CN116513098A - Method, system, equipment and storage medium for passive safety control of vehicle - Google Patents
Method, system, equipment and storage medium for passive safety control of vehicle Download PDFInfo
- Publication number
- CN116513098A CN116513098A CN202310409031.1A CN202310409031A CN116513098A CN 116513098 A CN116513098 A CN 116513098A CN 202310409031 A CN202310409031 A CN 202310409031A CN 116513098 A CN116513098 A CN 116513098A
- Authority
- CN
- China
- Prior art keywords
- collision
- vehicle
- passive safety
- preset
- information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000001133 acceleration Effects 0.000 claims abstract description 118
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000001276 controlling effect Effects 0.000 description 21
- 230000000875 corresponding effect Effects 0.000 description 9
- 230000004888 barrier function Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- 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
-
- 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
- B60R2021/003—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks characterised by occupant or pedestian
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01211—Expansion of air bags
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
-
- 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
- B60R2021/01286—Electronic control units
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Air Bags (AREA)
Abstract
The invention discloses a passive safety control method, a system, equipment and a storage medium for a vehicle, wherein the method comprises the following steps: when collision state information sent by an auxiliary driving system of the vehicle is received, acquiring reverse acceleration and collision speed of the vehicle according to the collision state information; determining vehicle collision energy information based on a current environmental global map of the vehicle; and carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information. Compared with the prior art that the vehicle speed does not reach the range, the impact point is incorrect, the safety airbag cannot be ejected correctly even if the collision energy is large, and passengers in the vehicle cannot be effectively protected.
Description
Technical Field
The present invention relates to the field of vehicle security technologies, and in particular, to a method, a system, an apparatus, and a storage medium for passive vehicle security control.
Background
With the rapid development of the automobile industry, the rapid increase of personal automobile possession and the improvement of living standard, the passive safety of vehicles is increasingly important. In the prior art, if the vehicle speed does not reach the range, the impact point is incorrect, and even if the collision energy is large, the safety airbag cannot be ejected correctly, so that passengers in the vehicle cannot be effectively protected; if the self-vehicle collides with the small stone or the small animal, the collision point is just near the airbag collision sensor, so that the airbag ejection or the ejection condition of the vehicle-mounted pedestrian protection device is met, but the collision brings larger maintenance cost to the client due to weaker collision energy. Therefore, how to improve the accuracy of the passive safety system and the safety of the whole vehicle is a problem to be solved.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a passive safety control method, a system, equipment and a storage medium for a vehicle, which aim to solve the technical problem of improving the safety of the whole vehicle while improving the accuracy of a passive safety system.
In order to achieve the above object, the present invention provides a passive safety control method for a vehicle, the passive safety control method for a vehicle comprising:
when collision state information sent by an auxiliary driving system of a vehicle is received, acquiring reverse acceleration and collision speed of the vehicle according to the collision state information;
determining vehicle collision energy information based on a global map of the current environment of the vehicle;
and carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information.
Optionally, the step of determining the vehicle collision energy information based on the global map of the current environment of the vehicle includes:
acquiring current environmental obstacle information through a vehicle sensor;
constructing a current environment global map of the vehicle according to the current environment obstacle information and the vehicle position information;
constructing a vehicle collision coordinate system according to the target collision azimuth information based on the current environment global map;
determining transverse and longitudinal collision displacement according to the vehicle collision coordinate system;
obtaining a collision angle according to the transverse and longitudinal collision displacement;
and determining vehicle collision energy information through a collision energy meter according to the collision displacement and the collision angle.
Optionally, before the step of constructing the vehicle collision coordinate system according to the target collision azimuth information based on the current environment global map, the method further includes:
acquiring vehicle passive safety configuration information and vehicle type information of the vehicle;
dividing the surrounding area of the vehicle according to the passive safety configuration information of the vehicle and the vehicle type information to obtain a plurality of collision azimuth information;
target collision azimuth information is determined from the plurality of collision azimuth information.
Optionally, the step of performing passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information includes:
judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not;
when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the vehicle collision energy information meets a preset energy condition or not;
judging whether the collision target type is a pedestrian collision type or not when the vehicle collision energy information meets the preset energy condition;
if not, controlling the safety air bag controller or the passive safety controller of the vehicle to work the passive safety device, and controlling the pedestrian protection system to not work.
Optionally, after the step of determining whether the collision target type is a pedestrian collision type when the vehicle collision energy information meets the preset energy condition, the method further includes:
if yes, controlling the safety air bag controller or the passive safety controller of the vehicle to work the passive safety device, and controlling the pedestrian protection system to work.
