CN114559931A - Vehicle, and vehicle collision protection method and system - Google Patents
Vehicle, and vehicle collision protection method and system Download PDFInfo
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- CN114559931A CN114559931A CN202011359568.4A CN202011359568A CN114559931A CN 114559931 A CN114559931 A CN 114559931A CN 202011359568 A CN202011359568 A CN 202011359568A CN 114559931 A CN114559931 A CN 114559931A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012937 correction Methods 0.000 claims description 2
- 230000003211 malignant effect Effects 0.000 abstract description 3
- 239000002390 adhesive tape Substances 0.000 description 38
- 238000001514 detection method Methods 0.000 description 33
- 230000010354 integration Effects 0.000 description 9
- 230000003750 conditioning effect Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000000116 mitigating effect Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 241000269324 Polypteridae Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
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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
- 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
- B60R21/0136—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 actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
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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
- B60R2021/01013—Means for detecting collision, impending collision or roll-over
- B60R2021/01027—Safing sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W2030/082—Vehicle operation after collision
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a vehicle, a vehicle collision protection method and a vehicle collision protection system, and belongs to the field of vehicle collision safety. The method comprises the following steps: acquiring a current or voltage value of an electronic collision sensor within vehicle collision triggering time, calculating the average change rate of the current or voltage within the vehicle collision triggering time, and comparing the average change rate of the current or voltage within the vehicle collision triggering time with a set collision threshold value to determine the collision strength of the vehicle; and carrying out braking control on the vehicle according to the determined collision strength, so as to realize the collision protection of the vehicle. According to the invention, the current or voltage value in the vehicle collision triggering time is continuously detected, and the average change rate of the current or voltage is calculated by utilizing a plurality of current or voltage values in the period of time to determine the collision strength of the vehicle, so that the accurate control of vehicle braking can be realized according to the determined collision strength, the accuracy of vehicle braking control is improved, and the occurrence of malignant accidents or the damage of the accidents can be reduced.
Description
Technical Field
The invention relates to a vehicle, a vehicle collision protection method and a vehicle collision protection system, and belongs to the technical field of vehicle collision safety.
Background
At present, the following two main ways are available for protecting the collision accident outside the vehicle:
(1) active collision protection: the collision early warning of the vehicle is realized through an intelligent environment perception sensor (such as a laser radar, a vision sensor, a millimeter wave radar, an ultrasonic radar and the like), so that the vehicle can be controlled in advance, and the collision is prevented; and the collision can be prevented by adding an automatic emergency braking function.
(2) Passive collision protection: the electronic collision sensor is used for converting a collision signal generated when an automobile collides into a current value or a voltage value, judging that the collision occurs when the magnitude of the current value or the voltage value exceeds a set threshold value, and taking certain braking measures.
However, at present, the two modes have some problems: in the mode (1), an environment perception sensor used by a vehicle collision early warning and automatic emergency braking system belongs to a non-contact sensor, the relative state of a vehicle and a target is judged mainly by measuring parameters such as distance or TTC (time to live) and early warning is carried out, and a higher false alarm rate exists in certain scenes, so that the normal running of the vehicle is seriously hindered; the mode (2) can only judge whether collision occurs, the collision strength cannot be determined, the braking of the vehicle cannot be accurately controlled, and great damage can be still caused to road traffic personnel, vehicles and the like outside the vehicle when a collision accident occurs.
Disclosure of Invention
The invention aims to provide a vehicle, a vehicle collision protection method and a vehicle collision protection system, which are used for solving the problems that the current value or the voltage value output by an electronic collision sensor can only judge whether collision occurs, the collision strength cannot be determined, the braking of the vehicle cannot be accurately controlled, and road traffic personnel, vehicles and the like outside the vehicle can be greatly injured when a collision accident occurs.
To achieve the above object, the present invention provides a vehicle collision protection method, including the steps of:
(1) acquiring a current or voltage value of an electronic collision sensor within vehicle collision triggering time, calculating the average change rate of the current or voltage within the vehicle collision triggering time, and comparing the average change rate of the current or voltage within the vehicle collision triggering time with a set collision threshold value to determine the collision strength of the vehicle; the vehicle collision triggering time is the time taken for the current or voltage value of the electronic collision sensor to reach a triggering value from an initial value, and the triggering value is the current or voltage value when the electronic collision sensor can just detect the occurrence of collision;
(2) and carrying out braking control on the vehicle according to the determined collision strength, so as to realize the collision protection of the vehicle.
The present invention also provides a vehicle crash protection system, comprising:
the electronic collision sensors are arranged at different positions of the vehicle body and are respectively connected with the controller; the electronic collision sensor is used for converting collision force received by a vehicle in collision into a current or voltage value;
and the controller is used for acquiring the current or voltage value of each electronic collision sensor within the vehicle collision triggering time, and realizing the vehicle collision protection method according to the acquired current or voltage value.
The present invention also provides a vehicle comprising a vehicle body and a vehicle crash protection system, the vehicle crash protection system comprising:
the electronic collision sensors are arranged at different positions of the vehicle body and are respectively connected with the controller; the electronic collision sensor is used for converting collision force received by a vehicle in collision into a current or voltage value;
and the controller is used for acquiring the current or voltage value of each electronic collision sensor within the vehicle collision triggering time, and realizing the vehicle collision protection method according to the acquired current or voltage value.
The invention has the beneficial effects that: when a vehicle collides, the invention continuously detects the current or voltage value in the vehicle collision triggering time, calculates the average change rate of the current or voltage by using a plurality of current or voltage values in the time to determine the collision intensity of the vehicle, and carries out braking control on the vehicle according to the determined collision intensity; therefore, the invention can not only detect whether the collision occurs, but also detect the intensity of the collision, so that the invention can realize the accurate control of the vehicle brake according to the determined collision intensity, reduce the additional damage to the personnel in the vehicle and the vehicle behind caused by the excessive emergency brake when the collision accident occurs, and the invention determines the collision intensity of the vehicle by calculating the average change rate of the current or the voltage, has the detection capability of low-intensity collision and high sensitivity of the collision intensity detection, thereby further ensuring the accuracy of the subsequent vehicle brake control, especially when the vehicle is a passenger car, because the passenger car has large mass and firm structure, the general collision has larger damage to the weak group outside the vehicle, and the invention can realize the accurate control of the vehicle brake according to the determined collision intensity by utilizing the collision protection method of the invention, effectively relieve the intensity of the vehicle collision, the occurrence of malignant accidents is reduced or the secondary damage of collision accidents to road traffic personnel, vehicles and the like outside the automobile is reduced.
Further, in order to improve the accuracy of detecting the collision strength of the vehicle at low speed, in the vehicle, the vehicle collision protection method and the system, the average change rate of current or voltage is continuously calculated for a plurality of times within the vehicle collision trigger time, and the maximum average change rate of current or voltage is selected as the average change rate of current or voltage within the vehicle collision trigger time; wherein the calculation time of the average change rate of current or voltage is more than or equal to w0，w0The minimum collision trigger time that can be detected by the electronic collision sensor.
Further, in order to further improve the detection accuracy of the vehicle collision strength, in the vehicle, the vehicle collision protection method and the vehicle collision protection system, the vehicle speed when the vehicle collides is also obtained, when the vehicle speed when the vehicle collides is higher than the upper limit value of the vehicle speed or lower than the lower limit value of the vehicle speed, the collision strength determined in the step (1) is corrected, and the vehicle is subjected to braking control by using the corrected collision strength; when the vehicle speed is higher than the upper limit value of the vehicle speed when the vehicle collides, the collision strength determined in the step (1) is enhanced, and the enhanced collision strength is used as the corrected collision strength; when the vehicle speed at the time of a collision of the vehicle is lower than the vehicle speed lower limit value, the collision strength after correction is 0.
Further, in the vehicle, the vehicle collision protection method and the vehicle collision protection system, the collision threshold value is set in a graded manner, the collision strength is also set in a graded manner, and the braking control of the vehicle includes stopping the power output of the vehicle and performing graded electric braking on the vehicle, wherein the collision threshold value, the collision strength and the electric braking grade are set correspondingly, and the higher the collision strength is, the stronger the electric braking capability is.
The beneficial effects of doing so are: the vehicle collision strength can be effectively relieved by stopping the power output of the vehicle and carrying out graded electric braking on the vehicle, and the damage of collision accidents is reduced.
Further, in the vehicle, the vehicle collision protection method and the vehicle collision protection system, before calculating the average change rate of the current or the voltage within the vehicle collision trigger time, the method further comprises the step of judging whether the current or the voltage value of the electronic collision sensor reaches the trigger value, stopping the power output of the vehicle if the current or the voltage value of the electronic collision sensor reaches the trigger value, and then performing graded electric braking on the vehicle according to the determined collision strength.
The beneficial effects of doing so are: the collision is relieved to the greatest extent, and meanwhile, the additional damage caused by sudden braking is reduced.
Further, in the vehicle, the vehicle collision protection method and the vehicle collision protection system, the electronic collision sensor is a rubber strip collision sensor.
The beneficial effects of doing so are: the arrangement of the adhesive tape collision sensor is more flexible, the coverage range is wide, the detection range of the collision position is favorably expanded, and the sensitivity of collision detection is improved.
Further, in order to achieve the frontal collision protection of the vehicle, in the above vehicle collision protection system, when only 3 rubber strip collision sensors are included in the vehicle collision protection system, the 3 rubber strip collision sensors are respectively arranged at the front left position, the middle position and the front right position of the vehicle head.
Further, in order to ensure real-time performance and continuity of collision detection, in the vehicle collision protection system, each rubber strip collision sensor is transversely arranged at a protruding position of a front skin of the vehicle head.
Drawings
FIG. 1 is a schematic vehicle configuration diagram of a vehicle embodiment of the present invention;
FIG. 2 is a schematic diagram of the arrangement of 3 strip sensors in the vehicle crash protection system of the vehicle embodiment of the present invention;
FIG. 3 is a flow chart of a vehicle crash protection method of an embodiment of the vehicle of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
The embodiment of the vehicle is as follows:
as shown in fig. 1, the vehicle of the embodiment includes a vehicle body and a vehicle collision protection system, wherein the vehicle body includes a vehicle control unit VCU, an integrated controller, a driving motor and a vehicle rear axle, the vehicle control unit VCU and the integrated controller are in communication connection through a CAN bus, and the driving motor and the integrated controller are connected through a high-voltage line; the vehicle collision protection system comprises at least one rubber strip collision sensor (hereinafter referred to as rubber strip sensor) and a collision detection and control unit.
Wherein, the adhesive tape collision sensor is a safe touch edge sensor, which belongs to the existing products, such as the Switzerland BIRCHER safe touch edge sensor, and the model is ELT011/008A 0W. When the safety edge-touching sensor is adopted for collision detection, the safety edge-touching sensor generates physical deformation due to collision pressure, the contact resistance of the safety edge-touching sensor is changed into a smaller value from a larger value in the deformation process, the current value or the voltage value can be increased sharply, and the collision can be judged when the current value or the voltage value reaches the trigger value, so that the collision detection is realized.
In this embodiment, with arrange 3 adhesive tape sensors at the locomotive and realize the frontal collision protection of vehicle for the example and carry out the detailed introduction to vehicle collision protection system, as other implementation manners, can also realize the collision protection of vehicle side or rear through arranging the adhesive tape sensor at automobile body or rear of a vehicle, also can all arrange the adhesive tape sensor through at the locomotive, rear of a vehicle and automobile body and realize the all-round collision protection of whole car, and the adhesive tape sensor quantity of arranging on the vehicle can be adjusted according to actual need, and is easy to know, the adhesive tape sensor quantity of arranging is more, the scope of coverage is wider, the collision position that can detect is more comprehensive, the security of collision protection is higher.
As shown in fig. 2, in the present embodiment, 3 independent rubber strip sensors (i.e. rubber strip sensor 1, rubber strip sensor 2, and rubber strip sensor 3, see the thick black curve segments of 3 segments in the figure) are transversely arranged on the front skin of the vehicle, as can be seen from fig. 2: adhesive tape sensor 1 arranges in the left place ahead, and adhesive tape sensor 2 arranges in the dead ahead, and adhesive tape sensor 3 arranges in the right place ahead, is used for the left front of vehicle respectively, just preceding and right preceding position's collision strength to detect, and this 3 adhesive tape sensors jointly get up to the direction of traveling of having covered whole vehicle, and then can realize that the vehicle is to the collision strength detection of the direction of traveling, realizes the positive collision protection of vehicle.
In this embodiment, these 3 sections of adhesive tape sensors all install the salient position at preceding covering, can contact preferentially when bumping, guarantee collision detection's real-time, and these 3 sections of adhesive tape sensors all transversely arrange at preceding covering, can guarantee collision detection's continuity. As other embodiments, the installation position of the rubber strip sensor can be adjusted according to different vehicle types, but the rubber strip sensor needs to be transversely arranged on the front skin, so that the continuity of collision detection is ensured.
The following provides a detailed description of the various components of the vehicle crash protection system:
as shown in fig. 1, in the present embodiment, the vehicle collision protection system includes 3 rubber strip sensors and a collision detection and control unit. The 3 rubber strip sensors are respectively connected with a collision detection and control unit for data information transmission.
The rubber strip sensor is used for converting collision force received by a vehicle in collision into a current or voltage value; the collision detection and control unit processes the current or voltage value of the rubber strip sensor to obtain parameters such as collision position and strength grade, generates information such as electric braking grade and stopping power output command according to the obtained collision strength, then sends the information to the vehicle controller through the CAN bus, and the vehicle controller receives and analyzes the information to control the motor controller to realize that the driving motor stops rotating, and starts an electric braking mode according to the electric braking grade, at the moment, the vehicle is cut off power output, and starts braking under the electric braking mode.
The collision detection and control unit consists of a signal conditioning circuit, a collision detection module and a collision mitigation control module. The signal conditioning circuit collects the current or voltage value of the adhesive tape sensor, and the current or voltage value is filtered and then synchronously output to the collision detection module. Because the collision time is short, the sampling rate of the signal conditioning circuit needs to reach more than 200 KHz. The signal conditioning circuit also has the function of collecting the resistance value of the adhesive tape sensor, can realize the synchronous measurement of current or voltage and resistance, and synchronously outputs the resistance value to the collision detection module. Wherein, the resistance value of adhesive tape sensor can be used to the self-checking and the data check of adhesive tape sensor.
In the embodiment, a collision detection module and a collision mitigation control module are separately arranged, and the collision detection module is used for processing the received current value to obtain the position and the strength of the collision; the collision relieving control module is used for generating corresponding electric braking instructions and instructions for stopping power output according to the collision strength and sending the instructions to the whole vehicle controller through the CAN bus; wherein, the functions of the two modules can be realized by a specially arranged controller; in other embodiments, the functions of the two modules can also be directly realized by the vehicle control unit.
The vehicle collision protection system of the embodiment can realize a vehicle collision protection method, and in the embodiment, by taking an example that a rubber strip sensor is used for detecting a current value within a vehicle collision trigger time, and the vehicle collision protection is realized by calculating an average change rate of the current within the vehicle collision trigger time, a vehicle collision protection method is described in detail, as shown in fig. 3, the method includes the following steps:
(1) self-checking of the adhesive tape sensor: the detection of the open-circuit fault of the adhesive tape is realized by serially connecting a fixed value resistor inside the adhesive tape. After the vehicle is powered on, the resistance values of the rubber strip sensor 1, the rubber strip sensor 2 and the rubber strip sensor 3 are respectively detected, whether the resistance values exceed an open-circuit threshold value or not is judged, when the resistance values are larger than the open-circuit threshold value, the rubber strip sensor is judged to be invalid, a short-circuit fault message of the rubber strip sensor is sent, and the collision protection function of the vehicle cannot be normally used.
(2) Calculating the average current change rate Delta I in the triggering time of the vehicle collision: the current values of the adhesive tape sensor 1, the adhesive tape sensor 2 and the adhesive tape sensor 3 are measured in real time, under normal conditions, the adhesive tape sensor is in a high-resistance state, and the current value of the adhesive tape sensor is a certain fixed value (namely, the initial current value I)cFor strip sensors without self-test resistors, the initial value IcIs zero, for strip sensors with self-checking resistance, IcAt a certain value, IcThe numerical value of (a) is related to the number of the strip sensors and the detection circuit). When collision happens, the resistance value of the rubber strip sensor is reduced, and the current value is sharply increased until the current value reaches the current trigger value I0The adhesive tape sensor can just detect the occurrence of collision, and the current value of the adhesive tape sensor is from the initial current value IcTo the current trigger value I0The time used is the vehicle collision triggering time; let the current trigger value I0Corresponding resistance trigger value is R0And (4) showing.
The current value of the adhesive tape sensor is acquired in real time through the signal conditioning circuit, and the acquired current of the adhesive tape sensor is firstly subjected to digital filtering processing, so that noise interference is reduced. Then with an integration window w0Time of impact w to vehicleLThe current value in the internal is subjected to sliding integration, i.e. continuously slides forwards along the time axis by a sliding interval delta t along the time axis0And uninterrupted integral calculation and detection are realized, and the detection real-time performance is ensured. Integration interval w0Minimum impact trigger time detectable by the adhesive tape sensor (minimum impact trigger time detectable by the adhesive tape sensor)The measured current value is changed from an initial value IcIncrease to trigger value I0The minimum time used). Vehicle collision trigger time wLIs equally divided into n small intervals ti-1，ti](i-1, 2,3, … n) satisfying ti≥T0，T0Is the sampling interval time. Slip interval Δ t0May be a sampling time T0Integral multiple of, maximum value not exceeding w0，Δt0The smaller the detection, the higher the detection accuracy, but the higher the computational performance requirements on the hardware. An integration window [ t-w ]0，t]Inner average current change rate Δ Iw0As shown in the following formula:
in this embodiment, the resistance value of the adhesive tape sensor is less than the resistance trigger value R0Under the condition of (1), with an integration window w0Time of impact w to vehicleLAnd continuously calculating the average change rate of the current for multiple times by performing sliding integration on the current value in the time range, selecting the maximum average change rate of the current as the average change rate delta I of the current in the vehicle collision triggering time, and continuously detecting to improve the accuracy of collision detection at low speed. As other embodiments, the integration window of the sliding integration may also be larger than w0In particular, the vehicle collision trigger time w can also be directly determinedLAs an integration window, only one current average rate of change needs to be calculated at this time. Wherein the vehicle collision trigger time wLThe collision triggering time of different vehicles at the same speed can be different by the calibration of the real vehicle collision test. For example, when the vehicle collides at a vehicle speed of 10km/h, the vehicle collision trigger time wLThe current of the rubber strip sensor is changed from an initial current value I when the vehicle speed is 10km/hcTo the current trigger value I0Time used, vehicle crash trigger time wLDecreases with increasing vehicle speed.
If the vehicle collides with at least two rubber strip sensors at the same time, the calculation modes of the current average change rate in the vehicle collision triggering time comprise the following two modes, and one calculation mode is selected in practical application: 1) the current average change rate of each rubber strip sensor is independently calculated according to the method of the embodiment, so that each rubber strip sensor corresponds to one current average change rate, and the maximum current average change rate is selected as the current average change rate in the vehicle collision triggering time; 2) the current values of the strip sensors are summarized to be regarded as the current value of one strip sensor, and the average current change rate in the vehicle collision triggering time is calculated according to the method of the embodiment.
(3) The average current change rate Delta I in the vehicle collision triggering time and a collision threshold value I are calculatedh1、Ih2Respectively matching, determining the collision strength of the vehicle, stopping the power output of the vehicle and performing graded electric braking according to the determined collision strength, wherein the grades of the collision strength are divided into low strength, medium strength and high strength, and the grade of the electric braking is divided into Bv1、Bv2And Bv3The higher the collision strength, the stronger the electric braking capability.
When Delta I < Ih1When a collision of low intensity is recognized, stopping power output, and executing Bv1Step-by-step electric braking;
when I ish1≤ΔI＜Ih2When the collision is recognized as a medium-intensity collision, stopping the power output, and executing Bv2Step-by-step electric braking;
when I ish2When the collision is less than or equal to delta I, recognizing the collision as high-intensity collision, stopping power output, and executing Bv3And (5) stage electric braking.
The collision threshold value is calibrated by testing the average change rate of the current when the vehicles of different vehicle types collide at different speeds, the speed range can be 10 km/h-40 km/h, and the average change rate of the current during collision is increased along with the increase of the mass of the whole vehicle and the increase of the vehicle speed.
In the embodiment, the collision strength of the vehicle is represented by the magnitude of the average change rate of the current in the vehicle collision triggering time, and the larger the average change rate of the current is, the larger the collision strength is. The basis for this is: for the adhesive tape sensor, the voltage or the current at any moment is irrelevant to the collision strength, when the current or the voltage exceeds a trigger value, the collision is considered to occur, otherwise, no collision is considered to occur, but the collision trigger time is relevant to the collision strength. The current trigger values of the rubber strip sensor are the same under different collision strengths, the difference is that the time taken for the current to reach the trigger values from the initial value is different (namely, the collision trigger time is different), the larger the collision strength is, the shorter the collision trigger time is and the shorter the collision trigger time is, and the larger the current average change rate of the current from the current initial value to the current trigger value is, so that the current average change rate is used for representing the collision strength of the vehicle in the embodiment.
In the embodiment, the number of collision thresholds is two, and the collision intensity level and the electric braking level are divided into three levels correspondingly; as other embodiments, the number of collision thresholds may be set according to actual needs, and only the level of collision strength and the level of electric braking need to be adjusted accordingly.
In another embodiment, the vehicle braking system can be associated with the whole vehicle braking system during the high-intensity collision, so as to perform emergency braking on the vehicle, and rapidly reduce the vehicle speed during the high-intensity collision.
In this embodiment, after the adhesive tape sensor is triggered (i.e. the current value of the adhesive tape sensor reaches the current trigger value I)0) Calculating the average current change rate, determining the collision strength, and stopping the power output of the vehicle after determining the collision strength; in another embodiment, the power output of the vehicle is stopped as long as the rubber strip sensor is triggered, and then graded electric braking is performed according to the collision threshold, so that the maximum collision mitigation is realized, and meanwhile, additional damage to people in the vehicle due to sudden braking is reduced.
(4) When collision is detected, a collision detection fault message is sent at the same time, and the message content comprises information such as the number (equivalent to the collision position) of the collided adhesive tape sensor, the collision strength, the electric braking grade and the like.
In the embodiment, the collision strength is determined by directly calculating the average change rate of the current in the vehicle collision triggering time according to the current value of the rubber strip sensor, and then a corresponding braking strategy is executed; as another embodiment, determiningThe vehicle speed information can be associated during the collision intensity, the collision intensity determined according to the current average change rate in the vehicle collision trigger time is corrected by using the vehicle speed during the vehicle collision, and the vehicle is subjected to braking control by using the corrected collision intensity; specifically, when the vehicle speed of the vehicle in the collision is higher than a vehicle speed upper limit value (set according to actual needs), the collision strength determined according to the current average change rate in the vehicle collision trigger time is enhanced, and the enhanced collision strength is taken as the corrected collision strength; for example: when the vehicle speed is more than 30km/h when the vehicle collides, the current change rate delta I does not reach I even if the current change rate delta I within the triggering time of the vehicle collisionh2While, also executing Bv3The step-by-step electric braking is adopted, the collision-avoiding object is a flexible body, and the current change rate is relatively small; when the vehicle speed is lower than a vehicle speed lower limit value (set according to actual requirements) when the vehicle collides, taking the collision strength of 0 as the corrected collision strength; for example: when the vehicle stops, a person carelessly touches the rubber strip sensor, the current value of the rubber strip sensor can possibly reach the current trigger value, if the vehicle speed is not related, the vehicle is braked as a collision, but the condition does not belong to the condition of collision, if the vehicle speed is related, the vehicle braking operation is avoided, and therefore the false triggering probability is reduced; when the vehicle speed is between the lower limit value and the upper limit value of the vehicle speed when the vehicle collides, the collision strength determined according to the average change rate of the current in the vehicle collision triggering time is kept unchanged.
In the embodiment, the current value in the vehicle collision triggering time is detected by using the adhesive tape sensor, and the vehicle collision protection is realized by calculating the average change rate of the current in the vehicle collision triggering time; as other embodiments, the voltage value within the vehicle collision trigger time can be detected by using the adhesive tape sensor, and the collision protection of the vehicle is realized by calculating the average change rate of the voltage within the vehicle collision trigger time, at this time, the current trigger value needs to be replaced by the voltage trigger value, and meanwhile, the collision threshold value needs to be calibrated by testing the average change rate of the voltage when the vehicles of different vehicle types collide at different speeds, and other processes are similar to the detection current value and are not repeated. As another embodiment, the current or voltage value within the vehicle collision triggering time, which is the time taken for the current or voltage value of the electronic collision sensor to reach the triggering value from the initial value, may be detected by another conventional electronic collision sensor, and the collision intensity of the vehicle may be determined by using the average change rate of the current or voltage within the vehicle collision triggering time.
To sum up, the vehicle collision protection method of this embodiment can not only detect whether a collision occurs, but also detect the intensity of the collision, so that it can realize the precise control of the vehicle braking according to the determined collision intensity, reduce the additional damage to the personnel in the vehicle and the rear vehicle caused by excessive emergency braking when a collision accident occurs, and determine the collision intensity of the vehicle by calculating the average change rate of current or voltage, and has the detection capability of low-intensity collision, and the sensitivity of the collision intensity detection is high, thereby further ensuring the precision of the subsequent vehicle braking control, especially when the vehicle is a passenger car, because the passenger car has large mass and firm structure, the general collision has more damage to the weak group outside the vehicle, and by using the collision protection method of this embodiment, the precise control of the vehicle braking can be realized according to the determined collision intensity, effectively relieve the collision strength of vehicles, reduce the occurrence of malignant accidents or reduce the secondary damage of collision accidents (especially continuous collision) to road traffic personnel, vehicles and the like outside the vehicles.
Vehicle collision protection system embodiment:
the vehicle collision protection system of the present embodiment is the same as that of the vehicle embodiment, and will not be described herein again.
The embodiment of the vehicle collision protection method comprises the following steps:
the vehicle collision protection method of the present embodiment is the same as the vehicle collision protection method of the vehicle embodiment, and is not described here again.
Claims (10)
1. A vehicle crash protection method, characterized in that the method comprises the steps of:
(1) acquiring a current or voltage value of an electronic collision sensor within vehicle collision triggering time, calculating the average change rate of the current or voltage within the vehicle collision triggering time, and comparing the average change rate of the current or voltage within the vehicle collision triggering time with a set collision threshold value to determine the collision strength of the vehicle; the vehicle collision triggering time is the time taken for the current or voltage value of the electronic collision sensor to reach a triggering value from an initial value, and the triggering value is the current or voltage value when the electronic collision sensor can just detect the occurrence of collision;
(2) and carrying out braking control on the vehicle according to the determined collision strength, so as to realize the collision protection of the vehicle.
2. The vehicle collision protection method according to claim 1, characterized in that the average rate of change of the current or voltage is continuously calculated a plurality of times within the vehicle collision trigger time, and the maximum average rate of change of the current or voltage is selected as the average rate of change of the current or voltage within the vehicle collision trigger time; wherein the calculation time of the average change rate of current or voltage is more than or equal to w0，w0The minimum collision trigger time that can be detected by the electronic collision sensor.
3. The vehicle collision protection method according to claim 1 or 2, characterized by further acquiring a vehicle speed at the time of vehicle collision, correcting the collision strength determined in step (1) when the vehicle speed at the time of vehicle collision is higher than an upper vehicle speed limit value or lower than a lower vehicle speed limit value, and performing braking control on the vehicle using the corrected collision strength; when the vehicle speed is higher than the upper limit value of the vehicle speed when the vehicle collides, the collision strength determined in the step (1) is enhanced, and the enhanced collision strength is used as the corrected collision strength; when the vehicle speed at the time of a collision of the vehicle is lower than the vehicle speed lower limit value, the collision strength after correction is 0.
4. The vehicle collision protection method according to claim 3, wherein the collision threshold is set in stages, the collision strength is also set in stages, and the braking control of the vehicle includes stopping the power output of the vehicle and performing staged electric braking of the vehicle, wherein the collision threshold, the collision strength and the electric braking stage are set correspondingly, and the higher the collision strength is, the stronger the electric braking capability is.
5. The vehicle collision protection method according to claim 4, further comprising the step of judging whether the current or voltage value of the electronic collision sensor reaches a trigger value before calculating the average rate of change of the current or voltage within the vehicle collision trigger time, stopping the power output of the vehicle if the current or voltage value of the electronic collision sensor reaches the trigger value, and then electrically braking the vehicle in stages according to the determined collision strength.
6. The vehicle collision protection method according to claim 1 or 2, characterized in that the electronic collision sensor is a rubber strip collision sensor.
7. A vehicle crash protection system, comprising:
the electronic collision sensors are arranged at different positions of the vehicle body and are respectively connected with the controller; the electronic collision sensor is used for converting collision force received by a vehicle in collision into a current or voltage value;
the controller is used for acquiring the current or voltage value of each electronic collision sensor within the vehicle collision triggering time and realizing the vehicle collision protection method according to any one of claims 1 to 6 according to the acquired current or voltage value.
8. The vehicle collision protection system according to claim 7, wherein when only 3 rubber strip collision sensors are included in the vehicle collision protection system, the 3 rubber strip collision sensors are respectively arranged at a vehicle head left front position, a vehicle head middle position and a vehicle head right front position.
9. The vehicle crash protection system of claim 8, wherein each strip crash sensor is disposed laterally at a protruding position of a nose skin.
10. A vehicle comprising a vehicle body and a vehicle collision protection system, characterized in that the vehicle collision protection system comprises:
the electronic collision sensors are arranged at different positions of the vehicle body and are respectively connected with the controller; the electronic collision sensor is used for converting collision force received by a vehicle in collision into a current or voltage value;
the controller is used for acquiring the current or voltage value of each electronic collision sensor within the vehicle collision triggering time and realizing the vehicle collision protection method according to any one of claims 1 to 6 according to the acquired current or voltage value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011359568.4A CN114559931A (en) | 2020-11-27 | 2020-11-27 | Vehicle, and vehicle collision protection method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011359568.4A CN114559931A (en) | 2020-11-27 | 2020-11-27 | Vehicle, and vehicle collision protection method and system |
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| CN114559931A true CN114559931A (en) | 2022-05-31 |
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| CN202011359568.4A Pending CN114559931A (en) | 2020-11-27 | 2020-11-27 | Vehicle, and vehicle collision protection method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115443795A (en) * | 2022-09-29 | 2022-12-09 | 宁波东贝智能科技有限公司 | Mower collision detection method and system, storage medium and intelligent terminal |
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2020
- 2020-11-27 CN CN202011359568.4A patent/CN114559931A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115443795A (en) * | 2022-09-29 | 2022-12-09 | 宁波东贝智能科技有限公司 | Mower collision detection method and system, storage medium and intelligent terminal |
| CN115443795B (en) * | 2022-09-29 | 2024-01-30 | 宁波东贝智能科技有限公司 | Mower collision detection method, mower collision detection system, storage medium and intelligent terminal |
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