CN113734089A - Intelligent driving vehicle occupant protection control method - Google Patents
Intelligent driving vehicle occupant protection control method Download PDFInfo
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- CN113734089A CN113734089A CN202111147174.7A CN202111147174A CN113734089A CN 113734089 A CN113734089 A CN 113734089A CN 202111147174 A CN202111147174 A CN 202111147174A CN 113734089 A CN113734089 A CN 113734089A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000009429 distress Effects 0.000 claims abstract description 8
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 5
- 210000000689 upper leg Anatomy 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 208000037656 Respiratory Sounds Diseases 0.000 claims description 2
- 230000006855 networking Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 9
- 208000027418 Wounds and injury Diseases 0.000 abstract description 8
- 208000014674 injury Diseases 0.000 abstract description 8
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000005336 safety glass Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
- B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
- B60N2/24—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles for particular purposes or particular vehicles
- B60N2/42—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles for particular purposes or particular vehicles the seat constructed to protect the occupant from the effect of abnormal g-forces, e.g. crash or safety seats
- B60N2/427—Seats or parts thereof displaced during a crash
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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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- 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
- B60R2021/01252—Devices other than bags
- B60R2021/01265—Seat belts
- B60R2021/01272—Belt tensioners
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Abstract
The invention discloses a passenger protection control method for an intelligent driving vehicle, which has the main design concept that abundant sensing devices and strong sensing and computing capabilities in an intelligent driving technology are utilized, danger types are judged in advance, and corresponding avoidance strategies are decided and executed, specifically, the passenger can make a maneuvering movement to avoid collision, or when collision cannot be avoided, the relative speed of the two is reduced by a forced movement before collision, the passenger is prompted to make collision preparation, a door and a window are locked, a safety belt is pre-tightened, and a seat is adjusted to a pre-collision mode; triggering the air bag to start when collision occurs; and mechanisms such as outputting a distress signal, unlocking a door and a window, monitoring the state of the passenger, uploading accident data and the like are output after collision, so that the safety of the passenger is comprehensively protected. The invention can perform early warning and rapid treatment aiming at accidents which may occur when the vehicle stops, greatly reduce the injury degree of passengers and improve the safety performance of the vehicle.
Description
Technical Field
The invention relates to the field of intelligent driving vehicles, in particular to a passenger protection control method for an intelligent driving vehicle.
Background
With the increasing importance of people on the safety of vehicles, a brand new thought and method are provided for protecting the safety of passengers by intelligently driving the vehicles (such as automatic driving and auxiliary driving) with a large number of sensors, and the automatic driving system of the vehicle arranges a large number of sensors inside and outside the vehicle to realize the perception of the surrounding environment and the states of the passengers. The current common scheme is as follows: a sensing system of the vehicle is formed by adopting a laser radar, a millimeter wave radar, an ultrasonic radar, a camera, V2X equipment and the like outside the vehicle; a camera, a microphone, a seat sensor and the like are adopted in the vehicle to acquire the state information of passengers.
In the existing passenger protection technology, active and passive safety is classified, and active safety refers to various facilities and equipment which can enable a driver to effectively control a vehicle in any state so as to avoid accidents. In short, the device acting before the accident is generated can be called as an active safety device, so that the traffic accident can be actively avoided; when the automobile is acted after an accident, the equipment for reducing the accident loss is a passive safety device.
After the vehicle-mounted equipment detects the bad driving behavior of the driver and the abnormal driving behavior of the vehicle, the active safety device can carry out active early warning on the driver and even directly intervene in the vehicle, so that traffic accidents are avoided; such as an anti-lock braking system (ABS), an electronic brake force distribution device (EBD), a vehicle body electronic stability control system (ESP), a Traction Control System (TCS), and active cruise, yaw warning, automatic braking, etc. in the current mainstream configuration, the present invention is characterized in that the driving stability of the vehicle is improved, and traffic accidents are prevented as much as possible; passive safety devices, which are designed and installed to prevent or mitigate occupant injuries after an accident, such as vehicle safety belts, airbags, run-flat tires, safety glass, etc., are used.
In actual application, at present, a single sensor is mostly used for sensing danger in an active safety strategy, and an actuator is combined to protect passengers, for example, a millimeter wave radar is used for measuring the distance from a front vehicle, the safety distance is kept, and the safety is ensured by stopping in time; the sensor for measuring the posture of the vehicle body is matched with the brake to realize the control of the posture of the vehicle body and the like, but the single sensor cannot comprehensively sense the danger in the environment, for example, when the vehicle is impacted in a parking state, the danger cannot be effectively predicted in advance, the safety of passengers can be guaranteed only by a passive safety device, and the protection performance is greatly weakened.
Disclosure of Invention
In view of the above, the present invention aims to provide an occupant protection control method for an intelligent driving vehicle, so as to solve the problems that the sensing ability of each active safety scheme on the current common vehicle is not strong, and when an accident occurs, sufficient protection cannot be provided for the occupant only by means of passive safety.
The technical scheme adopted by the invention is as follows:
an intelligent driving vehicle occupant protection control method, comprising:
when the vehicle runs and is in a stop state, the dynamic objects around the vehicle are sensed and identified;
predicting the motion trail of the dynamic object in a preset future time period;
when the collision between the dynamic object and the vehicle is predicted, an early warning signal is sent to the dynamic object, and whether the vehicle can completely avoid is judged according to the surrounding environment information of the vehicle;
if the vehicle cannot avoid completely, determining a collision type based on the motion direction and the motion speed of the dynamic object and the surrounding environment information of the vehicle;
based on the collision type, controlling the vehicle to forcibly move along the motion direction of the dynamic object, and triggering a preset occupant protection strategy corresponding to the collision type; wherein the preset occupant protection strategy comprises: before collision happens, controlling the safety belt to pre-tighten, locking doors and windows, outputting prompt information to passengers in the vehicle and adjusting a seat to a pre-collision mode; starting the safety air bag in the collision process; after the collision happens, the door and window are unlocked, the audio and video equipment is controlled to monitor the state of the passenger, give an alarm and output a distress signal, and monitoring data before and after the collision are stored and uploaded to the intelligent driving platform server.
In at least one possible implementation manner, the collision type includes that the dynamic object collides with the host vehicle from the front;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move backwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: the seat is controlled to move backwards, and the angle of a backrest and a cushion of the seat is adjusted to a preset pre-collision angle, so that thighs of a passenger are bent upwards and the upper body of the passenger is in a backward tilting posture.
In at least one possible implementation manner, the collision type includes that the dynamic object collides with the host vehicle from the rear;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move forwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: and controlling the headrest of the seat to adjust to a pre-collision height, so that the contact surface between the head of the passenger and the headrest is increased.
In at least one possible implementation manner, after the collision occurs, the unlocking of the door and window includes: after the collision occurs, when the vehicle is in a completely static state, the door and the window are unlocked.
In at least one possible implementation manner, if it is determined that the collision of the dynamic object can be completely avoided according to the surrounding environment information of the host vehicle, the host vehicle is forced to move to avoid the collision.
In at least one possible implementation manner, the outputting the prompt information to the occupant includes: and outputting prompt information about sitting posture adjustment to an occupant in the vehicle.
In at least one possible implementation manner, the controlling the audio/video device to monitor the state of the passenger includes: calling a camera in the automobile to acquire images of passengers in the automobile, and calling a microphone in the automobile to pick up voice and/or breathing sound of the passengers in the automobile.
In at least one possible implementation manner, the alarming and outputting the distress signal includes: the information is sent to the rescue mechanism through the vehicle networking platform and/or the information for asking for help is sent out of the vehicle through the loudspeaker device arranged outside the vehicle.
