CN116394929A - Control method and control device for vehicle collision and vehicle - Google Patents
Control method and control device for vehicle collision and vehicle Download PDFInfo
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
Abstract
The application discloses a control method, a control device and a vehicle for vehicle collision, which belong to the technical field of automobile control, and the method comprises the following steps: determining that the vehicle is in an approaching mode or a pre-crash mode with a preceding vehicle based on a current vehicle speed of the vehicle and a brake signal; outputting collision early warning information in response to the vehicle being in an approaching mode with the front vehicle; in response to the vehicle being in the pre-crash mode, a crash protection operation is performed. The control method for the vehicle collision disclosed by the application can improve the safety of vehicle running to a certain extent.
Description
Technical Field
The present disclosure relates to the field of automobile control technologies, and in particular, to a method and an apparatus for controlling a vehicle collision.
Background
With the rapid development of new energy automobile industry technology, the new energy automobiles are increasingly configured, and the requirements of drivers on safe running of the vehicles are also increasingly strong. During traveling, the vehicle may have an emergency such as a collision with a forward vehicle.
At present, whether the collision danger exists between the vehicle and the forward vehicle is judged mainly through experience of a driver and alarm prompt of a distance measuring device, and braking is carried out after the collision danger exists between the vehicle and the forward vehicle, so that traffic accidents are avoided. However, the generation of collision avoidance mainly depends on the experience of a driver and the reaction speed of stepping on a brake, is easily affected by human factors, and the safety of vehicle running is not high.
Disclosure of Invention
In view of the above, the present application provides a control method and a control device for vehicle collision, and a vehicle, which can improve the safety of vehicle running to some extent.
The embodiment of the application provides a control method for vehicle collision, which is applied to a vehicle and comprises the following steps:
determining that the vehicle is in an approaching or pre-crash mode with a preceding vehicle based on a current vehicle speed and a brake signal of the vehicle;
responding to the vehicle in the mode of approaching the vehicle with the front vehicle, and outputting collision early warning information;
in response to the vehicle being in the pre-crash mode, a crash-protection operation is performed,
wherein, when the vehicle has a range radar:
responsive to the current vehicle speed being within a set first vehicle speed range and a distance between the vehicle and a forward vehicle being no greater than a first distance threshold, the vehicle entering the over-near mode with the forward vehicle;
when the vehicle is in the approaching with front vehicle mode, responding to the distance between the vehicle and the front vehicle not being larger than a second distance threshold value and not detecting the brake signal, the vehicle enters the pre-collision mode, and the first distance threshold value is larger than the second distance threshold value;
when the vehicle does not have the range radar:
the vehicle enters the pre-crash mode in response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected and a brake vehicle speed after a set brake time being not less than a first speed threshold.
In some embodiments, the first distance threshold and the second distance threshold are each in positive correlation with the current vehicle speed; and/or
The braking time and the current vehicle speed are in positive correlation.
In some embodiments, when the current vehicle speed is not greater than a set second speed threshold, the positive correlation between the first and second distance thresholds and the current vehicle speed is different from the positive correlation between the first and second distance thresholds and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.
In some embodiments, the second vehicle speed range includes a plurality of sub-ranges, each of the sub-ranges corresponding to a constant braking time; and is also provided with
The braking time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases.
In some embodiments, the method further comprises:
when the vehicle is in the pre-crash mode, the vehicle exits the pre-crash mode in response to acquiring the brake signal or a distance between the vehicle and the forward vehicle being greater than the second distance threshold.
In some embodiments, the crash protection operation includes emergency braking and sending alert information to the surrounding environment;
the vehicle exiting the pre-crash mode in response to acquiring the brake signal or a distance between the vehicle and the forward vehicle being greater than the second distance threshold, comprising:
stopping the operation of performing the emergency braking within a set delay period from a response time when the braking signal is detected or when a distance between the vehicle and the forward vehicle is detected to be greater than the second distance threshold;
and stopping the operation of sending warning information to the surrounding environment after the delay period so as to enable the vehicle to exit the pre-collision mode.
In some embodiments, the crash protection operation further comprises at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
In some embodiments, the output collision warning information includes at least one of:
displaying text information through a vehicle-mounted display screen; and
and outputting voice information through the vehicle-mounted sound equipment.
