airbag includes whether the collision relative speed is less than a first speed threshold and/or whether the collision overlap rate is less than a first overlap rate threshold;
the monitoring system also comprises an in-vehicle monitoring module which is used for acquiring mental state data of a driver in the vehicle; the integrated safety domain control unit calculates the possibility that a driver notices collision with the obstacle according to the mental state data and the data collected by the vehicle external information monitoring module and the vehicle body posture monitoring module, and calculates the collision form according to the possibility.
2. The safety system of claim 1, wherein controlling the determined condition that triggers deployment of the external airbag further comprises whether deployment of the external airbag in the crash configuration reduces injury to the vehicle; if not, the integrated security domain control unit controls the external air bag to keep folding.
3. A safety system according to claim 1, wherein the integrated safety domain control unit is further adapted to alarm a prompt, the integrated safety domain control unit outputting an alarm signal to increase the likelihood of the driver noticing a collision with the obstacle if the likelihood is below an alarm threshold.
4. The security system of claim 1, wherein the in-vehicle monitoring module comprises a camera and/or an in-vehicle radar.
5. A safety system according to claim 4, wherein the mental state data includes one or a combination of health status data and facial data of the in-vehicle driver.
6. The safety system of claim 1, wherein the monitoring system further comprises a vehicle networking module that, in conjunction with the vehicle external information monitoring module, provides information about obstacles around the vehicle.
7. The security system of claim 1, wherein the vehicle external information monitoring module comprises one or a combination of a millimeter wave radar, an ultrasonic radar, a lidar, and an external camera.
8. The safety system of claim 1, wherein the body attitude monitoring module comprises a speed sensor, a yaw rate sensor, and a steering wheel angle sensor;
wherein the speed sensor is configured to monitor the vehicle body movement, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the vehicle body attitude.
9. The safety system according to claim 1, wherein the integrated safety domain control unit calculates a monitoring area according to data collected by the vehicle body posture monitoring module, and the vehicle external information monitoring module only monitors obstacles in the monitoring area.
10. The safety system of claim 1, wherein the integrated safety domain control unit is further configured to model obstacles based on monitoring information of the vehicle external information monitoring module, and to model a vehicle body based on monitoring information of the vehicle body attitude monitoring module and to calculate the crash form based on the modeling information.
11. The safety system of claim 10, further comprising a cloud database for providing historical data of collisions of obstacles with the vehicle and a simulation database for providing simulation data of collisions of obstacles with the vehicle based on the modeling information; the integrated safety domain control unit calculates the collision form according to the historical data and the simulation data.
12. A vehicle safety arrangement comprising an external air bag and a safety system according to any one of claims 1 to 11.
13. A method of improving road compatibility of a vehicle, the vehicle including an external airbag, the method comprising:
monitoring obstacles around the vehicle and collecting data of the obstacles around the vehicle;
monitoring the vehicle body movement and the vehicle body posture, and acquiring vehicle body posture data and vehicle body movement data;
calculating the collision form between the vehicle and the obstacle according to the data of the obstacle around the vehicle, the data of the vehicle body motion and the data of the vehicle body posture, wherein the collision form comprises the collision relative speed and the collision overlapping rate; monitoring the mental state of a driver in the vehicle, and acquiring mental state data of the driver in the vehicle; calculating a possibility that a driver notices a collision with the obstacle based on the state data and the data of obstacles around the vehicle, the data of vehicle body motion, and the data of vehicle body posture, and calculating the collision form based on the possibility;
judging whether to deploy the external airbag according to the collision relative speed and the collision overlapping rate; the judgment condition for controlling triggering and unfolding the external air bag comprises that if the collision relative speed is smaller than a first speed threshold value and/or the collision overlapping rate is smaller than a first overlapping rate threshold value, the external air bag is controlled to be kept folded, and the external air bag is not triggered and unfolded.
14. The method for improving vehicle road compatibility of claim 13 wherein controlling a decision condition to trigger deployment of said external airbag further comprises whether deployment of said external airbag in said crash configuration reduces a vehicle injury value; if not, controlling the external air bag to keep folding.
15. The method of improving vehicle road compatibility of claim 13, wherein monitoring obstacles around the vehicle comprises monitoring whether obstacles are present around the vehicle, identifying a type of the obstacles, and predicting movement of the obstacles.
16. The method of improving vehicle road compatibility of claim 13, further comprising: and uploading the collision form record to a cloud database.
17. A readable storage medium having stored thereon a computer program, the program being executable by a processor to perform the steps of:
calculating the collision form between the vehicle and the obstacle according to the input data of the obstacle around the vehicle, the vehicle body motion data, the mental state data of the driver in the vehicle and the vehicle body posture data, wherein the collision form comprises the collision relative speed and the collision overlapping rate; wherein the possibility that the driver notices a collision with the obstacle is calculated based on mental state data of the driver in the vehicle and data of obstacles around the vehicle, the vehicle body motion data, and the vehicle body posture data, and the collision form is calculated based on the possibility;
and judging whether to trigger the expansion of the external air bag or not according to the collision relative speed and the collision overlapping rate, wherein the judgment condition comprises that if the collision relative speed is less than a first speed threshold value and/or the collision overlapping rate is less than a first overlapping rate threshold value, the external air bag is controlled to be kept folded, and the expansion of the external air bag is not triggered.
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| CN202010278445.1A CN113511160B (en) | 2020-04-10 | 2020-04-10 | Safety system, apparatus, method and medium for improving road compatibility of vehicle |
| EP21784498.4A EP4134282A4 (en) | 2020-04-10 | 2021-04-09 | Safety system for improving vehicle road compatibility, vehicle safety system, apparatus, and method, and medium |
| PCT/CN2021/086164 WO2021204246A1 (en) | 2020-04-10 | 2021-04-09 | Safety system for improving vehicle road compatibility, vehicle safety system, apparatus, and method, and medium |
| JP2023504692A JP2023522131A (en) | 2020-04-10 | 2021-04-09 | Safety systems, vehicle safety systems and devices, methods, and media for improving road compatibility of vehicles |
| US17/917,089 US20230150450A1 (en) | 2020-04-10 | 2021-04-09 | Safety system for improving road compatibility of vehicle, vehicle safety system and apparatus, method, and medium |
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| CN202010278445.1A CN113511160B (en) | 2020-04-10 | 2020-04-10 | Safety system, apparatus, method and medium for improving road compatibility of vehicle |
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| CN115171387A (en) * | 2022-07-08 | 2022-10-11 | 国能(天津)大港发电厂有限公司 | Vehicle safety monitoring system and method, electronic equipment and vehicle |
| CN115583213A (en) * | 2022-09-23 | 2023-01-10 | 宁波中骏森驰汽车零部件股份有限公司 | AGS active air inlet front grille |
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