The main design concept of the invention is that the intelligent driving technology is utilized to enrich sensing devices and strong sensing and computing capabilities, the danger types are pre-judged and corresponding avoidance strategies are decided to be executed, specifically, the mobile driving is carried out to avoid collision, or when the collision can not be avoided, the relative speed of the two is reduced by forced movement before the collision, the passenger is prompted to make collision preparation, the door and window are locked, the safety belt is pre-tightened, and the seat is adjusted to a pre-collision mode; triggering the air bag to start when collision occurs; and mechanisms such as outputting a distress signal, unlocking a door and a window, monitoring the state of the passenger, uploading accident data and the like are output after collision, so that the safety of the passenger is comprehensively protected. The invention can perform early warning and rapid treatment aiming at accidents which may occur when the vehicle stops, greatly reduce the injury degree of passengers and improve the safety performance of the vehicle.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of an occupant protection control method for an intelligent driving vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The invention provides an embodiment of an occupant protection control method of an intelligent driving vehicle, which is specifically shown in figure 1 and comprises the following steps:
step S1, when the vehicle runs and is in a stop state, the dynamic objects around the vehicle are sensed and recognized;
step S2, predicting the motion trail of the dynamic object in a preset future time period;
step S3, when the collision between the dynamic object and the vehicle is predicted, sending an early warning signal to the dynamic object, and judging whether the vehicle can completely avoid according to the surrounding environment information of the vehicle;
if the vehicle cannot avoid completely, executing step S4, determining a collision type based on the motion direction and the motion speed of the dynamic object and the information of the surrounding environment of the vehicle;
step S5, based on the collision type, controlling the vehicle to forcibly move along the motion direction of the dynamic object, and triggering a preset occupant protection strategy corresponding to the collision type; wherein the preset occupant protection strategy comprises: before collision happens, controlling the safety belt to pre-tighten, locking doors and windows, outputting prompt information to passengers in the vehicle and adjusting a seat to a pre-collision mode; starting the safety air bag in the collision process; after the collision happens, the door and window are unlocked, the audio and video equipment is controlled to monitor the state of the passenger, give an alarm and output a distress signal, and monitoring data before and after the collision are stored and uploaded to the intelligent driving platform server.
Further, the collision type includes that the dynamic object collides with the host vehicle from the front;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move backwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: the seat is controlled to move backwards, and the angle of a backrest and a cushion of the seat is adjusted to a preset pre-collision angle, so that thighs of a passenger are bent upwards and the upper body of the passenger is in a backward tilting posture.
Further, the collision type includes that the dynamic object collides with the host vehicle from the rear;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move forwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: and controlling the headrest of the seat to adjust to a pre-collision height, so that the contact surface between the head of the passenger and the headrest is increased.
Further, after the collision occurs, unlocking the door and window includes: after the collision occurs, when the vehicle is in a completely static state, the door and the window are unlocked.
Further, if it is determined that the collision of the dynamic object can be completely avoided based on the information of the surrounding environment of the vehicle, the vehicle is forced to move to avoid the collision.
For the above embodiments, the electric intelligent driving vehicle is taken as an example, and specific description is provided for reference:
when the vehicle stops on the road (for example, when the vehicle is in red light), a perception layer can be formed by taking sensors such as a laser radar, a millimeter wave radar, an ultrasonic radar and a camera as hardware, the perception layer perceives surrounding dynamic and static objects (also called as barriers), and the dynamic barriers are identified and marked as corresponding types, such as pedestrians, non-motor vehicles, vehicles and the like; the prediction layer predicts the motion trail of the dynamic barrier in a period of time in the future by adopting a prediction method based on a hidden Markov model, detects whether the motion trail of other vehicles can influence the vehicle, and then transmits information to the decision layer; the decision layer judges whether the danger exists or not, issues which coping strategy is adopted to the motion control layer, and issues a corresponding instruction; and the motion control layer controls the action of the actuator according to a preset strategy and feeds back the execution condition.
Specifically, when the overlapping of the motion tracks of other vehicles and the vehicle is detected, a horn, light, a V2V signal and the like are triggered to warn a target vehicle, whether avoidance can be achieved or not is judged while warning is issued, and if avoidance can be achieved, maneuvering avoidance can be achieved by utilizing the characteristic of fast power response of the electric vehicle; if the vehicle cannot avoid the vehicle, the specific occupant protection program to be executed can be determined according to the moving direction, the driving speed and the surrounding environment of the target vehicle, for example:
(1) when the target vehicle runs from the front, the vehicle moves backwards to reduce the relative speed of the vehicle and the vehicle under the condition that the surrounding conditions allow, and the motion control layer completes the following actions:
1. and (5) tensioning the safety belt and locking the car door and the car window.
2. The automobile interior is prompted to be ready for collision by using the automobile interior horn and the instrument panel, and the injury to the passengers can be reduced.
3. Meanwhile, the electric seat is moved backwards, the angle of the backrest and the cushion of the seat is adjusted to a pre-collision angle, namely, the seat is adjusted to enable the thighs of the passenger to bend upwards and the upper body to tilt backwards; the thighs are bent upwards, so that the contact between the shanks of the passengers and the interior trim panel can be reduced, the injury to the shanks can be reduced, and the injury to the chest due to the binding force of the safety belt can be reduced by inclining the upper body backwards.
4. When collision happens, the safety airbag and the like are started to safely protect the passengers.
5. After the collision happens, the vehicle door is unlocked in time after the vehicle stops, the state of the passenger is monitored by using a camera and a microphone in the vehicle, and the alarm is given to call for rescue synchronously.
6. And storing and uploading information such as vehicle state data before and after collision, in-vehicle passenger state data and the like.
(2) When the target vehicle is traveling from behind, moving forward, reducing the relative velocity, as allowed by ambient conditions, the motion control layer will perform the following actions:
1. and (5) tensioning the safety belt and locking the car door and the car window.
2. The vehicle interior passenger is prompted to make collision preparation, if the vehicle interior passenger straightens the upper body, leans against the chair back and the head and leans against the headrest, the impact force can be evenly distributed, and the injury to the passenger is reduced.
3. Simultaneously, adjust the headrest of electric seat to collision height in advance for the headrest is closer to passenger's head, and prevention passenger's neck receives whiplash formula damage.
4. When collision happens, the safety airbag and the like are started to safely protect the passengers.
5. After the collision happens, the vehicle door is unlocked in time after the vehicle stops, the state of the passenger is monitored by using a camera and a microphone in the vehicle, and the alarm is given to call for rescue synchronously.
6. And storing and uploading information such as vehicle state data before and after collision, in-vehicle passenger state data and the like.
In summary, the main design concept of the present invention is to utilize rich sensing devices and strong sensing and computing capabilities in the intelligent driving technology, pre-determine the danger types and decide to execute the corresponding avoidance strategies, specifically, make a maneuvering movement to avoid the collision, or when the collision cannot be avoided, make a forced movement to reduce the relative speed of the two, prompt the passenger to make collision preparation, lock the door and window and pre-tighten the seat belt, and adjust the seat to the pre-collision mode; triggering the air bag to start when collision occurs; and mechanisms such as outputting a distress signal, unlocking a door and a window, monitoring the state of the passenger, uploading accident data and the like are output after collision, so that the safety of the passenger is comprehensively protected. The invention can perform early warning and rapid treatment aiming at accidents which may occur when the vehicle stops, greatly reduce the injury degree of passengers and improve the safety performance of the vehicle.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (8)
1. An occupant protection control method for a smart-driving vehicle, comprising:
when the vehicle runs and is in a stop state, the dynamic objects around the vehicle are sensed and identified;
predicting the motion trail of the dynamic object in a preset future time period;
when the collision between the dynamic object and the vehicle is predicted, an early warning signal is sent to the dynamic object, and whether the vehicle can completely avoid is judged according to the surrounding environment information of the vehicle;
if the vehicle cannot avoid completely, determining a collision type based on the motion direction and the motion speed of the dynamic object and the surrounding environment information of the vehicle;
based on the collision type, controlling the vehicle to forcibly move along the motion direction of the dynamic object, and triggering a preset occupant protection strategy corresponding to the collision type; wherein the preset occupant protection strategy comprises: before collision happens, controlling the safety belt to pre-tighten, locking doors and windows, outputting prompt information to passengers in the vehicle and adjusting a seat to a pre-collision mode; starting the safety air bag in the collision process; after the collision happens, the door and window are unlocked, the audio and video equipment is controlled to monitor the state of the passenger, give an alarm and output a distress signal, and monitoring data before and after the collision are stored and uploaded to the intelligent driving platform server.
2. The intelligent-drive vehicle occupant protection control method according to claim 1, wherein the collision type includes that the dynamic object collides with the host vehicle from the front;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move backwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: the seat is controlled to move backwards, and the angle of a backrest and a cushion of the seat is adjusted to a preset pre-collision angle, so that thighs of a passenger are bent upwards and the upper body of the passenger is in a backward tilting posture.
3. The intelligent-drive vehicle occupant protection control method according to claim 1, wherein the collision type includes that the dynamic object collides with the host vehicle from behind;
the controlling of the forced movement of the vehicle along the motion direction of the dynamic object specifically includes: forcibly controlling the vehicle to move forwards under the condition of allowing the surrounding environment information of the vehicle;
the adjusting the seat to the pre-crash mode comprises: and controlling the headrest of the seat to adjust to a pre-collision height, so that the contact surface between the head of the passenger and the headrest is increased.
4. The intelligent vehicular occupant protection control method of any one of claims 1 to 3, wherein said unlocking the door and window after the collision occurs comprises: after the collision occurs, when the vehicle is in a completely static state, the door and the window are unlocked.
5. The occupant protection control method for an intelligent drive vehicle according to any one of claims 1 to 3, wherein if it is determined from the information of the surrounding environment of the host vehicle that the collision of the dynamic object can be avoided completely, the host vehicle is forced to move so as to avoid the collision.
6. The intelligent-drive vehicle occupant protection control method according to any one of claims 1 to 3, wherein the outputting of the prompt information to the in-vehicle occupant includes: and outputting prompt information about sitting posture adjustment to an occupant in the vehicle.
7. The intelligent driving vehicle occupant protection control method according to any one of claims 1 to 3, wherein the controlling the audio-visual device to monitor the occupant status comprises: calling a camera in the automobile to acquire images of passengers in the automobile, and calling a microphone in the automobile to pick up voice and/or breathing sound of the passengers in the automobile.
8. The intelligent-drive vehicle occupant protection control method according to any one of claims 1 to 3, wherein said alarming and outputting a distress signal comprises: the information is sent to the rescue mechanism through the vehicle networking platform and/or the information for asking for help is sent out of the vehicle through the loudspeaker device arranged outside the vehicle.
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| CN202111147174.7A CN113734089A (en) | 2021-09-29 | 2021-09-29 | Intelligent driving vehicle occupant protection control method |
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| CN115257614A (en) * | 2022-07-25 | 2022-11-01 | 重庆长安汽车股份有限公司 | Intelligent automobile's overall process collision safety control system and car |
| CN115257614B (en) * | 2022-07-25 | 2024-02-27 | 重庆长安汽车股份有限公司 | Whole-process collision safety control system of intelligent automobile and automobile |
| CN117022168A (en) * | 2023-10-09 | 2023-11-10 | 北京中机车辆司法鉴定中心 | Vehicle control method and storage medium |
| CN117022168B (en) * | 2023-10-09 | 2024-02-20 | 北京中机车辆司法鉴定中心 | Vehicle control method and storage medium |
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