The embodiment of the application also provides a control device for vehicle collision, which is applied to a vehicle and comprises:
the determining module is used for determining that the vehicle is in a mode of approaching the front vehicle or a pre-collision mode based on the current speed of the vehicle and a brake signal;
the output module is used for responding to the fact that the vehicle is in the mode of approaching the vehicle with the front vehicle and outputting collision early warning information;
a protection module for performing a collision protection operation in response to the vehicle being in the pre-collision mode,
wherein, when the vehicle has a range radar:
responsive to the current vehicle speed being within a set first vehicle speed range and a distance between the vehicle and a forward vehicle being no greater than a first distance threshold, the vehicle entering the over-near mode with the forward vehicle;
when the vehicle is in the approaching with front vehicle mode, responding to the distance between the vehicle and the front vehicle not being larger than a second distance threshold value and not detecting the brake signal, the vehicle enters the pre-collision mode, and the first distance threshold value is larger than the second distance threshold value;
when the vehicle does not have the range radar:
the vehicle enters the pre-crash mode in response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected and a brake vehicle speed after a set brake time being not less than a first speed threshold.
The embodiment of the application also provides a vehicle which executes the vehicle collision control method.
The beneficial effects of the technical scheme provided by the embodiment of the application at least comprise:
according to the vehicle collision control method, the control device and the vehicle, whether the vehicle is in the approaching mode or the pre-collision mode with the front vehicle or not is determined based on the current speed and the brake signal, the influence of human factors is reduced, the accuracy of collision condition judgment is improved, and the safety of vehicle running is improved; when the vehicle is in a mode of approaching the front vehicle, collision early warning information is output so as to draw attention of a driver, and the driver can control the speed of the vehicle in time; when the vehicle is in the pre-collision mode, the vehicle performs a collision protection operation, so that the risk and severity of collision are reduced through vehicle early warning and emergency intervention operation of the vehicle, and the running safety of the vehicle is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a control method for vehicle collision according to an embodiment of the present application;
FIG. 2 is a schematic illustration of another vehicle crash control method according to an embodiment of the present disclosure;
FIG. 3 is a further method for controlling a vehicle collision according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle collision control device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Fig. 1 is a schematic diagram of a vehicle collision control method according to an embodiment of the present application, where, as shown in fig. 1, the vehicle collision control method is applied to a vehicle, and includes the following steps:
And 102, outputting collision early warning information in response to the vehicle being in the approaching mode with the front vehicle.
Wherein, when the vehicle has a range radar: responding to the current vehicle speed in a set first vehicle speed range, wherein the distance between the vehicle and the forward vehicle is not greater than a first distance threshold value, and the vehicle enters an approaching mode with the front vehicle; when the vehicle is in the over-near mode with the front vehicle, the vehicle enters a pre-crash mode in response to the distance between the vehicle and the front vehicle being not greater than a second distance threshold and the brake signal not being detected, the first distance threshold being greater than the second distance threshold.
When the vehicle does not have a range radar: in response to the current vehicle speed being within the set second vehicle speed range, a braking signal is detected and the braking vehicle speed after the set braking time is not less than the first speed threshold, the vehicle enters a pre-crash mode.
In this embodiment of the present application, the first vehicle speed range and the second vehicle speed range may be set automatically by a developer or a user of the vehicle, and the division between the two may be the same or different.
According to the vehicle collision control method, whether the vehicle is in the too-close mode or the pre-collision mode with the front vehicle or not is determined based on the current speed and the brake signal, the influence of human factors is reduced, the accuracy of collision condition judgment is improved, and the safety of vehicle running is improved; when the vehicle is in a mode of approaching the front vehicle, collision early warning information is output so as to draw attention of a driver, and the driver can control the speed of the vehicle in time; when the vehicle is in the pre-collision mode, a collision protection operation is performed, so that the risk and severity of collision are reduced through vehicle early warning and emergency intervention operation of the vehicle, and the running safety of the vehicle is further improved.
In addition, in the vehicle collision control method provided by the embodiment of the application, considering that the configuration conditions of the ranging radars of vehicles of different types may be different, for the vehicle without the ranging radars, determining whether the vehicle is in a pre-collision mode or not based on the current vehicle speed, the brake signal and the brake vehicle speed after the set brake time; and for the vehicle with the range radar, an early warning function is added, when the distance between the vehicle and the forward vehicle is not more than a first distance threshold value, the vehicle is determined to enter a mode too close to the forward vehicle, and under the condition that the vehicle is too close to the forward vehicle, the distance between the vehicle and the forward vehicle is continuously detected, and when the distance is not more than a second distance threshold value and a brake signal is not detected, the vehicle is determined to enter a pre-collision mode, so that the vehicle collision control method provided by the embodiment of the application can accurately judge the collision condition of the vehicle with the range radar or the vehicle without the range radar, and the universality of the method is improved.
In some embodiments, the first distance threshold and the second distance threshold are each in positive correlation with the current vehicle speed; and/or
The braking time is in positive correlation with the current vehicle speed.
In some embodiments, the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed is different from the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.
In some embodiments, the second vehicle speed range includes a plurality of sub-ranges, each sub-range corresponding to a constant braking time; and is also provided with
The braking time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases.
In some embodiments, the method further comprises:
when the vehicle is in the pre-crash mode, the vehicle exits the pre-crash mode in response to acquiring a brake signal or a distance between the vehicle and the forward vehicle being greater than a second distance threshold.
In some embodiments, the crash protection operation includes emergency braking and sending alert information to the surrounding environment;
responsive to acquiring the braking signal or the distance between the vehicle and the forward vehicle being greater than a second distance threshold, the vehicle exits the pre-crash mode comprising:
stopping the operation of executing the emergency braking within a set delay period from a response time when the braking signal is detected or when a distance between the vehicle and the forward vehicle is detected to be greater than a second distance threshold;
after a delay period, the operation of sending the warning information to the surrounding environment is stopped, so that the vehicle exits the pre-collision mode.
In some embodiments, the crash protection operation further comprises at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
In some embodiments, outputting collision warning information includes at least one of:
displaying text information through a vehicle-mounted display screen; and
and outputting voice information through the vehicle-mounted sound equipment.
For a vehicle with a range radar, another vehicle collision control method is also provided. As shown in fig. 2, the control method is applied to a vehicle, and specifically can be executed by a vehicle control unit (VCU, vehicle Control Unit) of the vehicle, and includes the following steps:
in step 201, the vehicle enters an over-approaching mode with respect to the preceding vehicle in response to the current vehicle speed being within the set first vehicle speed range and the distance between the vehicle and the forward vehicle being no greater than a first distance threshold.
The range radar may be used to detect the distance between vehicles, and thus for a vehicle equipped with the range radar, the distance between the vehicle and the forward vehicle may be detected. When the distance between the vehicle and the forward vehicle is not greater than the first distance threshold, the distance between the vehicle and the forward vehicle is too close, and a certain collision risk exists. Thus, for a vehicle equipped with a range radar, an early warning function for too close to a preceding vehicle can be added, reducing the risk of collision.
When the vehicle is too close to the forward vehicle, if the current speed of the vehicle is low or the vehicle is already in an idle sliding state, the risk of collision of the vehicle can be considered to be low, and thus the user is not warned. If a throttle signal is detected, it is stated that the user does not notice that the vehicle is too close to the forward vehicle and that there is an intention to continue acceleration, in which case the risk of collision is high, and a prompt warning of the user is required. Therefore, in some embodiments, the vehicle may enter the approaching mode with respect to the preceding vehicle only in response to the current vehicle speed being within the set first vehicle speed range, and the distance between the vehicle and the forward vehicle being not greater than the first distance threshold and the accelerator signal being detected, so as to improve the accuracy of determining the collision situation of the vehicle.
The first vehicle speed range may be set autonomously by a developer or user of the vehicle. In some embodiments, the first vehicle speed range may be greater than 10kph.
In some embodiments, the vehicle does not enter the over-approach mode with the lead vehicle in response to the current vehicle speed not being within the set first vehicle speed range.
The current vehicle speed is not in the first vehicle speed range, which indicates that the current vehicle speed is smaller, and the vehicle may be in a parking or following state, so that the attention of the driver is concentrated, and the driver does not need to enter an approaching mode with the front vehicle, so that the normal running of the driver is not disturbed.
In some embodiments, the collision warning information may include in-vehicle warning information, and may also include out-of-vehicle warning information. The in-vehicle warning information may include text information, voice information, or the like for warning a user driving the vehicle. The off-vehicle warning signal may include a siren, a flashing light, etc. for warning pedestrians or other vehicles around the vehicle.
In some embodiments, outputting collision warning information may include at least one of: displaying text information through a vehicle-mounted display screen; and outputting the voice information through the vehicle-mounted sound equipment. Therefore, when the vehicle is in the mode of approaching the front vehicle, the VCU can control the vehicle-mounted display screen and the vehicle-mounted sound equipment to output collision early warning information so as to draw attention of a driver, so that the driver can timely control the vehicle speed to adjust the workshop distance, and the collision risk is reduced.
In some embodiments, the text information may be displayed in a pop-up window through an on-board display.
In step 203, when the vehicle is in the approaching vehicle mode, the vehicle enters a pre-crash mode in response to the distance between the vehicle and the forward vehicle being not greater than a second distance threshold and the brake signal not being detected.
Wherein the first distance threshold is greater than the second distance threshold.
When the vehicle is in the over-approaching mode with the front vehicle, the distance between the vehicle and the front vehicle is smaller than the second distance threshold value, and the brake signal is not detected, so that the user does not notice that the distance between the vehicle and the front vehicle is relatively close under the prompt of collision early warning information, the vehicle continues to move forward, the distance between the vehicles is further reduced, the user still does not execute the brake operation, at the moment, the user may be in a fatigue driving state or a coma state, and the risk of collision between the vehicles is relatively high. In this case, the vehicle may enter a pre-crash mode, and in the pre-crash mode, the vehicle itself may perform some emergency intervention operation to reduce the risk and severity of the collision.
In some embodiments, the first distance threshold and the second distance threshold may each have a positive correlation with the current vehicle speed.
The first distance threshold value and the current vehicle speed are in positive correlation, namely the larger the current vehicle speed is, the larger the value of the first distance threshold value is; the second distance threshold value and the current vehicle speed are in positive correlation, namely, the larger the current vehicle speed is, the larger the value of the second distance threshold value is.
In some embodiments, the positive correlation between the first distance threshold and the current vehicle speed is variable and the positive correlation between the second distance threshold and the current vehicle speed is variable when the current vehicle speed is in different vehicle speed ranges. In other words, when the current vehicle speed is not greater than the set speed threshold, the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed is different from the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the speed threshold.
In some embodiments, the speed threshold that determines the positive correlation may be 40kph. When the current speed of the vehicle is greater than the speed threshold, the current speed is higher, and once the collision risk is greater, the values of the first distance threshold and the second distance threshold are required to be greater, so that the risk of collision is avoided as much as possible, and the severity is reduced. And when the current vehicle speed is not greater than the speed threshold, the current vehicle speed is lower, and the values of the first distance threshold and the second distance threshold can be relatively smaller.
In some embodiments, the first distance threshold and the second distance threshold may each be proportional to the current vehicle speed. When the current vehicle speed is not greater than 40kph, the direct proportional relation between the first distance threshold and the current vehicle speed can be that the first distance threshold is 1/3 of the value of the current vehicle speed; the direct proportional relation between the second distance threshold and the current vehicle speed can be that the second distance threshold is 1/6 of the value of the current vehicle speed. Assuming that the current vehicle speed is V, the value of the obtained first distance threshold is V/3, and the value of the second distance threshold is V/6. When the current vehicle speed is greater than 40kph, the direct proportional relation between the first distance threshold and the current vehicle speed can be that the first distance threshold is 1/2 of the current vehicle speed or the same as the current vehicle speed in value; the direct proportional relation between the second distance threshold and the current vehicle speed can be that the second distance threshold is 1/4 or 1/2 of the value of the current vehicle speed. And assuming that the current vehicle speed is V, the value of the obtained first distance threshold is V/2 or V, and the value of the second distance threshold is V/4 or V/2.
In some embodiments, multiple speed thresholds may be set to divide the speed range used by the vehicle into multiple sub-ranges. The positive correlation between the first distance threshold value and the second distance threshold value corresponding to one of the sub-ranges and the current vehicle speed is different from the positive correlation between the first distance threshold value and the second distance threshold value corresponding to the other sub-ranges and the current vehicle speed.
As shown in table 1, when the current vehicle speed V is 10kph or less (i.e., the current vehicle speed is not within the set first vehicle speed range), the current vehicle speed is small, and the approaching with front vehicle mode and the pre-crash mode are not entered. When the current vehicle speed is greater than 10kph (i.e., the current vehicle speed is within the set first vehicle speed range), the first vehicle speed range may be specifically divided as follows: (1) when the current vehicle speed is 10 < V.ltoreq.40: if the distance L between the vehicle and the forward vehicle is less than or equal to V/3 and an accelerator signal is detected, the vehicle enters an approaching mode with the front vehicle; if the distance L between the vehicle and the forward vehicle is less than or equal to V/6 and no brake signal is detected, the vehicle enters a pre-collision mode. (2) when the current vehicle speed is 40 < V.ltoreq.80: if the distance L between the vehicle and the forward vehicle is less than or equal to V/2 and an accelerator signal is detected, the vehicle enters an approaching mode with the front vehicle; if the distance L between the vehicle and the forward vehicle is less than or equal to V/4 and no brake signal is detected, the vehicle enters a pre-collision mode. (3) when the current vehicle speed is 80 < V.ltoreq.120: if the distance L between the vehicle and the forward vehicle is less than or equal to V and an accelerator signal is detected, the vehicle enters an approaching mode with the front vehicle; if the distance L between the vehicle and the forward vehicle is less than or equal to V/2 and no brake signal is detected, the vehicle enters a pre-collision mode. (4) at a current vehicle speed V > 120: if the distance L between the vehicle and the forward vehicle is less than or equal to V and an accelerator signal is detected, the vehicle enters an approaching mode with the front vehicle; if the distance L between the vehicle and the forward vehicle is less than or equal to V/2 and no brake signal is detected, the vehicle enters a pre-collision mode.
TABLE 1 judgment conditions for entering front-vehicle approaching mode and Pre-crash mode
In step 204, a collision protection operation is performed in response to the vehicle being in a pre-crash mode.
When the vehicle is in the pre-crash mode, the vehicle itself performs a crash protection operation to reduce the risk and severity of the crash.
In some embodiments, the crash protection operation may include emergency braking and sending alert information to the surrounding environment.
In some embodiments, the VCU controls an electronic stability system (ESC, electronic Stability Controller) to emergency brake the vehicle.
In some embodiments, the VCU first acquires a braking state of the vehicle, and when the vehicle is in an unbraked state, the VCU controls the ESC to emergently brake the vehicle; when the vehicle is in a braking state, the VCU controls the ESC to continue braking the vehicle.
In some embodiments, the VCU sends an early warning signal to a battery management system (BMS, battery Management System) that causes the BMS to control the lights to flash quickly to send warning information to the surrounding environment.
When the vehicle is in a pre-collision mode, the vehicle is braked emergently to reduce the speed of the vehicle during collision, and warning information is sent to the surrounding environment, so that people outside the vehicle can avoid the vehicle, and the safety of the vehicle is protected.
In some embodiments, the crash protection operation may further include at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
It should be noted that, since the driver may not be aware of the impending collision with the front vehicle, the driver may still be in a state of stepping on the accelerator, and the vehicle may be blocked from further accelerating without responding to the accelerator request, so as to avoid the collision between the vehicle and the front vehicle or reduce the severity of the collision. The door unblock is convenient for in-vehicle personnel in the car in time open the door and leave the vehicle after producing the collision, avoids stopping and receives the secondary injury in the car, can also be in unconscious state under the in-vehicle personnel because of the collision, and the outside personnel of being convenient for open the vehicle fast to in-vehicle personnel in time rescue, improve rescue efficiency. The whole car glass is closed, so that personnel in the car can be prevented from being thrown out from the car window due to collision, and secondary injury to the personnel in the car is prevented. The pre-tightening of the safety belt can strengthen the restraint force to the passengers during the emergency braking of the vehicle or before the collision, and lock the safety belt to prevent the passengers from leaning forward, thereby effectively protecting the safety of the passengers during the emergency braking of the vehicle or the collision. The air conditioner compressor and the heater are turned off, unnecessary high-voltage devices can be disconnected, and the electric power of the vehicle is reduced, so that the spontaneous combustion risk after collision is reduced. The active air inlet grille is fully opened, so that the heat dissipation capacity of the front cabin can be increased, and overheating and even spontaneous combustion after collision are prevented.
In some embodiments, the vehicle may exit the pre-crash mode in response to acquiring a braking signal or the distance between the vehicle and the forward vehicle being greater than a second distance threshold.
When the vehicle is in the pre-collision mode, the vehicle can exit the pre-collision mode to keep the vehicle running normally due to the fact that a user performs a braking operation in time or due to the fact that the vehicle itself performs a collision protection operation or the forward vehicle takes acceleration or steering measures and other factors, so that the distance between the vehicle and the forward vehicle is larger than a second threshold value.
In some embodiments, in response to acquiring the brake signal or the distance between the vehicle and the forward vehicle being greater than a second distance threshold, the vehicle exits the pre-crash mode, the particular implementation may include:
stopping the operation of executing the emergency braking within a set delay period from a response time when the braking signal is detected or when a distance between the vehicle and the forward vehicle is detected to be greater than a second distance threshold; after a delay period, the operation of sending the warning information to the surrounding environment is stopped, so that the vehicle exits the pre-collision mode.
It should be noted that, when the vehicle detects a braking signal or detects that the distance between the vehicle and the forward vehicle is greater than the second distance threshold, the risk of collision of the vehicle is reduced, and at this time, the vehicle can stop the operation of executing the emergency braking, and return the control right of the vehicle to the user or keep the vehicle running stably; at the same time, the vehicle may continue to perform an operation of sending warning information to the surrounding environment, so that the vehicle only partially exits the pre-crash mode to cope with a situation where the vehicle may approach the vehicle again, resulting in the need for emergency braking. After the delay period, if the vehicle still satisfies that the distance between the vehicle and the forward vehicle is greater than the second distance threshold or the brake signal is continuously detected, it may be considered that the user can normally drive the vehicle or the risk of the vehicle colliding has been reduced, and the operation of sending the warning information to the surrounding environment may be stopped, so that the vehicle completely exits the pre-collision mode. In the embodiment of the application, the safety of vehicle running is improved by setting the delay period to gradually exit the pre-collision mode.
In some embodiments, the set delay period may be 1s.
In summary, for a vehicle with a range radar, according to another vehicle collision control method provided in the embodiments of the present application, it may be determined whether the vehicle is too close to the front vehicle or may collide with the front vehicle through the current speed of the vehicle and the brake signal of the vehicle; when the vehicle approaches to the front vehicle or collides with the front vehicle, collision early warning information is output or collision protection operation is executed, so that the risk and severity of collision are reduced, and the safety of the vehicle is improved.
The embodiment of the application also provides a control method for the collision of the vehicle aiming at the situation that the vehicle does not have a range radar. As shown in fig. 3, the control method is applied to a vehicle, and specifically can be executed by a VCU of the vehicle, and includes the steps of:
in step 301, in response to the current vehicle speed being within the set second vehicle speed range, a braking signal is detected and the braking vehicle speed after the set braking time is not less than the first speed threshold, the vehicle enters a pre-crash mode.
For a vehicle without a range radar, the vehicle cannot detect the distance between the vehicle and the forward vehicle, so that the collision risk cannot be judged according to the inter-vehicle distance, and in this case, the collision risk can be judged according to the braking requirement of a user and the vehicle speed before and after the vehicle is braked.
The current vehicle speed is in the set second vehicle speed range, and detection of the brake signal indicates that the current vehicle speed may be large and that a user has a brake demand, which may be an autonomous determination by the user that there may be a risk of collision, and thus an emergency brake is performed. In this case, the braking vehicle speed after braking may be acquired to confirm the braking effect. If the braking signal is detected and the braking speed after the set braking time is still not smaller than the first speed threshold value, the braking effect of the current braking operation is not good, and the risk of collision is high. In this case, the vehicle may enter a pre-crash mode, and in the pre-crash mode, the vehicle itself may perform some emergency intervention operation to reduce the risk and severity of the collision.
In some embodiments, detecting the brake signal may include: it is detected that the degree of depression (or pedal travel) of the brake pedal reaches a set threshold. The threshold value may be, for example, 100%, 90%, 80% or the like of the entire pedal stroke. When the degree of depression (or pedal travel) of the brake pedal reaches a set threshold, the current user may be considered to be braking at full force. Judging whether the vehicle enters a pre-collision mode or not under the condition of full-force braking of a user can improve the accuracy of judging the collision condition.
The second vehicle speed range may be set autonomously by a developer or user of the vehicle. In some embodiments, the second vehicle speed range may be greater than 10kph. The second vehicle speed range may or may not be the same as the first vehicle speed range of the above embodiment.
In some implementations, the first speed threshold may be 10kph.
In some embodiments, the vehicle does not enter the pre-crash mode in response to the current vehicle speed not being within the set second vehicle speed range or the degree of depression of the brake pedal (or pedal travel) not reaching the set threshold.
The current vehicle speed is not in the set second vehicle speed range or the pedal speed (or pedal stroke) of the brake pedal does not reach the set threshold, which indicates that the current vehicle speed is smaller or the user only lightly steps on the brake, so that the risk of collision is smaller, and the driver does not need to enter a pre-collision mode so as not to interfere with normal running of the driver.
In some embodiments, the braking time may be positively correlated with the current vehicle speed. I.e. the greater the current vehicle speed, the longer the braking time.
In some embodiments, the positive correlation of braking time and prior to the current vehicle speed is variable when the current vehicle speed is in a different vehicle speed range.
In some embodiments, the second vehicle speed range may include a plurality of sub-ranges, each sub-range corresponding to a constant braking time; and the braking time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases. The arrangement of the sub-ranges from small to large is understood as that the minimum vehicle speed corresponding to the sub-range positioned at the rear of the vehicle is larger than the maximum vehicle speed corresponding to the sub-range positioned at the front of the vehicle.
The faster the current vehicle speed, the greater the braking difficulty, requiring more time to reduce the vehicle speed to a safe level. Therefore, the longer the braking time corresponding to the sub-range corresponding to the higher vehicle speed. If the vehicle speed after a long full-force braking is still not less than the first speed threshold, this indicates a greater risk of collision. The accuracy of judging the collision condition is improved by setting the braking time.
In some implementationsIn an embodiment, as shown in Table 2, when the current vehicle speed V is 10kph (i.e., the current vehicle speed is not within the set second vehicle speed range), the current vehicle speed is small and the pre-crash mode is not entered. When the current vehicle speed is greater than 10kph (i.e., the current vehicle speed is within the set second vehicle speed range), the following specific division may be performed for a plurality of sub-ranges included in the second vehicle speed range: (1) when the current vehicle speed is 10 < V.ltoreq.40: brake signal is detected and braking vehicle speed V after a set braking time of 1s Braking system Not less than the first speed threshold value of 10kph, the vehicle is at risk of collision with the forward vehicle, and the vehicle enters a pre-collision mode. (2) when the current vehicle speed is 40 < V.ltoreq.80: brake signal is detected and braking vehicle speed V after a set braking time of 1.5s Braking system Not less than the first speed threshold value of 10kph, the vehicle is at risk of collision with the forward vehicle, and the vehicle enters a pre-collision mode. (3) when the current vehicle speed is 80 < V.ltoreq.120: brake signal is detected and braking vehicle speed V after set braking time 2s Braking system Not less than the first speed threshold value of 10kph, the vehicle is at risk of collision with the forward vehicle, and the vehicle enters a pre-collision mode. (4) at a current vehicle speed V > 120: brake signal is detected and braking vehicle speed V after set braking time 2s Braking system Not less than the first speed threshold value of 10kph, the vehicle is at risk of collision with the forward vehicle, and the vehicle enters a pre-collision mode.
TABLE 2 judgment conditions for entering Pre-crash mode
In step 302, a collision protection operation is performed in response to the vehicle being in a pre-crash mode.
This step may be performed similarly to step 204 described above. In some embodiments, the crash protection operation may include emergency braking and sending alert information to the surrounding environment. Wherein the current vehicle may be in a braked state as a result of a brake signal having been detected for a period of time. When the vehicle is in a braking state, the VCU controls the ESC to continue braking the vehicle.
In some embodiments, the crash protection operation may further include at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
In some embodiments, the vehicle may exit the pre-crash mode in response to the braking vehicle speed being less than a first speed threshold or to ceasing to acquire the braking signal while the vehicle is in the pre-crash mode.
When the vehicle is in the pre-crash mode, if the braking vehicle speed falls below a first speed threshold or the user stops the braking operation, the vehicle speed may be considered to have been effectively controlled or the user may consider that there is no risk of a crash. In this case, the vehicle may exit the pre-crash mode to keep the vehicle running normally.
In some embodiments, in response to the braking vehicle speed being less than a first speed threshold or the braking signal being stopped, the vehicle exits the pre-crash mode, the specific implementation may include:
stopping the operation of executing the emergency braking within a set delay period from a response time, wherein the response time is a time when the detected braking vehicle speed is smaller than a first speed threshold value or a time when the acquisition of a braking signal is stopped; after a delay period, the operation of sending the warning information to the surrounding environment is stopped, so that the vehicle exits the pre-collision mode.
In some embodiments, the set delay period may be 1s.
In summary, for a vehicle without a range radar, according to the method for controlling collision of a vehicle provided by the embodiment of the present application, whether the vehicle collides with a preceding vehicle may be determined through a current speed of the vehicle and a brake signal; when the vehicle collides with the front vehicle, a collision protection operation is performed, so that the risk and severity of collision are reduced, and the safety of the vehicle is improved.
As shown in fig. 4, an embodiment of the present application further provides a control device for vehicle collision, where the device is applied to a vehicle, and includes:
a determining module 401 for determining that the vehicle is in an approaching mode or a pre-crash mode with a preceding vehicle based on a current vehicle speed of the vehicle and a brake signal;
an output module 402 for outputting collision warning information in response to the vehicle being in an approaching mode with a preceding vehicle;
a protection module 403 for, in response to the vehicle being in a pre-crash mode, performing a crash protection operation,
wherein, when the vehicle has a range radar:
responding to the fact that the current vehicle speed is in a set first vehicle speed range, the distance between the vehicle and the forward vehicle is not greater than a first distance threshold value, and detecting an accelerator signal, and the vehicle enters a mode of approaching the vehicle with the front vehicle;
when the vehicle is in the approaching mode with the front vehicle, responding to the situation that the distance between the vehicle and the front vehicle is not larger than a second distance threshold value and no brake signal is detected, and entering a pre-collision mode by the vehicle, wherein the first distance threshold value is larger than the second distance threshold value;
when the vehicle does not have a range radar:
in response to the current vehicle speed being within the set second vehicle speed range, a braking signal is detected and the braking vehicle speed after the set braking time is not less than the first speed threshold, the vehicle enters a pre-crash mode.
In some embodiments, the first distance threshold and the second distance threshold are each in positive correlation with the current vehicle speed; and/or
The braking time is in positive correlation with the current vehicle speed.
In some embodiments, the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed is different from the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.
In some embodiments, the second vehicle speed range includes a plurality of sub-ranges, each sub-range corresponding to a constant braking time; and the braking time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases.
In some embodiments, the apparatus further comprises:
and the exit module is used for responding to the acquisition of a brake signal or the fact that the distance between the vehicle and the forward vehicle is greater than a second distance threshold value when the vehicle is in the pre-collision mode, and the vehicle exits from the pre-collision mode.
In some embodiments, the crash protection operation includes emergency braking and sending alert information to the surrounding environment;
an exit module comprising:
a stopping unit for stopping an operation of performing emergency braking for a set delay period from a response time when a braking signal is detected or when a distance between the vehicle and a forward vehicle is detected to be greater than a second distance threshold;
and the exit unit is used for stopping the operation of sending the warning information to the surrounding environment after the delay period so as to enable the vehicle to exit the pre-collision mode.
In some embodiments, the crash protection operation further comprises at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
In some embodiments, outputting collision warning information includes at least one of:
displaying text information through a vehicle-mounted display screen; and
and outputting voice information through the vehicle-mounted sound equipment.
In summary, the vehicle collision control device provided in the embodiment of the present application may reduce the influence of human factors and improve the safety of vehicle driving.
The embodiment of the application also provides a vehicle, and the vehicle executes the vehicle collision control method provided by the embodiment of the application, so that the influence of human factors can be reduced, and the running safety of the vehicle is improved.
In this application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" refers to two or more, unless explicitly defined otherwise.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the present application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of controlling a vehicle collision, characterized by being applied to a vehicle, the method comprising:
determining that the vehicle is in an approaching or pre-crash mode with a preceding vehicle based on a current vehicle speed and a brake signal of the vehicle;
responding to the vehicle in the mode of approaching the vehicle with the front vehicle, and outputting collision early warning information;
in response to the vehicle being in the pre-crash mode, a crash-protection operation is performed,
wherein, when the vehicle has a range radar:
responsive to the current vehicle speed being within a set first vehicle speed range and a distance between the vehicle and a forward vehicle being no greater than a first distance threshold, the vehicle entering the over-near mode with the forward vehicle;
when the vehicle is in the approaching with front vehicle mode, responding to the distance between the vehicle and the front vehicle not being larger than a second distance threshold value and not detecting the brake signal, the vehicle enters the pre-collision mode, and the first distance threshold value is larger than the second distance threshold value;
when the vehicle does not have the range radar:
the vehicle enters the pre-crash mode in response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected and a brake vehicle speed after a set brake time being not less than a first speed threshold.
2. The control method according to claim 1, characterized in that the first distance threshold and the second distance threshold each have a positive correlation with the current vehicle speed; and/or
The braking time and the current vehicle speed are in positive correlation.
3. The control method according to claim 2, characterized in that when the current vehicle speed is not greater than a set second speed threshold value, a positive correlation between each of the first distance threshold value and the second distance threshold value and the current vehicle speed is different from a positive correlation between each of the first distance threshold value and the second distance threshold value and the current vehicle speed when the current vehicle speed is greater than the second speed threshold value.
4. The control method according to claim 2, characterized in that the second vehicle speed range includes a plurality of sub-ranges, the braking time corresponding to each of the sub-ranges being constant; and is also provided with
The braking time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases.
5. The control method according to claim 1, characterized in that the method further comprises:
when the vehicle is in the pre-crash mode, the vehicle exits the pre-crash mode in response to acquiring the brake signal or a distance between the vehicle and the forward vehicle being greater than the second distance threshold.
6. The control method according to claim 5, characterized in that the collision protection operation includes emergency braking and sending warning information to the surrounding environment;
the vehicle exiting the pre-crash mode in response to acquiring the brake signal or a distance between the vehicle and the forward vehicle being greater than the second distance threshold, comprising:
stopping the operation of performing the emergency braking within a set delay period from a response time when the braking signal is detected or when a distance between the vehicle and the forward vehicle is detected to be greater than the second distance threshold;
and stopping the operation of sending warning information to the surrounding environment after the delay period so as to enable the vehicle to exit the pre-collision mode.
7. The control method according to claim 6, characterized in that the collision protection operation further includes at least one of:
the method is characterized by comprising the following steps of not responding to an accelerator request, unlocking a vehicle door, closing all-vehicle glass, pre-tightening a safety belt, closing an air conditioner compressor, closing a heater and fully opening an active air inlet grille.
8. The control method according to claim 1, wherein the output collision warning information includes at least one of:
displaying text information through a vehicle-mounted display screen; and
and outputting voice information through the vehicle-mounted sound equipment.
9. A control device for a vehicle collision, the device being applied to a vehicle, the device comprising:
the determining module is used for determining that the vehicle is in a mode of approaching the front vehicle or a pre-collision mode based on the current speed of the vehicle and a brake signal;
the output module is used for responding to the fact that the vehicle is in the mode of approaching the vehicle with the front vehicle and outputting collision early warning information;
a protection module for performing a collision protection operation in response to the vehicle being in the pre-collision mode,
wherein, when the vehicle has a range radar:
responsive to the current vehicle speed being within a set first vehicle speed range and a distance between the vehicle and a forward vehicle being no greater than a first distance threshold, the vehicle entering the over-near mode with the forward vehicle;
when the vehicle is in the approaching with front vehicle mode, responding to the distance between the vehicle and the front vehicle not being larger than a second distance threshold value and not detecting the brake signal, the vehicle enters the pre-collision mode, and the first distance threshold value is larger than the second distance threshold value;
when the vehicle does not have the range radar:
the vehicle enters the pre-crash mode in response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected and a brake vehicle speed after a set brake time being not less than a first speed threshold.
10. A vehicle, characterized in that the vehicle performs the control method of a vehicle collision according to any one of claims 1-8.
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| CN202310130310.4A CN116394929A (en) | 2023-02-07 | 2023-02-07 | Control method and control device for vehicle collision and vehicle |
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