Optionally, after the step of determining whether the reverse acceleration is greater than a preset reverse acceleration threshold and the collision velocity is greater than a preset collision threshold, the method includes:
determining a collision target type according to the collision state information when the reverse acceleration is greater than the preset reverse acceleration threshold and the collision speed is greater than the preset collision threshold;
judging whether the collision target type is a pedestrian collision type or not;
if so, the airbag controller or the passive safety controller is controlled to work, and the outside pedestrian protection system and the inside passenger protection device are controlled to work.
Optionally, after the step of determining whether the collision target type is a pedestrian collision type, the method further includes:
if not, the vehicle outside pedestrian protection system is controlled to not work, and the vehicle inside passenger protection device is controlled to work.
In addition, in order to achieve the above object, the present invention also proposes a passive safety control system for a vehicle, the passive safety control system for a vehicle comprising:
the acquisition module is used for acquiring the reverse acceleration and the collision speed of the vehicle according to the collision state information when the collision state information sent by the auxiliary driving system of the vehicle is received;
a determining module for determining vehicle collision energy information based on a global map of a current environment of the vehicle;
and the control module is used for carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information.
In addition, in order to achieve the above object, the present invention also proposes a passive safety control device for a vehicle, the device comprising: the system comprises a memory, a processor and a vehicle passive safety control program stored on the memory and capable of running on the processor, wherein the vehicle passive safety control program is configured to realize the steps of the vehicle passive safety control method.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle passive safety control program which, when executed by a processor, implements the steps of the vehicle passive safety control method as described above.
When collision state information sent by an auxiliary driving system of a vehicle is received, reverse acceleration and collision speed of the vehicle are firstly obtained according to the collision state information, then collision energy information of the vehicle is determined based on a global map of the current environment of the vehicle, and then passive safety control of the vehicle is carried out according to the reverse acceleration, the collision speed and the collision energy information of the vehicle. Compared with the prior art that the vehicle speed does not reach the range, the impact point is incorrect, the safety airbag cannot be ejected correctly even if the collision energy is large, and passengers in the vehicle cannot be effectively protected.
Drawings
FIG. 1 is a schematic diagram of a passive safety control device for a vehicle in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a passive safety control method of the vehicle according to the present invention;
FIG. 3 is a schematic view of a vehicle surrounding area division of a first embodiment of a passive safety control method of the vehicle according to the present invention;
FIG. 4 is a vehicle collision graph of a first embodiment of a vehicle passive safety control method of the present invention;
FIG. 5 is a flow chart of a second embodiment of a passive safety control method of the vehicle according to the present invention;
fig. 6 is a block diagram of a first embodiment of a passive safety control system for a vehicle according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a passive safety control device for a vehicle in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the passive safety control device for a vehicle may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi (wireless-Fidelity) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage system separate from the processor 1001 described above.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the passive safety control device of the vehicle, and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a vehicle passive security control program may be included in the memory 1005 as one type of storage medium.
In the passive safety control device of the vehicle shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle passive safety control device of the present invention may be disposed in the vehicle passive safety control device, and the vehicle passive safety control device invokes the vehicle passive safety control program stored in the memory 1005 through the processor 1001 and executes the vehicle passive safety control method provided by the embodiment of the present invention.
The embodiment of the invention provides a passive safety control method for a vehicle, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the passive safety control method for the vehicle.
In this embodiment, the passive safety control method for a vehicle includes the following steps:
step S10: and when receiving collision state information sent by an auxiliary driving system of the vehicle, acquiring the reverse acceleration and the collision speed of the vehicle according to the collision state information.
It is to be understood that the execution body of the present embodiment may be a passive safety control device of a vehicle having functions of data processing, network communication, program running, etc., or may be other computer devices having similar functions, etc., and the present embodiment is not limited thereto.
It should be noted that, the auxiliary driving system may obtain information related to the state of the whole vehicle, including but not limited to a wheel speed, a vehicle speed, an acceleration, a steering wheel angle, and the like. And calculating the distance S of the obstacle according to the environment sensing capability of an ultrasonic radar, a laser radar, a millimeter wave radar, a camera and the like. The types of obstacles may also be classified according to the environmental awareness capabilities of ultrasonic radars, lidars, millimeter wave radars, cameras, etc.
In the present embodiment, real-time detection is performed based on ultrasonic radar, lidar, millimeter wave radar, camera, etcThe environmental perception capability of (2) is to calculate the distance S of the obstacle and set a preset distance threshold S 0 S is usually set 0 Is larger than 2m, when the distance S between the obstacle and the vehicle is less than or equal to S 0 When the S=0 is detected, the auxiliary driving system sends the calculated collision target type, collision occurrence information, collision azimuth information, intrusion distance information and the like to the air bag controller or the passive air bag controller.
The collision state information includes collision target type, collision occurrence information, collision azimuth information, intrusion distance information, wheel speed, vehicle speed, acceleration, steering wheel rotation angle, collision distance, and the like.
In a specific implementation, the passive safety configuration information and the type information of the vehicle can be obtained, and then the surrounding area of the vehicle is divided according to the passive safety configuration information and the type information of the vehicle to obtain a plurality of collision azimuth information.
It should be further understood that, referring to fig. 3, fig. 3 is a vehicle surrounding area dividing diagram of a first embodiment of the vehicle passive safety control method according to the present invention, in which the collision direction can be differentiated according to the vehicle passive safety configuration and the vehicle type, and taking a conventional five-seat car as an example, the vehicle surrounding S is taken as an example 0 The range is divided into different areas, and the collision azimuth information comprises a right front, a right side 1, a right side 2, a right side 3, a right side 4, a right rear, a left front, a left side 1, a left side 2, a left side 3, a left side 4 and a left rear.
Step S20: vehicle collision energy information is determined based on a global map of the current environment of the vehicle.
Further, the processing mode of determining the vehicle collision energy information based on the current environment global map of the vehicle is that the current environment barrier information is obtained through a vehicle sensor, the current environment global map of the vehicle is constructed according to the current environment barrier information and the vehicle position information, a vehicle collision coordinate system is constructed according to the target collision azimuth information based on the current environment global map, the transverse and longitudinal collision displacement is determined according to the vehicle collision coordinate system, the collision angle is obtained according to the transverse and longitudinal collision displacement, and the vehicle collision energy information is determined according to the collision displacement and the collision angle through a collision energy meter.
It should also be appreciated that the vehicle crash energy information includes strong vehicle crash energy and weak vehicle crash energy.
In this embodiment, the collision with low energy is usually insufficient to cause the position offset or abnormality of all sensors of the whole vehicle, the sensors outside the collision position are selected, the global map of the current environment of the vehicle is constructed by relying on the static targets in the view of the sensors, such as the street lamp poles, the trees, the road signs and the like, and then the collision distance is calculated by combining the ranging information of the sensors with the GPS and IMU information based on the global map of the current environment of the vehicle. Vehicle collision energy information is obtained by a lateral collision displacement S of a vehicle in a very short time after collision x Longitudinal collision displacement S y The collision angle theta is determined by first determining the collision part and then based on the lateral collision displacement S of the collision part in a very short time after the collision x Is greater than a preset threshold S in the collision energy meter x Longitudinal collision displacement S y Greater than a preset threshold S y When the collision angle theta is larger than the preset threshold value theta, the collision energy information of the vehicle is that the collision energy of the vehicle is strong; lateral collision displacement S of vehicle in very short time after collision x Less than or equal to a preset threshold S in the collision energy meter x Longitudinal collision displacement S y Less than or equal to a preset threshold S y When the collision angle theta is less than or equal to the preset threshold value theta, the collision energy of the vehicle is weak.
In a specific implementation, referring to fig. 4, fig. 4 is a vehicle collision coordinate diagram of a first embodiment of a vehicle passive safety control method according to the present invention, if a collision occurrence azimuth is front right, a collision occurrence time is T 0 A two-dimensional projection coordinate system is established by taking the center of a rear axle of a vehicle as a coordinate origin, a stationary obstacle behind the vehicle can be detected by rear sensors at the same time, and the distances between the rear sensors of the vehicle in the X direction are set to be W and T 0 The coordinates of the center of the sensor line at the rear of the moment are (x) 0 ，y 0 )，T 0 Straight line distance of obstacle from left sensor at momentIs S Left 0 The straight line distance from the right sensor is S Right 0 T after collision 1 Time, T 1 The coordinates of the center of the sensor line at the rear of the moment are (x) 1 ，y 1 ) The same obstacle is at T 1 The straight line distance from the left sensor is S Left 1 The straight line distance from the right sensor is S Right 1 The method comprises the steps of carrying out a first treatment on the surface of the Obstacle at T 0 The time coordinate is (x Barrier ，y Barrier )，T 1 And T 0 The moments are typically less than 50ms apart, T after a vehicle collision 0 To T 1 Distance S of movement in X direction at time x ＝|x 0 -x 1 I, post-vehicle collision T 0 To T 1 Y-direction movement distance S at time y ＝|y 0 -y 1 I, post-vehicle collision T 0 To T 1 The yaw angle at the moment is:
in the present embodiment, a collision energy threshold value of the auxiliary driving system is set, and the following table is referred to as a collision energy table:
step S30: and carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information.
Further, the processing mode of performing passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information is to judge whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, judge whether the vehicle collision energy information meets a preset energy condition when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judge whether the collision target type is a pedestrian collision type when the vehicle collision energy information meets the preset energy condition, and if not, control an airbag controller or a passive safety controller of the vehicle to perform the work of the passive safety device and control an outside pedestrian protection system not to perform the work; if yes, the safety air bag controller or the passive safety controller of the vehicle is controlled to work the passive safety device, and the pedestrian protection system outside the vehicle is controlled to work.
The preset energy condition is that the vehicle collision energy information is that the vehicle collision energy is strong.
In this embodiment, it is determined whether the reverse acceleration is greater than a preset reverse acceleration threshold, and the collision speed is greater than a preset collision threshold, and when the reverse acceleration is greater than the preset reverse acceleration threshold, and the collision speed is less than the preset collision threshold, the passive safety device does not operate when the vehicle collision energy information does not satisfy or satisfies the preset energy condition.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not, and when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, disabling the passive safety device when the vehicle collision energy information does not meet the preset energy condition.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, determining a collision target type according to collision state information when the collision energy information of the vehicle meets a preset energy condition when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the collision target type is a pedestrian collision type or not, if so, controlling the passive safety device to work by an air bag controller or a passive safety controller, controlling the passive safety device on the corresponding side to work by a vehicle-outside pedestrian protection system according to the collision direction; if not, the air bag controller or the passive safety controller controls the passive safety device to work, the outside pedestrian protection system does not work, and the passive safety device on the corresponding side is controlled to work according to the collision azimuth.
Further, judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, determining a collision target type according to collision state information when the reverse acceleration is larger than the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the collision target type is a pedestrian collision type, if yes, controlling an air bag controller or a passive safety controller to work, and controlling an outside pedestrian protection system and an inside passenger protection device to work, namely controlling the air bag controller or the passive safety controller to start corresponding pedestrian protection devices according to preset logic, wherein the outside pedestrian protection system works, the inside passenger protection device works and the like; if not, the vehicle exterior pedestrian protection system does not work, and the vehicle interior passenger protection device works.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not, and when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, disabling the passive safety device when the vehicle collision energy information does not meet the preset energy condition.
In this embodiment, when receiving collision status information sent by a driving support system of a vehicle, reverse acceleration and collision speed of the vehicle are first obtained according to the collision status information, then vehicle collision energy information is determined based on a global map of a current environment of the vehicle, and then passive safety control of the vehicle is performed according to the reverse acceleration, the collision speed and the vehicle collision energy information. Compared with the prior art that the vehicle speed does not reach the range, the impact point is incorrect, even if the collision energy is large, the safety airbag cannot be ejected correctly, and passengers in the vehicle cannot be effectively protected.
Referring to fig. 5, fig. 5 is a flowchart of a second embodiment of a passive safety control method for a vehicle according to the present invention.
Based on the first embodiment, in this embodiment, the step S30 includes:
step S301: and judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not, and judging whether the collision speed is larger than a preset collision threshold value or not.
The collision speed is the vehicle speed at the time of collision. The preset acceleration threshold and the preset collision threshold may be set by user definition, and the present embodiment does not add a limit value.
Further, judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, determining a collision target type according to collision state information when the reverse acceleration is larger than the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the collision target type is a pedestrian collision type, if yes, controlling an air bag controller or a passive safety controller to work, and controlling an outside pedestrian protection system and an inside passenger protection device to work, namely controlling the air bag controller or the passive safety controller to start corresponding pedestrian protection devices according to preset logic, wherein the outside pedestrian protection system works, the inside passenger protection device works and the like; if not, the vehicle exterior pedestrian protection system does not work, and the vehicle interior passenger protection device works.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not, and when the reverse acceleration is larger than the preset reverse acceleration threshold value and the collision speed is smaller than the preset collision threshold value, disabling the passive safety device when the vehicle collision energy information does not meet or meets the preset energy condition.
Step S302: and when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the vehicle collision energy information meets a preset energy condition.
It should also be appreciated that the vehicle crash energy information includes a weak vehicle crash energy and a strong vehicle crash energy, with the preset energy condition being that the vehicle crash energy information is a strong vehicle crash energy.
Step S303: and judging whether the collision target type is a pedestrian collision type or not when the vehicle collision energy information meets the preset energy condition.
In this embodiment, it is determined whether the reverse acceleration is greater than a preset reverse acceleration threshold, and the collision speed is greater than a preset collision threshold, and when the reverse acceleration is less than or equal to the preset reverse acceleration threshold, and the collision speed is greater than the preset collision threshold, the passive safety device does not operate when the vehicle collision energy information does not satisfy the preset energy condition.
Step S304: if not, controlling the safety air bag controller or the passive safety controller of the vehicle to work the passive safety device, and controlling the pedestrian protection system to not work.
In specific implementation, judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, determining a collision target type according to collision state information when the collision energy information of the vehicle meets preset energy conditions, judging whether the collision target type is a pedestrian collision type, if so, controlling the passive safety device to work by an air bag controller or a passive safety controller, controlling the passive safety device on the corresponding side to work by a vehicle-outside pedestrian protection system according to the collision direction; if not, the air bag controller or the passive safety controller controls the passive safety device to work, the outside pedestrian protection system does not work, and the passive safety device on the corresponding side is controlled to work according to the collision azimuth.
In this embodiment, it is first determined whether the reverse acceleration is greater than a preset reverse acceleration threshold, and the collision speed is greater than a preset collision threshold, and when the reverse acceleration is less than or equal to the preset reverse acceleration threshold, and the collision speed is greater than the preset collision threshold, then it is determined whether the vehicle collision energy information satisfies the preset energy condition, and when the vehicle collision energy information satisfies the preset energy condition, then it is determined whether the collision target type is a pedestrian collision type, and if not, then the airbag controller or the passive safety controller of the vehicle is controlled to perform the operation of the passive safety device, and the outside pedestrian protection system is controlled not to perform the operation. Compared with the prior art that a visual sensor is used for classifying collision targets, the collision targets are the highest priority conditions for the pedestrian protection system device to work, but if the visual targets are recognized incorrectly, the pedestrian protection system cannot work effectively when the pedestrian collision targets are recognized as non-pedestrians, and the redundant safety of the pedestrian protection system is insufficient; the pressure sensor is used for collecting the collision pressure value of the pedestrian, but the collision pressure value measured by the pressure sensor is highly correlated with the collision position, if the collision position is not near the sensor, the detected collision pressure is insufficient, and the pedestrian protection system can not work normally, namely the pedestrian cannot be effectively protected or collision injury can be relieved; in addition, in the prior art, the working of a passive safety system of an occupant in the vehicle during the collision of a non-pedestrian target is not involved, but in the embodiment, different thresholds such as collision speed, collision acceleration, collision distance and the like can be set according to different collision orientations, so that the working accuracy of the passive safety device is improved.
Referring to fig. 6, fig. 6 is a block diagram of a first embodiment of a passive safety control system for a vehicle according to the present invention.
As shown in fig. 6, a passive safety control system for a vehicle according to an embodiment of the present invention includes:
an acquisition module 6001 configured to, when receiving collision state information sent by an assisted driving system of a vehicle, acquire a reverse acceleration and a collision speed of the vehicle according to the collision state information.
It should be noted that, the auxiliary driving system may obtain information related to the state of the whole vehicle, including but not limited to a wheel speed, a vehicle speed, an acceleration, a steering wheel angle, and the like. And calculating the distance S of the obstacle according to the environment sensing capability of an ultrasonic radar, a laser radar, a millimeter wave radar, a camera and the like. The types of obstacles may also be classified according to the environmental awareness capabilities of ultrasonic radars, lidars, millimeter wave radars, cameras, etc.
In the present embodiment, the distance S is calculated for the obstacle in real time according to the environmental sensing capability of the ultrasonic radar, the laser radar, the millimeter wave radar, the camera, etc., and the preset distance threshold S is set 0 S is usually set 0 Is larger than 2m, when the distance S between the obstacle and the vehicle is less than or equal to S 0 When the S=0 is detected, the auxiliary driving system sends the calculated collision target type, collision occurrence information, collision azimuth information, intrusion distance information and the like to the air bag controller or the passive air bag controller.
The collision state information includes collision target type, collision occurrence information, collision azimuth information, intrusion distance information, wheel speed, vehicle speed, acceleration, steering wheel rotation angle, collision distance, and the like.
In a specific implementation, the passive safety configuration information and the type information of the vehicle can be obtained, and then the surrounding area of the vehicle is divided according to the passive safety configuration information and the type information of the vehicle to obtain a plurality of collision azimuth information.
It should be further understood that, referring to fig. 3, fig. 3 is a vehicle surrounding area dividing diagram of a first embodiment of the vehicle passive safety control method according to the present invention, in which the collision direction can be differentiated according to the vehicle passive safety configuration and the vehicle type, and taking a conventional five-seat car as an example, the vehicle surrounding S is taken as an example 0 The range is divided into different areas, and the collision azimuth information comprises a right front, a right side 1, a right side 2, a right side 3, a right side 4, a right rear, a left front, a left side 1, a left side 2, a left side 3, a left side 4 and a left rear.
A determination module 6002 for determining vehicle collision energy information based on a global map of the current environment of the vehicle.
Further, the processing mode of determining the vehicle collision energy information based on the current environment global map of the vehicle is that the current environment barrier information is obtained through a vehicle sensor, the current environment global map of the vehicle is constructed according to the current environment barrier information and the vehicle position information, a vehicle collision coordinate system is constructed according to the target collision azimuth information based on the current environment global map, the transverse and longitudinal collision displacement is determined according to the vehicle collision coordinate system, the collision angle is obtained according to the transverse and longitudinal collision displacement, and the vehicle collision energy information is determined according to the collision displacement and the collision angle through a collision energy meter.
It should also be appreciated that the vehicle crash energy information includes strong vehicle crash energy and weak vehicle crash energy.
In this embodiment, the collision with low energy is usually insufficient to cause the position offset or abnormality of all sensors of the whole vehicle, the sensors outside the collision position are selected, the global map of the current environment of the vehicle is constructed by relying on the static targets in the view of the sensors, such as the street lamp poles, the trees, the road signs and the like, and then the collision distance is calculated by combining the ranging information of the sensors with the GPS and IMU information based on the global map of the current environment of the vehicle. Vehicle collision energy information is obtained by a lateral collision displacement S of a vehicle in a very short time after collision x Longitudinal collision displacement S y The collision angle theta is determined by first determining the collision part and then based on the lateral collision displacement S of the collision part in a very short time after the collision x Is greater than a preset threshold S in the collision energy meter x Longitudinal collision displacement S y Greater than a preset threshold S y When the collision angle theta is larger than the preset threshold value theta, the collision energy information of the vehicle is that the collision energy of the vehicle is strong; lateral collision displacement S of vehicle in very short time after collision x Less than or equal to a preset threshold S in the collision energy meter x Longitudinal collision displacement S y Less than or equal to a preset threshold S y When the collision angle theta is less than or equal to the preset threshold value theta, the collision energy of the vehicle is weak.
In a specific implementation, referring to fig. 4, fig. 4 is a vehicle collision coordinate diagram of a first embodiment of a vehicle passive safety control method according to the present invention, if a collision occurrence azimuth is front right, a collision occurrence time is T 0 Two-dimensional projection is established by taking the center of a rear axle of a vehicle as a coordinate originIn the coordinate system, stationary obstacles behind the vehicle can be detected by the rear sensors at the same time, and the distance between the rear sensors in the X direction is set as W, T 0 The coordinates of the center of the sensor line at the rear of the moment are (x) 0 ，y 0 )，T 0 The straight line distance between the obstacle and the left sensor at the moment is S Left 0 The straight line distance from the right sensor is S Right 0 T after collision 1 Time, T 1 The coordinates of the center of the sensor line at the rear of the moment are (x) 1 ，y 1 ) The same obstacle is at T 1 The straight line distance from the left sensor is S Left 1 The straight line distance from the right sensor is S Right 1 The method comprises the steps of carrying out a first treatment on the surface of the Obstacle at T 0 The time coordinate is (x Barrier ，y Barrier )，T 1 And T 0 The moments are typically less than 50ms apart, T after a vehicle collision 0 To T 1 Distance S of movement in X direction at time x ＝|x 0 -x 1 I, post-vehicle collision T 0 To T 1 Y-direction movement distance S at time y ＝|y 0 -y 1 I, post-vehicle collision T 0 To T 1 The yaw angle at the moment is:
in the present embodiment, a collision energy threshold value of the auxiliary driving system is set, and the following table is referred to as a collision energy table:
| impact site | Threshold setting S x | Threshold setting S y | Threshold setting θ |
| Straight ahead | 10cm | 10cm | 2° |
| Front right | 15cm | 8cm | 5° |
| Right side 1 | 20cm | 5cm | 2° |
| Right side 2 | 20cm | 5cm | 2° |
| Right side 3 | 20cm | 5cm | 2° |
| Right side 4 | 20cm | 5cm | 2° |
| Rear right | 15cm | 8cm | 5° |
| Front and rear parts | 10cm | 10cm | 2° |
| Left rear part | 15cm | 8cm | 5° |
| Left side 4 | 20cm | 5cm | 2° |
| Left side 3 | 20cm | 5cm | 2° |
| Left side 2 | 20cm | 5cm | 2° |
| Left side 1 | 20cm | 5cm | 2° |
| Left front | 15cm | 8cm | 5° |
The control module 6003 is configured to perform passive safety control of the vehicle according to the reverse acceleration, the collision velocity, and the vehicle collision energy information.
Further, the processing mode of performing passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information is to judge whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, judge whether the vehicle collision energy information meets a preset energy condition when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judge whether the collision target type is a pedestrian collision type when the vehicle collision energy information meets the preset energy condition, and if not, control an airbag controller or a passive safety controller of the vehicle to perform the work of the passive safety device and control an outside pedestrian protection system not to perform the work; if yes, the safety air bag controller or the passive safety controller of the vehicle is controlled to work the passive safety device, and the pedestrian protection system outside the vehicle is controlled to work.
The preset energy condition is that the vehicle collision energy information is that the vehicle collision energy is strong.
In this embodiment, it is determined whether the reverse acceleration is greater than a preset reverse acceleration threshold, and the collision speed is greater than a preset collision threshold, and when the reverse acceleration is greater than the preset reverse acceleration threshold, and the collision speed is less than the preset collision threshold, the passive safety device does not operate when the vehicle collision energy information does not satisfy or satisfies the preset energy condition.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not, and when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, disabling the passive safety device when the vehicle collision energy information does not meet the preset energy condition.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, determining a collision target type according to collision state information when the collision energy information of the vehicle meets a preset energy condition when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the collision target type is a pedestrian collision type or not, if so, controlling the passive safety device to work by an air bag controller or a passive safety controller, controlling the passive safety device on the corresponding side to work by a vehicle-outside pedestrian protection system according to the collision direction; if not, the air bag controller or the passive safety controller controls the passive safety device to work, the outside pedestrian protection system does not work, and the passive safety device on the corresponding side is controlled to work according to the collision azimuth.
Further, judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value and the collision speed is larger than a preset collision threshold value, determining a collision target type according to collision state information when the reverse acceleration is larger than the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the collision target type is a pedestrian collision type, if yes, controlling an air bag controller or a passive safety controller to work, and controlling an outside pedestrian protection system and an inside passenger protection device to work, namely controlling the air bag controller or the passive safety controller to start corresponding pedestrian protection devices according to preset logic, wherein the outside pedestrian protection system works, the inside passenger protection device works and the like; if not, the vehicle exterior pedestrian protection system does not work, and the vehicle interior passenger protection device works.
Judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not, and when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, disabling the passive safety device when the vehicle collision energy information does not meet the preset energy condition.
In this embodiment, when receiving collision status information sent by a driving support system of a vehicle, reverse acceleration and collision speed of the vehicle are first obtained according to the collision status information, then vehicle collision energy information is determined based on a global map of a current environment of the vehicle, and then passive safety control of the vehicle is performed according to the reverse acceleration, the collision speed and the vehicle collision energy information. Compared with the prior art that the vehicle speed does not reach the range, the impact point is incorrect, even if the collision energy is large, the safety airbag cannot be ejected correctly, and passengers in the vehicle cannot be effectively protected.
Other embodiments or specific implementation manners of the passive safety control system for a vehicle according to the present invention may refer to the above method embodiments, and will not be described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A passive safety control method for a vehicle, characterized by comprising the steps of:
when collision state information sent by an auxiliary driving system of a vehicle is received, acquiring reverse acceleration and collision speed of the vehicle according to the collision state information;
determining vehicle collision energy information based on a global map of the current environment of the vehicle;
and carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information.
2. The method of claim 1, wherein the step of determining vehicle collision energy information based on a global map of the current environment of the vehicle comprises:
acquiring current environmental obstacle information through a vehicle sensor;
constructing a current environment global map of the vehicle according to the current environment obstacle information and the vehicle position information;
constructing a vehicle collision coordinate system according to the target collision azimuth information based on the current environment global map;
determining transverse and longitudinal collision displacement according to the vehicle collision coordinate system;
obtaining a collision angle according to the transverse and longitudinal collision displacement;
and determining vehicle collision energy information through a collision energy meter according to the collision displacement and the collision angle.
3. The method of claim 2, wherein prior to the step of constructing a vehicle collision coordinate system from target collision location information based on the current environmental global map, further comprising:
acquiring vehicle passive safety configuration information and vehicle type information of the vehicle;
dividing the surrounding area of the vehicle according to the passive safety configuration information of the vehicle and the vehicle type information to obtain a plurality of collision azimuth information;
target collision azimuth information is determined from the plurality of collision azimuth information.
4. The method according to claim 1 or 2, wherein the step of performing passive safety control of the vehicle based on the reverse acceleration, the collision velocity, and the vehicle collision energy information, comprises:
judging whether the reverse acceleration is larger than a preset reverse acceleration threshold value or not and whether the collision speed is larger than a preset collision threshold value or not;
when the reverse acceleration is smaller than or equal to the preset reverse acceleration threshold value and the collision speed is larger than the preset collision threshold value, judging whether the vehicle collision energy information meets a preset energy condition or not;
judging whether the collision target type is a pedestrian collision type or not when the vehicle collision energy information meets the preset energy condition;
if not, controlling the safety air bag controller or the passive safety controller of the vehicle to work the passive safety device, and controlling the pedestrian protection system to not work.
5. The method according to claim 4, wherein after the step of determining whether the collision target type is a pedestrian collision type when the vehicle collision energy information satisfies the preset energy condition, further comprising:
if yes, controlling the safety air bag controller or the passive safety controller of the vehicle to work the passive safety device, and controlling the pedestrian protection system to work.
6. The method of claim 4, wherein said step of determining whether said reverse acceleration is greater than a preset reverse acceleration threshold and said crash speed is greater than a preset crash threshold comprises, after said step of:
determining a collision target type according to the collision state information when the reverse acceleration is greater than the preset reverse acceleration threshold and the collision speed is greater than the preset collision threshold;
judging whether the collision target type is a pedestrian collision type or not;
if so, the airbag controller or the passive safety controller is controlled to work, and the outside pedestrian protection system and the inside passenger protection device are controlled to work.
7. The method of claim 6, wherein after the step of determining whether the collision target type is a pedestrian collision type, further comprising:
if not, the vehicle outside pedestrian protection system is controlled to not work, and the vehicle inside passenger protection device is controlled to work.
8. A passive safety control system for a vehicle, the passive safety control system comprising:
the acquisition module is used for acquiring the reverse acceleration and the collision speed of the vehicle according to the collision state information when the collision state information sent by the auxiliary driving system of the vehicle is received;
a determining module for determining vehicle collision energy information based on a global map of a current environment of the vehicle;
and the control module is used for carrying out passive safety control on the vehicle according to the reverse acceleration, the collision speed and the vehicle collision energy information.
9. A passive safety control device for a vehicle, the device comprising: a memory, a processor and a vehicle passive safety control program stored on the memory and operable on the processor, the vehicle passive safety control program being configured to implement the steps of the vehicle passive safety control method of any one of claims 1 to 7.
10. A storage medium having stored thereon a vehicle passive safety control program which when executed by a processor implements the steps of the vehicle passive safety control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310409031.1A CN116513098A (en) | 2023-04-12 | 2023-04-12 | Method, system, equipment and storage medium for passive safety control of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310409031.1A CN116513098A (en) | 2023-04-12 | 2023-04-12 | Method, system, equipment and storage medium for passive safety control of vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116513098A true CN116513098A (en) | 2023-08-01 |
Family
ID=87396782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310409031.1A Pending CN116513098A (en) | 2023-04-12 | 2023-04-12 | Method, system, equipment and storage medium for passive safety control of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116513098A (en) |
-
2023
- 2023-04-12 CN CN202310409031.1A patent/CN116513098A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112389466B (en) | Method, device and equipment for automatically avoiding vehicle and storage medium | |
| US7388513B2 (en) | Driving state determining system | |
| EP2821308B1 (en) | Vehicle system for control of vehicle safety parameters, a vehicle and a method for controlling safety parameters | |
| US11358595B2 (en) | Vehicle control system, vehicle control method, and storage medium | |
| US20170080929A1 (en) | Movement-assisting device | |
| US11560108B2 (en) | Vehicle safety system and method implementing weighted active-passive crash mode classification | |
| RU2720501C1 (en) | Method for determining interference, method of parking assistance, method of departure assistance and device for determining interference | |
| CN109484399B (en) | Vehicle driving auxiliary device and method | |
| US11572052B2 (en) | Vehicle control for facilitating control of a vehicle passing a prececeding vehicle | |
| US11738742B2 (en) | Vehicle control device, vehicle control method, and storage medium | |
| US20210300362A1 (en) | Vehicle control method, vehicle control device, and storage medium | |
| CN111674348A (en) | Method and device for buffering vehicle collision and vehicle | |
| US20210061350A1 (en) | Driving support device | |
| JP4858201B2 (en) | Vehicle collision determination device | |
| EP4206054A1 (en) | Driving assistance method and driving assistance device | |
| CN113335311A (en) | Vehicle collision detection method and device, vehicle and storage medium | |
| CN116513098A (en) | Method, system, equipment and storage medium for passive safety control of vehicle | |
| EP3422321A1 (en) | A road accident warning system and method | |
| CN111746534A (en) | Vehicle driving assistance system, vehicle including the same, and corresponding method and medium | |
| US20240083461A1 (en) | Vehicle for performing minimal risk maneuver during autonomous driving and method of operating the vehicle | |
| CN112172804B (en) | Vehicle control device, vehicle control method, and storage medium | |
| US20230391320A1 (en) | Vehicle control device | |
| US20230415810A1 (en) | Driving support device, driving support method, and storage medium | |
| KR102607947B1 (en) | A apparatus and method for controlling of vehicle braking | |
| US20240278776A1 (en) | Method and apparatus for collision avoidance or impact force reduction |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |