CN113997742A - Vehicle control method and device, storage medium and vehicle electronic control unit - Google Patents
Vehicle control method and device, storage medium and vehicle electronic control unit Download PDFInfo
- Publication number
- CN113997742A CN113997742A CN202111519276.7A CN202111519276A CN113997742A CN 113997742 A CN113997742 A CN 113997742A CN 202111519276 A CN202111519276 A CN 202111519276A CN 113997742 A CN113997742 A CN 113997742A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- height
- distance
- adjusted
- object information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
Abstract
The invention provides a vehicle control method, a vehicle control device, a storage medium and a vehicle electronic control unit, wherein the method comprises the following steps: detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not; when the distance is detected to be smaller than the critical distance, acquiring object information of the target object so as to determine the height of the vehicle to be adjusted according to the object information; and controlling the inflation or deflation of the air bags of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be raised or lowered correspondingly. The scheme provided by the invention can effectively relieve the affected degree of passengers and the impact degree of the vehicle when the vehicle is collided.
Description
Technical Field
The present invention relates to the field of control, and in particular, to a vehicle control method, apparatus, storage medium, and vehicle electronic control unit.
Background
With the development of economic society and the improvement of living standard, people pay more and more attention to safety, including trip safety. With the generalization of the family car, accidents occurring on the road are frequent, and how to avoid or reduce the degree of damage is a question worth discussing.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the related art, and provides a vehicle control method, a device, a storage medium, and a vehicle electronic control unit, so as to solve the problem of reducing the injury degree of passengers in a vehicle collision in the related art.
One aspect of the present invention provides a vehicle control method, including: detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not; when the distance is detected to be smaller than the critical distance, acquiring object information of the target object so as to determine the height of the vehicle to be adjusted according to the object information; and controlling the inflation or deflation of the air bags of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be raised or lowered correspondingly.
Optionally, an ultrasonic ranging module is arranged on the vehicle; detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not, wherein the detecting comprises the following steps: and detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not through the ultrasonic ranging module arranged on the vehicle.
Optionally, determining the height of the vehicle to be adjusted according to the object information includes:
and sending the object information to a server, and calculating the height of the vehicle to be adjusted by the server according to the object information.
Optionally, the vehicle has a collision-mitigation device, and the height of the vehicle to be adjusted is determined according to the object information, including: the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height required to be adjusted.
Another aspect of the present invention provides a vehicle control apparatus including: the detection unit is used for detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not; the determining unit is used for acquiring the object information of the target object when the distance is detected to be smaller than the critical distance so as to determine the height of the vehicle to be adjusted according to the object information; and the control unit is used for controlling the inflation or deflation of the air bag of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be increased or reduced by corresponding height.
Optionally, an ultrasonic ranging module is arranged on the vehicle; the detection unit detects whether the distance between the target object around the vehicle and the vehicle is less than a preset threshold distance, and comprises: and detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not through the ultrasonic ranging module arranged on the vehicle.
Optionally, the determining unit, which determines the height of the vehicle to be adjusted according to the object information, includes: and sending the object information to a server, and calculating the height of the vehicle to be adjusted by the server according to the object information.
Optionally, the vehicle has a collision mitigation device, and the determining unit determines the height of the vehicle to be adjusted according to the object information, including: the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height required to be adjusted.
A further aspect of the invention provides a storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of any of the methods described above.
A further aspect of the invention provides a vehicle electronic control unit comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the processor when executing the program implementing the steps of any of the methods described above.
In still another aspect, the invention provides a vehicle electronic control unit including any one of the vehicle control devices described above.
According to the technical scheme of the invention, the influence degree of passengers and the collision degree of the vehicle can be effectively relieved when the vehicle is collided. When the vehicle runs and the conditions of rear-end collision, side collision and the like occur, the damage of the fragile part of the vehicle can be avoided by adjusting the height of the vehicle, and the safety of a driver and passengers is ensured. Under the condition that the power is not cut off during parking, when the vehicle is subjected to other vehicle rear-end collision, side collision and the like, the height of the automobile can be adjusted, so that the vehicle, a driver, passengers and the like are in a safe state. Any motorcycle type of the in-process of traveling to under artificial uncontrollable emergency, the car can all carry out automatically regulated according to different car conditions through automatically controlled air suspension, and the main part of corresponding car is raised or is reduced, makes the weak part of car avoid the striking to let the peripheral hard anti striking stronger position of car bear the impact, guarantee driver and passenger's safety.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a method schematic of an embodiment of a vehicle control method provided by the present invention;
FIG. 2 shows a schematic diagram of an electronically controlled air suspension system;
FIG. 3 is a method diagram of one embodiment of a vehicle control method provided by the present invention;
fig. 4 is a block diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a vehicle control method. The control method may be implemented in a vehicle Electronic Control Unit (ECU).
FIG. 1 is a method diagram illustrating an embodiment of a vehicle control method provided by the present invention.
As shown in fig. 1, according to one embodiment of the invention, the vehicle control method includes at least step S110, step S120, and step S130.
Step S110, detecting that a distance between a target object around the vehicle and the vehicle is less than a preset critical distance.
Specifically, whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not is detected in the driving process of the vehicle or the parking process of the vehicle.
In a specific implementation manner, the vehicle is provided with an ultrasonic ranging module, the distance between the target object around the vehicle and the vehicle can be detected in an ultrasonic ranging manner, and the ultrasonic ranging module is arranged on the vehicle to detect whether the distance between the target object around the vehicle and the vehicle is smaller than a preset critical distance. For example, the ultrasonic ranging modules can be respectively installed in the front, the rear, the left and the right of the vehicle, so that the distances between the objects in the front, the rear, the left and the right of the vehicle and the vehicle can be detected.
The target object may be any object around the vehicle in which it is located. For example, the vehicle may be another vehicle that travels in the same direction as or in the opposite direction to the vehicle. Specifically, the distance s between the target object and the vehicle is calculated by using the time interval between the emission and the reception of the pulse sound wave, and the calculation formula is as follows:
S＝v×t/2 (1)
wherein v is the propagation velocity of the ultrasonic wave at normal temperature; t is the time taken from the transmission of the ultrasonic wave from the ultrasonic sensor to the reception of the first echo signal. The ultrasonic ranging module, namely the ultrasonic sensor, comprises an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic transmitter continuously sends out continuous pulses and provides a short pulse for the measurement logic circuit; the ultrasonic receiver also provides a short pulse to the measurement logic circuit after receiving the reflected wave reflected by the obstacle; and finally, the signal processing device processes the received signals according to the time difference, and the distance between the vehicle and the obstacle is calculated.
In one embodiment, the threshold distance is determined based on the current relative speed of the vehicle and the target object. Specifically, the critical distance dw is calculated according to the following formula:
dw＝aVrel+b
where Vrel is the relative speed between the vehicle and the target object, for example, the speed difference between the vehicle and the target object, and a and b are calculation coefficients, which can be obtained through multiple experiments. For example, dw is 2.2Vrel + 6.2.
And step S120, when the distance is detected to be smaller than a preset critical distance, acquiring object information of the target object, and determining the height of the vehicle to be adjusted according to the object information.
The target object may specifically be another vehicle. The object information of the target object, for example, the related information of other vehicles, including vehicle types (trucks, medium and small trucks, SUVs, cars, etc.), chassis height information, may be collected through the analog sensor, and the height of the vehicle to be adjusted may be determined according to the related information of other vehicles. An analog sensor is a sensor that acquires desired analog signals, including orientation and/or chassis height, etc. Alternatively, analog sensors may be installed in front, rear, left, and right of the vehicle, respectively, so that object information of objects in front, rear, left, and right of the vehicle can be detected.
The vehicle is provided with a collision-reducing device, and the height of the vehicle to be adjusted is determined according to the object information, so that the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height to be adjusted, and the damage to the vehicle and the injury and death of personnel caused by the impact on the fragile part of the vehicle are avoided. The impact-reducing device is, for example, a vehicle crash cross member. The anti-collision cross beam is arranged at the positions of front and rear bumpers of the vehicle and below doors on two sides of the vehicle, and plays a role in anti-collision protection. When the automobile collides, the supporting plate of the anti-collision cross beam of the automobile bears larger impact, optionally, the supporting plate made of an aluminum alloy material can be used for reinforcing the peripheral weak parts of the automobile, and the aluminum alloy material is light in weight and high in strength and is very suitable for being used as a supporting component to be installed on the key position of the anti-collision cross beam.
In a specific embodiment, the height of the position where the target object collides with the vehicle first is predicted, and the height of the vehicle to be adjusted is determined according to the height of the position where the target object collides with the vehicle first, that is, the height of the collision mitigation device after adjustment is equal to the height of the position where the target object collides with the vehicle first.
In another specific embodiment, the target object is a vehicle, and the height of the vehicle to be adjusted is determined according to the height of the collision mitigation device of the vehicle and the height of the collision mitigation device of the target vehicle, so that the vehicle collides with the collision mitigation device of the target vehicle.
Specifically, the height of a chassis of the vehicle is measured through a height sensor, the height of a collision slowing device is determined through the height of the chassis (the height of the chassis is relatively fixed to the height of the collision slowing device), the height of the collision slowing device of the target vehicle is detected through an analog sensor, the height of the collision slowing device of the target vehicle is judged to be different from the height of the collision slowing device of the vehicle, the air bag is inflated or deflated through a control electromagnetic valve, and control is finished when the height sensor detects that the required height is reached.
In one embodiment, the height of the vehicle to be adjusted may be calculated locally based on the object information (e.g., information about other vehicles). For example, the ECU of the vehicle locally calculates the height of the vehicle to be adjusted based on the object information (e.g., information related to other vehicles).
In another specific embodiment, the object information (e.g., related information of other vehicles) is sent to a server, and the server calculates the height of the vehicle to be adjusted according to the object information. For example, the ECU of the vehicle sends the object information (e.g., information related to other vehicles) to the server, and the server calculates the height of the vehicle to be adjusted.
For example, when a distance measuring module (e.g., an ultrasonic sensor) of the present vehicle detects that the distance to another vehicle is less than a critical distance before the other vehicle collides with the front surface of the vehicle or before the present vehicle collides with the rear surface of the vehicle, a signal is sent to the ECU, and meanwhile, an analog sensor of the present vehicle collects information related to the other vehicle, such as a vehicle type (truck, medium and small truck, SUV, car, etc.), a chassis height, etc., for example, before the target vehicle collides with the front surface of the vehicle or before the present vehicle collides with the rear surface of the target vehicle, the target vehicle is in front of the present vehicle, and then the analog sensor mounted in front of the present vehicle detects information related to the target vehicle.
At this time, the ECU of the present vehicle receives the relevant information of the target vehicle transmitted by the analog sensor, and the ECU of the target vehicle also receives the relevant information detected by its own analog sensor. If more than two objects exist around the vehicle, for example more than two other vehicles, the ECUs of the more than two other vehicles simultaneously transmit related data to the server, and the server performs matching calculation based on different related information and sends the related data to the height of the two ECUs to be adjusted (or does not need to make adjustment).
For another example, when a side surface (e.g., left or right side) of the vehicle is impacted or before a rear-end collision occurs, the distance of the target vehicle is detected by an ultrasonic sensor mounted on the side surface or rear surface of the vehicle, and information related to the target vehicle is detected by an analog sensor mounted on the side surface or rear surface of the vehicle.
And step S130, controlling the inflation or deflation of the air bag of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be increased or decreased by the corresponding height.
For example, according to the determined height needing to be adjusted, the front axle electromagnetic valve is controlled to inflate or deflate the air bag, the front part of the whole vehicle is lifted or lowered to the required height, the reinforcing cross beam of the vehicle receives the impact, and the safety of a driver and passengers is ensured. For example, the ECU sends commands to the solenoid valve, causing it to control the inflation or deflation of the air bag,
for another example, when the side surface (such as the left side or the right side) of the vehicle is impacted or before the vehicle is collided, the side surface (the left side or the right side) or the back surface of the vehicle is lifted, so that the reinforcing cross beam of the vehicle receives the impact, and the vehicle is prevented from being damaged and casualties caused by the impact on the fragile part of the vehicle.
Fig. 2 shows a schematic diagram of an electronically controlled air suspension system. As shown in FIG. 2, the entire vehicle system may include an ECU control unit, solenoid valves, air bags, air tanks, height sensors, analog sensors, and a ranging module. The ECU control unit is used for controlling the on-off of the electromagnetic valve; the electromagnetic valve is used for controlling the inflation and deflation of the air bag; the air bag is inflated and deflated to increase and reduce the height of the vehicle body; the gas storage tank is used for storing gas and is a gas source for inflating and deflating the air bag; the height sensors (two height sensors are respectively arranged on the front axle and the rear axle) are used for acquiring the real-time height of the vehicle and returning corresponding height signals to the ECU; the analog sensor is used for acquiring relevant information of the vehicle, such as vehicle type, chassis height, direction and the like; the distance measuring module is used for detecting the relative distance between the vehicles, and when the distance is too short, a signal is transmitted to the ECU, and the distance measuring module can be an ultrasonic distance measuring module, for example. Others may also include air spring shock absorbers, integrated sensor units.
For clarity of explaining the technical solution of the present invention, the following describes an execution flow of the vehicle control method provided by the present invention with a specific embodiment.
FIG. 3 is a method diagram of an embodiment of a vehicle control method provided by the present invention. As shown in fig. 3, when the vehicle is started, the ultrasonic ranging module detects other vehicles through parameters such as inter-vehicle distance, steering angle, vehicle speed, transverse swing rate and azimuth, and generates a critical parameter, and when the critical parameter is reached, a signal is sent to the ECU of the air suspension. Meanwhile, the analog sensor collects relevant information of the type, the direction, the chassis height and the like of other vehicles around and sends the information to the ECU. The ECU of the vehicle receives the relevant information of the target vehicle sent by the analog sensor, and meanwhile, the ECU of the target vehicle also receives the relevant information detected by the analog sensor of the ECU. The ECUs of the two vehicles almost simultaneously transmit related data to the server, and the server performs matching calculation based on different data of the two vehicles and sends the data to the heights of the two vehicles, which need to be adjusted, of the ECUs (or do not need to be adjusted). If the heights match, no adjustment is needed; if the heights are not matched, a signal is sent to the ECU, the ECU sends an instruction to the electromagnetic valve to control the air bag of the air suspension to inflate or deflate, when the heights reach the expected heights, the height sensor returns information, the heights are matched, and the control is finished.
The invention provides a vehicle control device. The control device may be implemented in a vehicle Electronic Control Unit (ECU).
Fig. 4 is a block diagram of a vehicle control device according to an embodiment of the present invention. As shown in fig. 4, the vehicle control apparatus 100 includes a detection unit 110, a determination unit 120, and a control unit 130.
The detecting unit 110 is configured to detect whether a distance between a target object around the vehicle and the vehicle is smaller than a preset threshold distance.
Specifically, whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not is detected in the driving process of the vehicle or the parking process of the vehicle.
In a specific implementation manner, the vehicle is provided with an ultrasonic ranging module, the distance between the target object around the vehicle and the vehicle can be detected in an ultrasonic ranging manner, and the ultrasonic ranging module is arranged on the vehicle to detect whether the distance between the target object around the vehicle and the vehicle is smaller than a preset critical distance. For example, the ultrasonic ranging modules can be respectively installed in the front, the rear, the left and the right of the vehicle, so that the distances between the objects in the front, the rear, the left and the right of the vehicle and the vehicle can be detected.
The target object may be any object around the vehicle in which it is located. For example, the vehicle may be another vehicle that travels in the same direction as or in the opposite direction to the vehicle. Specifically, the distance s between the target object and the vehicle is calculated by using the time interval between the emission and the reception of the pulse sound wave, and the calculation formula is as follows:
S＝v×t/2 (1)
wherein v is the propagation velocity of the ultrasonic wave at normal temperature; t is the time taken from the transmission of the ultrasonic wave from the ultrasonic sensor to the reception of the first echo signal. The ultrasonic ranging module, namely the ultrasonic sensor, comprises an ultrasonic transmitter and an ultrasonic receiver. The ultrasonic transmitter continuously sends out continuous pulses and provides a short pulse for the measurement logic circuit; the ultrasonic receiver also provides a short pulse to the measurement logic circuit after receiving the reflected wave reflected by the obstacle; and finally, the signal processing device processes the received signals according to the time difference, and the distance between the vehicle and the obstacle is calculated.
In one embodiment, the threshold distance is determined based on the current relative speed of the vehicle and the target object. Specifically, the critical distance dw is calculated according to the following formula:
dw＝aVrel+b
where Vrel is the relative speed between the vehicle and the target object, for example, the speed difference between the vehicle and the target object, and a and b are calculation coefficients, which can be obtained through multiple experiments. For example, dw is 2.2Vrel + 6.2.
The determining unit 120 is configured to, when it is detected that the distance is smaller than the critical distance, acquire object information of the target object, so as to determine a height of the vehicle to be adjusted according to the object information.
The target object may specifically be another vehicle. Object information of the target object, such as relevant information of other vehicles, including, for example, vehicle types (trucks, medium and small trucks, SUVs, cars, etc.), chassis height information, may be collected through the analog sensor, and the height of the vehicle to be adjusted may be determined according to the relevant information of other vehicles. An analog sensor is a sensor that acquires desired analog signals, including orientation and/or chassis height, etc. Alternatively, analog sensors may be installed in front, rear, left, and right of the vehicle, respectively, so that object information of objects in front, rear, left, and right of the vehicle can be detected.
The vehicle is provided with a collision-reducing device, and the height of the vehicle to be adjusted is determined according to the object information, so that the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height to be adjusted, and the damage to the vehicle and the injury and death of personnel caused by the impact on the fragile part of the vehicle are avoided. The impact-reducing device is, for example, a vehicle crash cross member. The anti-collision cross beam is arranged at the positions of front and rear bumpers of the vehicle and below doors on two sides of the vehicle, and plays a role in anti-collision protection. When the automobile collides, the supporting plate of the anti-collision cross beam of the automobile bears larger impact, optionally, the supporting plate made of an aluminum alloy material can be used for reinforcing the peripheral weak parts of the automobile, and the aluminum alloy material is light in weight and high in strength and is very suitable for being used as a supporting component to be installed on the key position of the anti-collision cross beam.
In a specific embodiment, the height of the position where the target object collides with the vehicle first is predicted, and the height of the vehicle to be adjusted is determined according to the height of the position where the target object collides with the vehicle first, that is, the height of the collision mitigation device after adjustment is equal to the height of the position where the target object collides with the vehicle first.
In another specific embodiment, the target object is a vehicle, and the height of the vehicle to be adjusted is determined according to the height of the collision mitigation device of the vehicle and the height of the collision mitigation device of the target vehicle, so that the vehicle collides with the collision mitigation device of the target vehicle.
Specifically, the height of a chassis of the vehicle is measured through a height sensor, the height of a collision slowing device is determined through the height of the chassis (the height of the chassis is relatively fixed to the height of the collision slowing device), the height of the collision slowing device of the target vehicle is detected through an analog sensor, the height of the collision slowing device of the target vehicle is judged to be different from the height of the collision slowing device of the vehicle, the air bag is inflated or deflated through a control electromagnetic valve, and control is finished when the height sensor detects that the required height is reached.
In one embodiment, the height of the vehicle to be adjusted may be calculated locally based on the object information (e.g., information about other vehicles). For example, the ECU of the vehicle locally calculates the height of the vehicle to be adjusted based on the object information (e.g., information related to other vehicles).
In another specific embodiment, the object information (e.g., related information of other vehicles) is sent to a server, and the server calculates the height of the vehicle to be adjusted according to the object information. For example, the ECU of the vehicle sends the object information (e.g., information related to other vehicles) to the server, and the server calculates the height of the vehicle to be adjusted.
For example, when a distance measuring module (e.g., an ultrasonic sensor) of the present vehicle detects that the distance to another vehicle is less than a critical distance before the other vehicle collides with the front surface of the vehicle or before the present vehicle collides with the rear surface of the vehicle, a signal is sent to the ECU, and meanwhile, an analog sensor of the present vehicle collects information related to the other vehicle, such as a vehicle type (truck, medium and small truck, SUV, car, etc.), a chassis height, etc., for example, before the target vehicle collides with the front surface of the vehicle or before the present vehicle collides with the rear surface of the target vehicle, the target vehicle is in front of the present vehicle, and then the analog sensor mounted in front of the present vehicle detects information related to the target vehicle.
At this time, the ECU of the present vehicle receives the relevant information of the target vehicle transmitted by the analog sensor, and the ECU of the target vehicle also receives the relevant information detected by its own analog sensor. The ECUs of the two vehicles almost simultaneously transmit related data to the server, and the server performs matching calculation based on different data of the two vehicles and sends the data to the heights of the two vehicles, which need to be adjusted, of the ECUs (or do not need to be adjusted).
For another example, when a side surface (e.g., left or right side) of the vehicle is impacted or before a rear-end collision occurs, the distance of the target vehicle is detected by an ultrasonic sensor mounted on the side surface or rear surface of the vehicle, and information related to the target vehicle is detected by an analog sensor mounted on the side surface or rear surface of the vehicle.
The control unit 130 is used for controlling the inflation or deflation of the air bags of the air suspension of the vehicle according to the determined height required to be adjusted, so that the vehicle is raised or lowered correspondingly.
For example, before other vehicles collide with the front or other vehicles collide with the rear, the front axle electromagnetic valve is controlled to inflate or deflate the airbag according to the determined height required to be adjusted, so that the front part of the whole vehicle is lifted or lowered to the required height, the reinforcing cross beam of the vehicle receives the collision, and the safety of a driver and passengers is ensured. For example, the ECU sends commands to the solenoid valve to control the inflation or deflation of the air bag.
For another example, when the side surface (such as the left side or the right side) of the vehicle is impacted or before the vehicle is collided, the side surface (the left side or the right side) or the back surface of the vehicle is lifted, so that the reinforcing cross beam of the vehicle receives the impact, and the vehicle is prevented from being damaged and casualties caused by the impact on the fragile part of the vehicle.
The invention also provides a storage medium corresponding to the vehicle control method, on which a computer program is stored, which program, when executed by a processor, carries out the steps of any of the methods described above.
The invention also provides an electronic control unit corresponding to the vehicle control method, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the processor implements the steps of any one of the methods when executing the program.
The invention also provides an electronic control unit corresponding to the vehicle control device, which comprises any one of the vehicle control devices.
Therefore, the scheme provided by the invention can effectively relieve the affected degree of passengers and the impact degree of the vehicle when the vehicle is collided. When the vehicle runs and the conditions of rear-end collision, side collision and the like occur, the damage of the fragile part of the vehicle can be avoided by adjusting the height of the vehicle, and the safety of a driver and passengers is ensured. Under the condition that the power is not cut off during parking, when the vehicle is subjected to other vehicle rear-end collision, side collision and the like, the height of the automobile can be adjusted, so that the vehicle, a driver, passengers and the like are in a safe state. Any motorcycle type of the in-process of traveling to under artificial uncontrollable emergency, the car can all carry out automatically regulated according to different car conditions through automatically controlled air suspension, and the main part of corresponding car is raised or is reduced, makes the weak part of car avoid the striking to let the peripheral hard anti striking stronger position of car bear the impact, guarantee driver and passenger's safety.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the following claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and the parts serving as the control device may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The above description is only an example of the present invention, and is not intended to limit the present invention, and it is obvious to those skilled in the art that various modifications and variations can be made in the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A vehicle control method characterized by comprising:
detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not;
when the distance is detected to be smaller than the critical distance, acquiring object information of the target object so as to determine the height of the vehicle to be adjusted according to the object information;
and controlling the inflation or deflation of the air bags of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be raised or lowered correspondingly.
2. The method of claim 1, wherein an ultrasonic ranging module is provided on the vehicle;
detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not, wherein the detecting comprises the following steps:
and detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not through the ultrasonic ranging module arranged on the vehicle.
3. The method according to claim 1 or 2, wherein determining the height of the vehicle to be adjusted according to the object information comprises:
and sending the object information to a server, and calculating the height of the vehicle to be adjusted by the server according to the object information.
4. The method according to any one of claims 1 to 3,
the vehicle is provided with a collision buffer device, and the height of the vehicle to be adjusted is determined according to the object information, and the method comprises the following steps: the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height required to be adjusted.
5. A vehicle control apparatus characterized by comprising:
the detection unit is used for detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance or not;
the determining unit is used for acquiring the object information of the target object when the distance is detected to be smaller than the critical distance so as to determine the height of the vehicle to be adjusted according to the object information;
and the control unit is used for controlling the inflation or deflation of the air bag of the air suspension of the vehicle according to the determined height required to be adjusted so as to enable the vehicle to be increased or reduced by corresponding height.
6. The control device of claim 8, wherein an ultrasonic ranging module is arranged on the vehicle;
the detection unit detects whether the distance between the target object around the vehicle and the vehicle is less than a preset threshold distance, and comprises:
and detecting whether the distance between a target object around the vehicle and the vehicle is smaller than a preset critical distance threshold value or not through the ultrasonic ranging module arranged on the vehicle.
7. The control device according to claim 5 or 6, wherein the determining unit determines the height of the vehicle to be adjusted according to the object information, and includes:
and sending the object information to a server, and calculating the height of the vehicle to be adjusted by the server according to the object information.
8. The device according to any one of claims 5 to 7,
the vehicle is provided with a collision buffer device, and the determining unit determines the height of the vehicle to be adjusted according to the object information, and comprises the following steps: the collision-reducing device of the vehicle can be impacted after the height of the vehicle is adjusted according to the height required to be adjusted.
9. A storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
10. An electronic control unit for a vehicle, comprising a processor, a memory and a computer program stored on the memory and operable on the processor, the processor when executing the program implementing the steps of the method according to any one of claims 1 to 4, including the vehicle control device according to any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111519276.7A CN113997742A (en) | 2021-12-13 | 2021-12-13 | Vehicle control method and device, storage medium and vehicle electronic control unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111519276.7A CN113997742A (en) | 2021-12-13 | 2021-12-13 | Vehicle control method and device, storage medium and vehicle electronic control unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113997742A true CN113997742A (en) | 2022-02-01 |
Family
ID=79931987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111519276.7A Pending CN113997742A (en) | 2021-12-13 | 2021-12-13 | Vehicle control method and device, storage medium and vehicle electronic control unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113997742A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170066449A1 (en) * | 2015-09-03 | 2017-03-09 | Lg Electronics Inc. | Driver Assistance Apparatus For Vehicle And Vehicle Having The Same |
| CN109109858A (en) * | 2017-06-23 | 2019-01-01 | 上海汽车集团股份有限公司 | A kind of vehicle safety method, apparatus and system |
| CN109203902A (en) * | 2017-07-04 | 2019-01-15 | 上海汽车集团股份有限公司 | A kind of vehicle safety method, system, running crane control device and storage medium |
| CN112172806A (en) * | 2020-08-31 | 2021-01-05 | 恒大新能源汽车投资控股集团有限公司 | Vehicle state adjusting device and method and electronic equipment |
| CN112498044A (en) * | 2020-12-10 | 2021-03-16 | 北京车和家信息技术有限公司 | Vehicle control method and device, storage medium and vehicle |
-
2021
- 2021-12-13 CN CN202111519276.7A patent/CN113997742A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170066449A1 (en) * | 2015-09-03 | 2017-03-09 | Lg Electronics Inc. | Driver Assistance Apparatus For Vehicle And Vehicle Having The Same |
| CN109109858A (en) * | 2017-06-23 | 2019-01-01 | 上海汽车集团股份有限公司 | A kind of vehicle safety method, apparatus and system |
| CN109203902A (en) * | 2017-07-04 | 2019-01-15 | 上海汽车集团股份有限公司 | A kind of vehicle safety method, system, running crane control device and storage medium |
| CN112172806A (en) * | 2020-08-31 | 2021-01-05 | 恒大新能源汽车投资控股集团有限公司 | Vehicle state adjusting device and method and electronic equipment |
| CN112498044A (en) * | 2020-12-10 | 2021-03-16 | 北京车和家信息技术有限公司 | Vehicle control method and device, storage medium and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5732785A (en) | Proactive exterior airbag system and its deployment method for a motor vehicle | |
| US7138938B1 (en) | System and method for preemptively sensing an object and selectively operating both a collision countermeasure system and a parking assistance system aboard an automotive vehicle | |
| US7206678B2 (en) | Motor vehicle with a pre-safe-system | |
| EP1428728B1 (en) | A safety system and method for a motor vehicle | |
| CN102774378B (en) | Vehicle rear-end collision early warning and guard method, system | |
| US20070131468A1 (en) | Motor vehicle provided with a pre-safe system | |
| US6477466B1 (en) | Device for adjusting the height positioning of the body of a vehicle | |
| GB2368707A (en) | Vehicle crash control system employing predicted collision signals | |
| US11560108B2 (en) | Vehicle safety system and method implementing weighted active-passive crash mode classification | |
| US20210284091A1 (en) | Vehicle safety system implementing integrated active-passive front impact control algorithm | |
| US11912306B2 (en) | Low impact detection for automated driving vehicles | |
| JPH02155854A (en) | Shock relieving device for car | |
| JP2021509376A (en) | A system and method for determining when an object detected by an anti-collision sensor on one vehicle body of an articulated vehicle includes another vehicle body of the vehicle. | |
| CN113997742A (en) | Vehicle control method and device, storage medium and vehicle electronic control unit | |
| JP5104689B2 (en) | Vehicle collision detection device | |
| CN113022489B (en) | Air bag bounce control method | |
| US20230032994A1 (en) | Passive pedestrian protection system utilizing inputs from active safety system | |
| CN104691628B (en) | Auto spring out type automobile B-column, control system and automobile | |
| CN111762097A (en) | Reverse collision avoidance detection system and control method thereof | |
| JP2543468Y2 (en) | Automotive airbag equipment | |
| CN116605170A (en) | Vehicle safety protection method and system | |
| EP3351441B1 (en) | Device for increased safety during slow vehicle movement | |
| JP2022146541A (en) | Vehicle control apparatus | |
| CN116494844A (en) | Active control method for vehicle collision seat and vehicle body controller | |
| KR20060084908A (en) | Apparatus for pre-crash safety system and therefor process |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |