Control system, method and device

Abstract

The invention discloses a control system, method and device, the system comprises a first control unit and a second control unit, the first control unit is used for controlling a first vehicle door to be unlocked, the second control unit is used for controlling a second vehicle door to be unlocked, and the first control unit and the second control unit establish communication connection; the first control unit is used for acquiring a collision signal; and the first control unit is further used for controlling the first vehicle door to be unlocked according to the collision signal and sending a first unlocking instruction to the second control unit, and the first unlocking instruction is used for indicating to unlock the second vehicle door. By means of the system, the situation that all the vehicle doors on the vehicle are controlled by one control unit to be unlocked is avoided, even if the second control unit cannot obtain the collision signal due to faults or communication link damage, the second control unit can successfully unlock the second vehicle door based on the second unlocking instruction, and therefore the safety of the vehicle is improved. It can be ensured that at least one vehicle door is successfully unlocked when the vehicle collides, and therefore the personal safety of people in the vehicle is guaranteed.

Description

Technical Field

[0001] This application relates to the field of intelligent vehicles, and more particularly, to a control system, method, and device. Background Art

[0002] After a vehicle collision, due to collision extrusion or sheet metal cutting, there is a risk that the electrical wiring inside the vehicle is exposed, which may further lead to a short circuit and fire. Especially for new energy vehicles, the power battery itself is more likely to catch fire after being squeezed. Therefore, after a vehicle collision occurs, it is necessary to ensure that the vehicle occupants can quickly leave the vehicle. At this time, whether the door can be successfully unlocked becomes particularly important. Currently, after a vehicle collision occurs, the airbag controller (ABM) can send a collision signal to the body control module (BCM), and the BCM drives the door lock motor to unlock the door.

[0003] However, when the execution link (such as the AMB to BCM communication link) fails or the BCM is damaged, the door will not be successfully unlocked, which will further threaten the personal safety of the vehicle occupants. Summary of the Invention

[0004] This application provides a control system, method, and device that can ensure that the door is unlocked in a timely manner when a vehicle collision occurs, thus protecting the personal safety of the vehicle occupants.

[0005] In a first aspect, a control system is provided. The system includes: a first control unit and a second control unit, and the first control unit and the second control unit establish a communication connection; the first control unit is used to control the unlocking of the first door, and the second control unit is used to control the unlocking of the second door; the first control unit is used to obtain a collision signal; the first control unit is further used to control the unlocking of the first door according to the collision signal, and send a first unlocking instruction to the second control unit, and the first unlocking instruction is used to instruct to unlock the second door.

[0006] In some possible implementation manners, the forms of the first control unit and the second control unit may be: a chip, a processor, or a controller. Further, the first control unit and the second control unit may be a vehicle integration unit (VIU).

[0007] In some possible implementation manners, the first door and the second door may be doors corresponding to different positions of the vehicle. For example, the first door is the door corresponding to the driver's seat, and the second door is the door corresponding to the passenger seat. Another example is that the first door is the door corresponding to the driver's seat, and the second door is the door corresponding to the right rear seat.

[0008] In the embodiment of the present application, the first control unit may unlock the first door based on the collision signal and send a first unlocking instruction to the second control unit, so as to facilitate the second control unit to unlock the second door based on the first unlocking instruction. In this way, it is avoided that all the doors on the vehicle are controlled by a single control unit for unlocking. Moreover, even if the second control unit fails to obtain the collision signal due to a fault or damage to the communication link, the second control unit can still successfully unlock the second door based on the first unlocking instruction. In this way, it can be ensured that at least one door is successfully unlocked when the vehicle collides, thus protecting the personal safety of the people in the vehicle.

[0009] In combination with the first aspect, in some implementation manners of the first aspect, the system further includes a third control unit; the first control unit is configured to obtain a second unlocking instruction sent by the third control unit, and the second unlocking instruction is used to indicate unlocking the first door; specifically, the first control unit is configured to control the first door to unlock according to the collision signal and the second unlocking instruction.

[0010] In some possible implementation manners, the third control unit and the second control unit may be the same control unit or different control units.

[0011] In some possible implementation manners, the second unlocking instruction may be generated by the third control unit or sent to the third control unit by other control units after being generated.

[0012] In some possible implementation manners, the first control unit may control the first door to unlock once after obtaining the collision signal and the second unlocking instruction, or the first control unit may control the first door to unlock once after obtaining the collision signal and then control the first door to unlock once again after receiving the second unlocking instruction.

[0013] In the embodiment of the present application, the first control unit may control the unlocking of the first door based on the second unlocking instruction and the collision signal. In this way, when the first control unit controls the first door to unlock once after obtaining the collision signal and the second unlocking instruction, the situation of the first door being wrongly unlocked can be reduced. On the other hand, when the first control unit controls the first door to unlock once after obtaining the collision signal and then controls the first door to unlock once again after receiving the second unlocking instruction, the reliability of the first door unlocking can be improved, further ensuring the personal safety of the people in the vehicle.

[0014] In combination with the first aspect, in some implementations of the first aspect, the system further includes a third control unit and a fourth control unit; the fourth control unit is configured to obtain the collision signal; the fourth control unit is further configured to generate a third unlocking instruction according to the collision signal, and the third unlocking instruction is used to indicate unlocking the first door; the fourth control unit is further configured to send the third unlocking instruction to the third control unit; the third control unit is further configured to send the third unlocking instruction to the first control unit; the first control unit is specifically configured to unlock the first door according to the collision signal and the third unlocking instruction.

[0015] In some possible implementations, the third unlocking instruction and the second unlocking instruction may be the same unlocking instruction or different unlocking instructions.

[0016] In some possible implementations, the first control unit may control the first door to be unlocked once after obtaining the collision signal and the third unlocking instruction, or the first control unit may control the first door to be unlocked once after obtaining the collision signal, and then control the first door to be unlocked once again after receiving the third unlocking instruction.

[0017] In the embodiments of the present application, after obtaining the collision signal, the fourth control unit may first send the third unlocking instruction to the third control unit, and then the third control unit forwards the third unlocking instruction to the first control unit. The first control unit may unlock the first door based on the collision signal and the third unlocking instruction. In this way, even if the third control unit fails or the communication link is damaged and cannot obtain the collision signal, it can still forward the third unlocking instruction to the first control unit, thereby ensuring that the first door is successfully unlocked.

[0018] In combination with the first aspect, in some implementations of the first aspect, the system further includes a fifth control unit; the first control unit is further configured to control the first door to be unlocked when it does not receive a fourth unlocking instruction from the fifth control unit within a preset duration starting from obtaining the collision signal, and the fourth unlocking instruction is used to indicate unlocking the first door.

[0019] In some possible implementations, the fifth control unit and the second control unit may be the same control unit or different control units.

[0020] In the embodiments of the present application, when the first control unit does not receive the fourth unlocking instruction within the preset duration after obtaining the collision signal, the first control unit may directly control the first door to be unlocked. In this way, while reducing the occurrence of the first door being unlocked erroneously, the reliability of unlocking the first door can be further improved.

[0021] In combination with the first aspect, in some implementations of the first aspect, the first control unit is further configured to control the door handle corresponding to the first door to pop out according to the collision signal.

[0022] In the embodiments of the present application, for a vehicle equipped with a hidden door handle, the first control unit can also pop out the door handle corresponding to the first door according to the collision signal. In this way, when an accident occurs to the vehicle, it is convenient for rescue personnel to carry out rescue operations.

[0023] In combination with the first aspect, in some implementations of the first aspect, the second control unit is configured to control the second door to unlock according to the first unlocking instruction.

[0024] In combination with the first aspect, in some implementations of the first aspect, the second control unit is further configured to: obtain a collision signal; specifically, the second control unit is configured to control the second door to unlock according to the collision signal and the first unlocking instruction.

[0025] In combination with the first aspect, in some implementations of the first aspect, the first unlocking instruction is further used to instruct to pop out the door handle corresponding to the second door; the second control unit is further configured to control the door handle corresponding to the second door to pop out according to the first unlocking instruction.

[0026] In the embodiments of the present application, for a vehicle equipped with a hidden door handle, the second control unit can control the door handle corresponding to the second door to pop out according to the first unlocking instruction. In this way, when an accident occurs to the vehicle, it is convenient for rescue personnel to carry out rescue operations.

[0027] In a second aspect, a control method is provided. The method is applied to a first control unit, and the first control unit is used to control a first door to unlock. The method includes: obtaining a collision signal; controlling the first door to unlock according to the collision signal, and sending a first unlocking instruction to a second control unit, where the first unlocking instruction is used to instruct to unlock a second door corresponding to the second control unit.

[0028] In the embodiments of the present application, the first control unit can unlock the first door based on the collision signal and send a first unlocking instruction to the second control unit, so as to facilitate the second control unit to unlock the second door based on the first unlocking instruction. In this way, it is avoided that all the doors on the vehicle are controlled by one control unit to unlock, and even if the second control unit fails or the communication link is damaged and cannot obtain the collision signal, the second control unit can still successfully unlock the second door based on the first unlocking instruction. In this way, it can be ensured that at least one door is successfully unlocked when the vehicle collides, thereby ensuring the personal safety of the people in the vehicle.

[0029] In combination with the second aspect, in some implementations of the second aspect, the method further includes obtaining a second unlocking instruction from a third control unit, where the second unlocking instruction is used to indicate unlocking the first vehicle door; and the controlling the first vehicle door to unlock according to the collision signal includes: controlling the first vehicle door to unlock according to the collision signal and the second unlocking instruction.

[0030] In the embodiments of the present application, the first control unit can control the unlocking of the first vehicle door based on the second unlocking instruction and the collision signal. In this way, when the first control unit controls the first vehicle door to unlock once after obtaining the collision signal and the second unlocking instruction, the situation of the first vehicle door being wrongly unlocked can be reduced. On the other hand, when the first control unit controls the first vehicle door to unlock once after obtaining the collision signal and then controls the first vehicle door to unlock once again after receiving the second unlocking instruction, the reliability of unlocking the first vehicle door can be improved, further ensuring the personal safety of the passengers in the vehicle.

[0031] In combination with the second aspect, in some implementations of the second aspect, the controlling the first vehicle door to unlock according to the collision signal includes: controlling the first vehicle door to unlock when a fourth unlocking instruction from a fifth control unit is not received within a preset duration after obtaining the collision signal, where the fourth unlocking instruction is used to indicate unlocking the first vehicle door.

[0032] In the embodiments of the present application, when the first control unit does not receive the fourth unlocking instruction within the preset duration after obtaining the collision signal, the first control unit can directly control the first vehicle door to unlock. In this way, while reducing the situation of the first vehicle door being wrongly unlocked, the reliability of unlocking the first vehicle door can be further improved.

[0033] In combination with the second aspect, in some implementations of the second aspect, the method further includes: controlling the door handle corresponding to the first vehicle door to pop out according to the collision signal.

[0034] In the embodiments of the present application, for a vehicle equipped with a hidden door handle, the first control unit can also pop out the door handle corresponding to the first vehicle door according to the collision signal. In this way, in the event of a vehicle accident, it can facilitate rescue personnel to carry out rescue operations.

[0035] In combination with the second aspect, in some implementations of the second aspect, the first unlocking instruction is further used to indicate popping out the door handle corresponding to the second vehicle door.

[0036] In the embodiments of the present application, when the first unlocking instruction sent by the first control unit is further used to indicate popping out the door handle corresponding to the second vehicle door, the second control unit can also pop out the door handle corresponding to the second vehicle door after receiving the first unlocking instruction. In this way, in the event of a vehicle accident, it can facilitate rescue personnel to carry out rescue operations.

[0037] In a third aspect, a control device is provided. The device is used to control the unlocking of a first vehicle door. The device includes an acquisition unit and a processing unit. The acquisition unit is used to acquire a collision signal. The processing unit is used to control the unlocking of the first vehicle door according to the collision signal and send a first unlocking instruction to a second control unit. The first unlocking instruction is used to indicate unlocking of a second vehicle door corresponding to the second control unit.

[0038] In combination with the third aspect, in some implementation manners of the third aspect, the acquisition unit is further used to acquire a second unlocking instruction from a third control unit. The second unlocking instruction is used to indicate unlocking of the first vehicle door. The processing unit is specifically used to control the unlocking of the first vehicle door according to the collision signal and the second unlocking instruction.

[0039] In combination with the third aspect, in some implementation manners of the third aspect, the processing unit is specifically used to control the unlocking of the first vehicle door when a fourth unlocking instruction from a fifth control unit is not received within a preset time period after the collision signal is acquired. The fourth unlocking instruction is used to indicate unlocking of the first vehicle door.

[0040] In combination with the third aspect, in some implementation manners of the third aspect, the processing unit is further used to control the door handle corresponding to the first vehicle door to pop out according to the collision signal.

[0041] In combination with the third aspect, in some implementation manners of the third aspect, the first unlocking instruction is further used to indicate popping out of the door handle corresponding to the second vehicle door.

[0042] In a fourth aspect, a control device is provided, including: at least one processor and a memory. The at least one processor is coupled to the memory and is used to read and execute instructions in the memory, so that the device implements the method in any one of the implementation manners in the second aspect above.

[0043] In a fifth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores program code. When the computer program code runs on a computer, the computer is made to execute the method in any one of the implementation manners in the second aspect above.

[0044] In a sixth aspect, a chip is provided. The chip includes a circuit, and the circuit is used to execute the method in any one of the implementation manners in the second aspect above.

[0045] In a seventh aspect, a computer program product is provided. The computer product includes a computer program. When the computer program runs, the computer is made to execute the method in any one of the implementation manners in the second aspect above.

[0046] In an eighth aspect, a vehicle is provided, including: the control device in any one of the implementation manners in the above third aspect. Description of the Drawings

[0047] Figure 1 is a functional schematic diagram of a vehicle provided by an embodiment of the present application;

[0048] Figure 2 is an unlocking solution provided by an embodiment of the present application;

[0049] Figure 3 is a system architecture applicable to a control method provided by an embodiment of the present application;

[0050] Figure 4 is another system architecture applicable to a control method provided by an embodiment of the present application;

[0051] Figure 5 is another system architecture applicable to a control method provided by an embodiment of the present application;

[0052] Figure 6 is a control method provided by an embodiment of the present application;

[0053] Figure 7 is another control method provided by an embodiment of the present application;

[0054] Figure 8 is another control method provided by an embodiment of the present application;

[0055] Figure 9 is another control method provided by an embodiment of the present application;

[0056] Figure 10 is another control method provided by an embodiment of the present application;

[0057] Figure 11 is a control device provided by an embodiment of the present application;

[0058] Figure 12 is another control device provided by an embodiment of the present application. Detailed Embodiments

[0059] Next, the technical solutions in the present application will be described in conjunction with the accompanying drawings.

[0060] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In the present application, "at least one" means one or more, and "a plurality" means two or more. "At least one (item)" or similar expressions thereof refer to any combination of these items, including any combination of single (item) or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0061] In the embodiments of the present application, prefix words such as "first" and "second" are only used to distinguish different described objects and have no restrictive effect on the position, order, priority, quantity, content, etc. of the described objects. The use of ordinal numbers and other prefix words for distinguishing described objects in the embodiments of the present application does not constitute a limitation on the described objects. The statement of the described objects refers to the description in the context of the claims or embodiments, and should not be construed as an unnecessary limitation due to the use of such prefix words.

[0062] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings.

[0063] Figure 1 It is a functional schematic diagram of the vehicle 100 provided by the embodiments of the present application.

[0064] The vehicle 100 may include multiple subsystems, such as a perception system 120 and a computing platform 130. Optionally, the vehicle 100 may include more or fewer subsystems, and each subsystem may include one or more components. In addition, each subsystem and component of the vehicle 100 can be interconnected by wired or wireless means.

[0065] The perception system 120 may include several sensors for sensing information about the environment around the vehicle 100. For example, the perception system 120 may include a positioning system, which may be a global positioning system (GPS), or a Beidou system or other positioning systems. The perception system 120 may include one or more of an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0066] Some or all of the functions of vehicle 100 can be controlled by computing platform 130. Computing platform 130 may include processors 131 to 13n (n is a positive integer). A processor is a circuit with signal processing capabilities. In one implementation, a processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; In another implementation, a processor can achieve certain functions through the logical relationship of a hardware circuit, and the logical relationship of this hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of a processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of a processor loading instructions to implement the functions of some or all of the above units. In addition, a processor can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. In addition, computing platform 130 may also include a memory for storing instructions, and some or all of the processors 131 to 13n can call the instructions in the memory to implement corresponding functions.

[0067] Computing platform 130 can control the functions of vehicle 100 based on inputs received from various subsystems (such as perception system 120). In some embodiments, computing platform 130 can be used to provide control over many aspects of vehicle 100 and its subsystems.

[0068] Optionally, the above components are just an example. In actual applications, the components in each of the above modules may be added or deleted according to actual needs.

[0069] The vehicle 100 in the present application may include: road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the vehicle 100 may be a vehicle (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), amusement equipment, a toy vehicle, etc. The embodiment of the present application does not specifically limit the type of vehicle.

[0070] The following describes the technical problems to be solved by this application and the technical solutions adopted.

[0071] After a vehicle collision, there is a risk that the electrical circuits inside the vehicle will be exposed due to collision squeezing or sheet metal cutting, which may further cause short circuits and fires. Especially for new energy vehicles, the power battery itself is more likely to burn after being squeezed. Therefore, after a vehicle collision, it is necessary to ensure that the occupants can leave the vehicle quickly. At this time, whether the door can be successfully unlocked becomes particularly important. Figure 2 As shown, after a vehicle collision occurs, the ABM can send a collision signal to the BCM, and the BCM drives the door lock motor to unlock the door.

[0072] However, when the execution link fails, the door will not be unlocked successfully, threatening the personal safety of the people in the car. For example, when the communication link between ABM and BCM is disconnected due to a collision, the collision signal will not be transmitted to BCM, resulting in the inability of BCM to complete the collision unlocking. For another example, when the BCM itself is damaged due to a collision or the power cord is disconnected, even if the BCM receives a collision signal, it will not be able to drive the door lock motor to complete the unlocking. Therefore, the occurrence of the above situations may endanger the personal safety of the people in the car.

[0073] The embodiments of the present application provide a control system, method and device, which can ensure that the vehicle doors are unlocked in time when a vehicle collision occurs, thereby ensuring the personal safety of people in the vehicle.

[0074] Figure 3 This is a system architecture applicable to a control method provided in an embodiment of the present application.

[0075] like Figure 3As shown, the architecture includes VIU1, VIU2, VIU3, and AMB. Among them, VIU1, VIU2, and VIU3 replace the traditional BCM and can control the door lock motors at different positions. For example, the door lock motor of the right front door can be driven by VIU1, the door lock motor of the left front door can be driven by VIU2, and the door lock motors of the left rear and right rear doors can be directly driven by VIU3. Network links (such as controller area network (CAN) or ethereum (ETH)) can be used for signal transmission between each VIU, and a ring network is formed to achieve bidirectional signal transmission. Among them, network signals (such as collision signals) can be transmitted between AMB and each VIU. At the same time, hardwired signals can also be added to transmit the collision status.

[0076] The reliability of collision unlocking can be improved through this architecture: in the transmission of collision signals, AMB can transmit the collision signals to the three VIUs (including: VIU1, VIU2, and VIU3) respectively. Even if 1 or 2 links between AMB and VIU are damaged due to collision, ABM can still use the remaining available links to transmit the collision signals to at least one VIU, and then the VIU that receives the collision signal can transmit the signal to other VIUs through the ring network link. In terms of unlocking execution, different door motors are connected to different VIUs nearby, and different VIUs can transmit unlocking instructions to each other. When 1 or 2 VIUs are damaged due to collision, at least one door can still be unlocked successfully, which can improve the success rate of the vehicle occupants' escape after a collision.

[0077] It should be understood that in this application, sensors and actuators can be connected to VIU nearby. Among them, as a communication interface unit, VIU can be deployed at positions where vehicle sensors and actuators are dense, so that vehicle sensors and actuators can be connected nearby. At the same time, VIU can have certain computing and driving capabilities (for example, VIU can absorb the driving computing functions of some actuators). The vehicle integration unit and the like described in the embodiments of this application may have other names. This application only takes VIU as an example and does not limit the specific implementation manners.

[0078] Figure 4 is another system architecture applicable to a control method provided by an embodiment of this application;

[0079] As Figure 4As shown, the architecture includes VIU1, VIU2, VIU3, VIU4, and ABM. Among them, VIU1, VIU2, VIU3, and VIU4 replace the traditional BCM and can control the door locks and door handle motors at different positions. For example, VIU1 drives and controls the right front door lock and door handle motor, VIU2 drives and controls the left front door lock and door handle motor, VIU3 drives and controls the left rear door lock and door handle motor, and VIU4 drives and controls the right rear door lock and door handle motor. Network links (such as CAN or ETH) can be used for signal transmission between each VIU, and a ring network is formed to achieve bidirectional signal transmission. After a collision occurs, ABM can send the collision status signal to VIU1, VIU2, VIU3, and VIU4 respectively; after receiving the collision signal, VIU1 can control the unlocking of the right front door and eject the door handle, and at the same time send the unlocking instruction to other VIUs through the ring network; after receiving the collision signal, VIU1 can control the unlocking of the right front door and eject the door handle, and at the same time send the unlocking instruction to other VIUs through the ring network; after receiving the collision signal, VIU2 can control the unlocking of the left front door and eject the door handle, and at the same time send the unlocking instruction to other VIUs through the ring network; after receiving the collision signal, VIU3 can control the unlocking of the left rear door and eject the door handle, and at the same time send the unlocking instruction to other VIUs through the ring network; after receiving the collision signal, VIU4 can control the unlocking of the right rear door and eject the door handle, and at the same time send the unlocking instruction to other VIUs through the ring network.

[0080] Figure 5 is another system architecture applicable to a control method provided by an embodiment of the present application;

[0081] As Figure 5As shown in the figure, the architecture includes VIU1, VIU2, VIU3, and AMB. Among them, VIU1, VIU2, and VIU3 replace the traditional BCM and can control the door lock motors and door handle motors at different positions. For example, the door lock motor of the right front door can be driven by VIU1, the door lock motor of the left front door can be driven by VIU2, and the door lock motors of the left rear and right rear doors can be directly driven by VIU3. Signal transmission can be carried out bidirectionally between VIU1 and VIU2, and between VIU1 and VIU3. After a collision occurs, AMB can send collision signals to VIU1, VIU2, and VIU3 respectively. After receiving the collision signal, VIU1 can control the unlocking of the right front door and eject the door handle, and at the same time send the collision signal to VIU2 and VIU3 through the bidirectional link; after receiving the collision signal, VIU2 can control the unlocking of the left front door and eject the door handle, and at the same time send the collision signal to VIU1 through the bidirectional link, and VIU1 forwards the collision signal to VIU3; after receiving the collision signal, VIU3 can control the unlocking of the left rear door and the right rear door and eject the corresponding door handles, and at the same time send the collision signal to VIU1 through the bidirectional link, and VIU1 forwards the collision signal to VIU2. In this architecture, since the collision signal between VIU2 and VIU3 needs to be relayed through VIU1, when VIU is damaged, or the communication link between VIU1 and VIU2 is damaged, or the communication link between VIU2 and VIU3 is damaged, the unlocking instruction may not be transmitted between VIU2 and VIU3.

[0082] It should be understood that Figures 3 to 5 the architecture shown is only an exemplary illustration, and those skilled in the art can change the above system architecture based on actual needs. For example, when designing Figures 3 to 5 the architecture shown, the number of VIUs can be increased, or the way of transmitting the unlocking instruction between VIUs can be changed, or the corresponding relationship between VIUs and door locks and door handles can be changed.

[0083] The control system provided by the embodiments of the present application will be introduced below. This control system can be applicable to Figures 3 to 5 any of the system architectures described above.

[0084] The control system includes: a first control unit and a second control unit. The first control unit and the second control unit establish a communication connection. The first control unit is used to control the unlocking of the first door, and the second control unit is used to control the unlocking of the second door. Among them, the first control unit is used to obtain a collision signal; the first control unit is also used to control the unlocking of the first door according to the collision signal and send a first unlocking instruction to the second control unit. The first unlocking instruction is used to indicate the unlocking of the second door. Correspondingly, when the second control unit receives the first unlocking instruction, the second control unit can control the unlocking of the second door.

[0085] Optionally, the forms of the first control unit and the second control unit may be: a chip, a processor, or a controller. Further optionally, the first control unit and the second control unit may be Figures 3 to 5 any two VIUs in any system architecture.

[0086] For example, the first control unit may be Figure 3 VIU1 in, and the second control unit may be Figure 3 VIU2 in; for another example, the first control unit may be Figure 4 VIU2 in, and the second control unit may be Figure 4 VIU3 in; for still another example, the first control unit may be Figure 5 VIU1 in, and the second control unit may be Figure 5 VIU3 in.

[0087] Optionally, the first door and the second door may be doors corresponding to different positions of the vehicle. For example, the first door is the door corresponding to the driver's seat position, and the second door is the door corresponding to the co-driver's seat position. For another example, the first door is the door corresponding to the driver's seat position, and the second door is the door corresponding to the right rear seat position.

[0088] Optionally, when the second control unit can obtain a collision signal, the second control unit may control the second door to unlock based on the collision signal and the first unlocking instruction. Further optionally, the second control unit may control the second door to unlock once after obtaining the collision signal and the first unlocking instruction, or the second control unit may control the second door to unlock once after obtaining the collision signal and then control the second door to unlock once again after receiving the first unlocking instruction.

[0089] In the embodiment of the present application, the first control unit may unlock the first door based on the collision signal and send a first unlocking instruction to the second control unit, so as to facilitate the second control unit to unlock the second door based on the first unlocking instruction. In this way, it is avoided that all the doors on the vehicle are controlled to unlock by one control unit, and even if the second control unit fails to obtain the collision signal due to a fault or damage to the communication link, the second control unit can still successfully unlock the second door based on the first unlocking instruction. In this way, it can be ensured that at least one door is successfully unlocked when the vehicle collides, thus protecting the personal safety of the people in the vehicle.

[0090] In one embodiment, the control system further includes a third control unit. The first control unit is further configured to obtain a second unlocking instruction sent by the third control unit, and the second unlocking instruction is used to indicate unlocking the first door; the first control unit is specifically configured to control the first door to unlock according to the collision signal and the second unlocking instruction.

[0091] Optionally, the third control unit and the second control unit may be the same control unit or different control units.

[0092] For example, if the first control unit is Figure 5 the VIU2 in Figure 5 the VIU1 in Figure 5 is the VIU3 in, then the second unlocking instruction may be sent by VIU3 to VIU2 through VIU1.

[0093] Optionally, the second unlocking instruction may be generated by the third control unit or sent to the third control unit by other control units after being generated.

[0094] For example, if the first control unit is Figure 5 the VIU2 in Figure 5 and the third control unit is the VIU1 in, the second unlocking instruction may be generated by VIU1 or generated by VIU3 and sent to VIU1, and then forwarded by VIU1 to VIU2.

[0095] Optionally, after obtaining the collision signal and the second unlocking instruction, the first control unit may control the first vehicle door to unlock once, or the first control unit may control the first vehicle door to unlock once after obtaining the collision signal and then control the first vehicle door to unlock once again after receiving the second unlocking instruction.

[0096] In the embodiments of the present application, the first control unit may control the unlocking of the first vehicle door based on the second unlocking instruction and the collision signal. In this way, when the first control unit controls the first vehicle door to unlock once after obtaining the collision signal and the second unlocking instruction, the situation of the first vehicle door being wrongly unlocked can be reduced. On the other hand, when the first control unit controls the first vehicle door to unlock once after obtaining the collision signal and then controls the first vehicle door to unlock once again after receiving the second unlocking instruction, the reliability of unlocking the first vehicle door can be improved, further ensuring the personal safety of the passengers in the vehicle.

[0097] In one embodiment, the control system further includes a third control unit and a fourth control unit; the fourth control unit is configured to obtain a collision signal; the fourth control unit is further configured to generate a third unlocking instruction according to the collision signal, where the third unlocking instruction is used to instruct to unlock the first vehicle door; the fourth control unit is further configured to send the third unlocking instruction to the third control unit; the third control unit is further configured to send the third unlocking instruction to the first control unit; the first control unit is specifically configured to unlock the first vehicle door according to the collision signal and the third unlocking instruction.

[0098] Optionally, the third unlocking instruction and the second unlocking instruction may be the same unlocking instruction or different unlocking instructions.

[0099] For example, when the first control unit is Figure 5 the VIU2 in Figure 5 and the third control unit is the VIU1 in Figure 5 the fourth control unit is the VIU3 in

[0100] The third unlocking instruction is generated and sent by the VIU3 to the VIU1, and then forwarded by the VIU1 to the VIU2. That is, the third unlocking instruction and the second unlocking instruction are the same unlocking instruction.

[0101] Optionally, the first control unit may control the first door to unlock once after obtaining the collision signal and the third unlocking instruction, or the first control unit may control the first door to unlock once after obtaining the collision signal, and then control the first door to unlock once again after receiving the third unlocking instruction.

[0102] In an embodiment of the present application, after the fourth control unit obtains the collision signal, it may first send a third unlocking instruction to the third control unit, and then the third control unit forwards the third unlocking instruction to the first control unit. The first control unit may unlock the first door based on the collision signal and the third unlocking instruction. In this way, even if the third control unit fails or the communication link is damaged and cannot obtain the collision signal, it can still send the third unlocking instruction to the first control unit, thereby ensuring that the first door is successfully unlocked.

[0102] In an embodiment, the control system further includes a fifth control unit; the first control unit is further configured to control the first door to unlock in the case that the fourth unlocking instruction from the fifth control unit is not received within a preset time period starting from obtaining the collision signal, and the fourth unlocking instruction is used to indicate unlocking the first door.

[0103] Optionally, the fifth control unit and the second control unit may be the same control unit or different control units.

[0104] Optionally, the above preset time period may be set to 500 milliseconds.

[0105] Optionally, the above preset time period may be adjusted based on the distance between the fifth control unit and the first control unit link.

[0106] For example, when the first control unit is Figure 4 the VIU1 shown in Figure 4 and the fifth control unit is the VIU2 shown in

[0107] if the VIU1 does not receive the fourth unlocking instruction from the VIU2 within 500 milliseconds starting from obtaining the collision signal, the first control unit may control the first door to unlock. Figure 4 Shown in Figure 4In the case of VIU3 shown in FIG. 1 , when VIU1 does not receive the fourth unlocking instruction sent from VIU3 within 700 milliseconds after obtaining the collision signal, the first control unit can control the first door to be unlocked.

[0108] In an embodiment of the present application, if the first control unit does not receive the fourth unlocking instruction within a preset time after obtaining the collision signal, the first control unit can directly control the unlocking of the first door. In this way, while reducing the occurrence of the first door being unlocked incorrectly, the reliability of unlocking the first door can be further improved.

[0109] In one embodiment, the first control unit is further used to control the door handle corresponding to the first door to pop out according to the collision signal. In this way, for a vehicle with a hidden door handle, it is convenient for rescuers to carry out rescue operations when an accident occurs.

[0110] In one embodiment, the first unlocking instruction is also used to instruct the door handle corresponding to the second door to pop out; the second control unit is also used to control the door handle corresponding to the second door to pop out according to the first unlocking instruction. In this way, for a vehicle with hidden door handles, it is convenient for rescue personnel to carry out rescue operations when the vehicle has an accident.

[0111] Combine the following Figures 6 to 10 The control method provided in the embodiment of the present application is introduced.

[0112] Figure 6 is a control method provided in an embodiment of the present application. The method 600 can be applied to Figures 3 to 5 In any of the system architectures shown, the execution subject of method 600 may be a first control unit, and the first control unit establishes a communication connection with a second control unit. Method 600 may include steps S601 to S602.

[0113] S601: Acquire a collision signal.

[0114] Optionally, the first control unit and the second control unit may be in the form of a chip, a processor, or a controller. Further, optionally, the first control unit and the second control unit may be Figures 3 to 5 Any two vehicle integration units (VIU) in any system architecture.

[0115] For example, the first control unit may be Figure 3 In VIU1, the second control unit can be Figure 3 VIU2 in; For example, the first control unit may be Figure 4 In VIU2, the second control unit can be Figure 4 VIU3 in; For another example, the first control unit may be Figure 5 In VIU1, the second control unit can beFigure 5 the VIU3 in

[0116] Optionally, the first control unit can obtain a collision signal from the ABM.

[0117] S602. According to the collision signal, control the first door to unlock and send a first unlocking instruction to the second control unit.

[0118] Wherein, the first unlocking instruction is used to unlock the door corresponding to the second control unit. After receiving the first unlocking instruction, the second control unit can control the second door to unlock based on the first unlocking instruction. Further optionally, if the second control unit can obtain a collision signal, the second control unit can control the second door to unlock based on the collision signal and the first unlocking instruction.

[0119] Optionally, the first control unit is further configured to control the door handle corresponding to the first door to pop out according to the collision signal. In this way, for a vehicle with a hidden door handle, in the event of a vehicle accident, it is convenient for rescue personnel to carry out rescue operations.

[0120] Optionally, when the first unlocking instruction is further used to indicate the door handle corresponding to the second door to pop out, after receiving the first unlocking instruction, the second control unit can pop out the door handle corresponding to the second door. In this way, for a vehicle with a hidden door handle, in the event of a vehicle accident, it is convenient for rescue personnel to carry out rescue operations.

[0121] In the embodiment of the present application, the first control unit can unlock the first door based on the collision signal and send a first unlocking instruction to the second control unit, so as to facilitate the second control unit to unlock the second door based on the first unlocking instruction. In this way, it is avoided that all the doors on the vehicle are controlled to unlock by one control unit. And even if the second control unit fails to obtain a collision signal due to a fault or damage to the communication link, the second control unit can successfully unlock the second door based on the first unlocking instruction. In this way, it can be ensured that at least one door is successfully unlocked when the vehicle collides, thus ensuring the personal safety of the people in the vehicle.

[0122] In one embodiment, before step S602, if the first control unit has obtained a second unlocking instruction from the third control unit, then in step S602, the first control unit can control the first door to unlock according to the second unlocking instruction and the collision signal.

[0123] Optionally, the third control unit and the second control unit can be the same control unit or different control units.

[0124] For example, the first control unit is Figure 5 the VIU2 in Figure 5The VIU1 therein, and the third control unit is Figure 5 the VIU3 therein. Then, the second unlocking instruction can be sent by VIU3 to VIU2 through VIU1.

[0125] Optionally, the second unlocking instruction can be generated by the third control unit or sent to the third control unit by other control units after being generated.

[0126] For example, the first control unit is Figure 5 the VIU2 therein, and the third control unit is Figure 5 the VIU1 therein. The second unlocking instruction can be generated by VIU1 or generated by VIU3 and sent to VIU1, and then forwarded by VIU1 to VIU2.

[0127] Optionally, after obtaining the collision signal and the second unlocking instruction, the first control unit can control the first vehicle door to unlock once, or the first control unit can control the first vehicle door to unlock once after obtaining the collision signal and then control the first vehicle door to unlock once again after receiving the second unlocking instruction. In this way, on the one hand, the situation of the first vehicle door being wrongly unlocked can be reduced, and on the other hand, the reliability of unlocking the first vehicle door can be improved, further ensuring the personal safety of the passengers in the vehicle.

[0128] In one embodiment, in step S602, the first control unit can control the first vehicle door to unlock when it does not receive the fourth unlocking instruction from the fifth control unit within a preset time period starting from obtaining the collision signal, where the fourth unlocking instruction is used to indicate unlocking the first vehicle door. In this way, while reducing the situation of the first vehicle door being wrongly unlocked, the reliability of unlocking the first vehicle door can be further improved.

[0129] Optionally, the fifth control unit and the second control unit can be the same control unit or different control units.

[0130] Optionally, the above preset time period can be set to 500 milliseconds.

[0131] Optionally, the above preset time period can be adjusted based on the distance between the fifth control unit and the first control unit link.

[0132] For example, when the first control unit is Figure 4 the VIU1 shown as Figure 4 and the fifth control unit is the VIU2 shown as

[0133] If VIU1 does not receive the fourth unlocking instruction from VIU2 within 500 milliseconds starting from obtaining the collision signal, the first control unit can control the first vehicle door to unlock. Figure 4 the VIU1 shown asFigure 4 When the VIU3 shown is involved, if the first control unit does not receive the fourth unlocking instruction sent from the VIU3 within 700 milliseconds after the VIU1 obtains the collision signal, the first control unit can control the first vehicle door to unlock.

[0134] Figure 7 It is another control method provided by an embodiment of the present application. Method 700 can be a specific description of each step of Method 600, and Method 700 can be applied to Figure 3 In the system architecture shown, Method 700 may include steps S701 to S706.

[0135] S701, Initialize and power on.

[0136] Among them, this step can be understood as powering on each controller in the vehicle (including: AMB and three VIUs).

[0137] S702, The ABM detects whether the vehicle has collided.

[0138] Optionally, the ABM can determine whether the vehicle has collided based on sensors deployed on the vehicle doors, sensors deployed on the bumper, acceleration sensors, deceleration sensors, or stress sensors.

[0139] For example, when the acceleration indicated by the acceleration sensor undergoes a sudden change, the ABM can consider that the vehicle has collided.

[0140] Another example is that when the voltage change of the stress sensor deployed on the A-pillar or B-pillar of the vehicle is greater than a preset threshold, the ABM can consider that the vehicle has collided.

[0141] S703, The ABM sends the collision signal to each VIU.

[0142] Exemplarily, the VIU may include: VIU1, VIU2, and VIU3.

[0143] S704, The first VIU determines whether a collision has occurred.

[0144] Exemplarily, the first VIU can be VIU1, VIU2, or VIU3. When the first VIU determines that a vehicle collision has occurred, step S705 can be executed. When the first VIU determines that no vehicle collision has occurred, Method 700 can re-execute step S702.

[0145] Optionally, the first VIU can determine whether a collision has occurred based on the transmission cycle of the signals on the CAN bus.

[0146] Among them, the first VIU can correspond to the first control unit in Method 700.

[0147] S705, the first VIU performs local door unlocking and ejects the door handle.

[0148] Exemplarily, when the first VIU is VIU1, VIU1 can directly drive the right front door lock motor to unlock and at the same time drive the hidden door handle motor to eject the right front door handle; when the first VIU is VIU2, VIU2 can directly drive the left front door lock motor to unlock and at the same time drive the hidden door handle motor to eject the left front door handle; when the first VIU is VIU3, VIU3 can directly drive the left rear and right rear door lock motors to unlock and at the same time drive the hidden door handle motor to eject the left rear and right rear door handles.

[0149] S706, the first VIU sends an unlocking signal to other VIUs.

[0150] Exemplarily, when the first VIU is VIU1, VIU1 can send a door lock unlocking request and a door handle ejection request to VIU2 and VIU3; when the first VIU is VIU2, VIU2 can send a door lock unlocking request and a door handle ejection request to VIU1 and VIU3; when the first VIU is VIU3, VIU3 can send a door lock unlocking request and a door handle ejection request to VIU1 and VIU2.

[0151] It should be understood that in method 700, the VIUs are distinguished by the suffixes 1, 2, and 3, and the specific position of each VIU accessing the door can be transformed accordingly. For example, VIU1 can access the control of the left front door unlocking, and VIU2 can control the right front door unlocking, etc.

[0152] In the embodiments of the present application, in the transmission of the collision signal, the AMB can transmit the collision signal to three VIUs (including: VIU1, VIU2, and VIU3) respectively. Even if one or two links between the AMB and the VIU are damaged due to a collision, the ABM can still use the remaining available links to transmit the collision signal to at least one VIU, and then the VIU that receives the collision signal can transmit the signal to other VIUs through the ring network link. In terms of performing unlocking, different door motors are connected to different VIUs nearby, and different VIUs can transmit unlocking instructions to each other. When one or two VIUs are damaged due to a collision, it is still possible to ensure that at least one door unlocks successfully, which can improve the success rate of the escape of the vehicle occupants after a collision.

[0153] Figure 8 It is another control method provided by the embodiments of the present application. Method 800 can be a specific description of each step of method 600. Method 800 can be applied to Figure 3 the system architecture shown, and method 800 can include steps S801 to S806, and steps S811 to S818.

[0154] In method 800, the VIU can be divided into a main control module and slave modules. Taking VIU1 as the main control module and VIU2 and VIU3 as slave modules, method 800 will be introduced below.

[0155] Figure 8 In (a) is a schematic diagram of the interaction between the ABM and VIU1.

[0156] S801, Initialize and power on.

[0157] Among them, this step can be understood as powering on the AMB and VIU1 in the vehicle.

[0158] S802, The ABM detects whether the vehicle has collided.

[0159] Optionally, the ABM can determine whether the vehicle has collided based on sensors deployed on the doors, sensors deployed on the bumpers, acceleration sensors, deceleration sensors, or stress sensors.

[0160] For example, when the acceleration indicated by the acceleration sensor suddenly changes, the ABM can consider that the vehicle has collided.

[0161] Also for example, when the voltage change of the stress sensor deployed on the A-pillar or B-pillar of the vehicle is greater than a preset threshold, the ABM can consider that the vehicle has collided.

[0162] S803, The ABM sends a collision signal to VIU1.

[0163] S804, VIU1 determines whether a collision has occurred.

[0164] Exemplarily, when VIU1 determines that the vehicle has collided, step S805 can be executed. When VIU1 determines that the vehicle has not collided, method 800 can re-execute step S803.

[0165] Optionally, VIU1 can determine whether a collision has occurred based on the transmission period of the signal on the CAN bus.

[0166] S805, VIU1 performs local door unlocking and pops out the door handle.

[0167] Exemplarily, VIU1 can directly drive the right front door lock motor to unlock and at the same time drive the hidden door handle motor to pop out the right front door handle.

[0168] S806, VIU1 sends an unlocking signal to other VIUs.

[0169] Exemplarily, VIU1 can send a door lock unlocking request and a door handle popping request to VIU2 and VIU3.

[0170] Figure 8 Among them, (b) in it is a schematic flowchart of the interaction between ABM and VIU1 with VIU2 or VIU3.

[0171] S811, Initialize and power on.

[0172] Among them, this step can be understood as powering on VIU2 and VIU3 in the vehicle.

[0173] S812, ABM detects whether the vehicle has collided.

[0174] Exemplarily, ABM detecting whether the vehicle has collided can be the same as step S802.

[0175] S813, ABM sends the collision signal to VIU2 and VIU3.

[0176] S814, VIU2 or VIU3 determines whether a collision has occurred.

[0177] Exemplarily, when VIU2 or VIU3 determines that the vehicle has collided, step S815 can be executed. When VIU2 or VIU3 determines that the vehicle has not collided, step S812 is re - executed.

[0178] Optionally, VIU2 and VIU3 can determine whether a collision has occurred based on the transmission cycle of the CAN - bus signal.

[0179] S815, VIU2 or VIU3 determines whether it has received the unlocking instruction from VIU1.

[0180] Exemplarily, after VIU2 or VIU3 receives the unlocking instruction from VIU1, VIU2 or VIU3 can execute step S818. Otherwise, VIU2 or VIU3 can execute step S816.

[0181] S816, VIU2 or VIU3 starts timing.

[0182] S817, VIU2 or VIU3 determines whether the timing is greater than or equal to a preset threshold.

[0183] Exemplarily, when the timing is greater than or equal to the preset threshold and VIU2 or VIU3 still has not received an unlocking request, VIU2 or VIU3 can execute step S818. Otherwise, step S815 can be re - executed.

[0184] Optionally, the above - mentioned preset threshold can be 500 milliseconds.

[0185] S818, VIU2 or VIU3 performs local unlocking and ejects the door handle.

[0186] Exemplarily, VIU2 can directly drive the left front door lock motor to unlock and pop out the left front door handle, and VIU3 can drive the left rear door lock and the right rear door lock motors to unlock and pop out the left rear and right rear door handles.

[0187] It should be understood that in method 800, VIU1 being the main control module and VIU2 and VIU3 being the slave modules is only for exemplary illustration. In some possible implementation manners, VIU2 can be the main control module, VIU1 and VIU3 can be the slave modules, or VIU3 can be the main control module, and VIU1 and VIU2 can be the slave modules.

[0188] In the embodiments of the present application, the VIUs are divided into a main control module and slave modules. As a slave module, after detecting a collision signal, the VIU first detects whether there is an unlocking instruction sent by the main control module VIU. If, in the case of a timing timeout, the VIU as a slave module can also directly unlock the corresponding door based on the collision signal. In this way, while reducing the occurrence of the first door being wrongly unlocked, the reliability of unlocking the first door can be further improved.

[0189] Figure 9 It is another control method provided by the embodiments of the present application. Method 800 can be a specific description of each step of method 600. Method 900 can be applied to Figure 4 the system architecture shown, and method 900 can include steps S901 to S906.

[0190] S901, Initialize and power on.

[0191] Among them, this step can be understood as powering on VIU1 to VIU4 in the vehicle.

[0192] S902, The ABM detects whether the vehicle has collided.

[0193] Optionally, the ABM can determine whether the vehicle has collided based on sensors deployed on the doors, sensors deployed on the bumper, acceleration sensors, deceleration sensors, or stress sensors.

[0194] For example, when the acceleration indicated by the acceleration sensor suddenly changes, the ABM can consider that the vehicle has collided.

[0195] Again, for example, when the voltage change amount of the stress sensor deployed on the vehicle's A-pillar or B-pillar is greater than a preset threshold, the ABM can consider that the vehicle has collided.

[0196] S903, The ABM sends the collision signal to each VIU.

[0197] Exemplarily, the VIU can include: VIU1 to VIU4.

[0198] S904, the first VIU determines whether a collision has occurred.

[0199] Exemplarily, the first VIU can be any one of VIU1 to VIU4. When the first VIU determines that a vehicle collision has occurred, step S905 can be executed. When the first VIU determines that no vehicle collision has occurred, method 900 can re-execute step S902.

[0200] Among them, the first VIU can correspond to the first control unit in method 600.

[0201] Optionally, the first VIU can determine whether a collision has occurred based on the transmission cycle of the signals on the CAN bus.

[0202] S905, the first VIU performs local door unlocking and ejects the door handle.

[0203] Exemplarily, when the first VIU is VIU1, VIU1 can directly drive the right front door lock motor to unlock and at the same time drive the hidden door handle motor to eject the right front door handle; when the first VIU is VIU2, VIU2 can directly drive the left front door lock motor to unlock and at the same time drive the hidden door handle motor to eject the left front door handle; when the first VIU is VIU3, VIU3 can directly drive the left rear door lock motor to unlock and at the same time drive the hidden door handle motor to eject the left rear door handle; when the first VIU is VIU4, VIU4 can directly drive the right rear door lock motor to unlock and at the same time drive the hidden door handle motor to eject the right rear door handle.

[0204] S906, the first VIU sends an unlock signal to other VIUs.

[0205] Exemplarily, when the first VIU is VIU1, VIU1 can send a door lock unlock request and a door handle ejection request to VIU2, VIU3, and VIU4; when the first VIU is VIU2, VIU2 can send a door lock unlock request and a door handle ejection request to VIU1, VIU3, and VIU4; when the first VIU is VIU3, VIU3 can send a door lock unlock request and a door handle ejection request to VIU1, VIU2, and VIU4; when the first VIU is VIU4, VIU4 can send a door lock unlock request and a door handle ejection request to VIU1, VIU2, and VIU3.

[0206] It should be understood that in method 900, the VIUs are distinguished by the suffixes 1, 2, 3, and 4, and the specific positions where each VIU accesses the door can be transformed accordingly.

[0207] In the embodiments of the present application, different door motors are connected to different VIUs nearby, and different VIUs can transmit unlocking instructions to each other. When one or two VIUs are damaged due to collision, at least one door can still be unlocked successfully. Since method 900 increases the number of VIUs and each door lock motor is controlled by a VIU, the success rate of the escape of the vehicle occupants after a collision can be further improved.

[0208] Figure 10 It is another control method provided by the embodiments of the present application. Method 1000 can be a specific description of each step of method 600. Method 1000 can be applied to Figure 5 the system architecture shown in, and method 1000 can include steps S1001 to S1006.

[0209] S1001, initialize and power on.

[0210] Among them, this step can be understood as powering on each controller in the vehicle (including: AMB and three VIUs).

[0211] S1002, the ABM detects whether the vehicle has collided.

[0212] Optionally, the ABM can determine whether the vehicle has collided based on sensors deployed on the doors, sensors deployed on the bumper, acceleration sensors, deceleration sensors, or stress sensors.

[0213] For example, when the acceleration indicated by the acceleration sensor changes suddenly, the ABM can consider that the vehicle has collided.

[0214] For another example, when the voltage change amount of the stress sensor deployed on the A-pillar or B-pillar of the vehicle is greater than a preset threshold, the ABM can consider that the vehicle has collided.

[0215] S1003, the ABM sends a collision signal to each VIU.

[0216] Exemplarily, the VIU can include: VIU1, VIU2, and VIU3.

[0217] S1004, the first VIU determines whether a collision has occurred.

[0218] Exemplarily, the first VIU can be VIU1, VIU2, or VIU3. When the first VIU determines that the vehicle has collided, step S705 can be executed. When the first VIU determines that the vehicle has not collided, method 1000 can re-execute step S1002.

[0219] Optionally, the first VIU can determine whether a collision has occurred based on the transmission period of the signal on the CAN bus.

[0220] Among them, the first VIU may correspond to the first control unit in method 600.

[0221] S1005, the first VIU performs local door unlocking and ejects the door handle.

[0222] Exemplarily, when the first VIU is VIU1, VIU1 can directly drive the right front door lock motor to unlock, and at the same time drive the hidden door handle motor to eject the right front door handle; when the first VIU is VIU2, VIU2 can directly drive the left front door lock motor to unlock, and at the same time drive the hidden door handle motor to eject the left front door handle; when the first VIU is VIU3, VIU3 can directly drive the left rear and right rear door lock motors to unlock, and at the same time drive the hidden door handle motor to eject the left rear and right rear door handles.

[0223] S1006, the first VIU sends an unlocking signal to other VIUs.

[0224] Exemplarily, when the first VIU is VIU1, VIU1 can send a door lock unlocking request and a door handle ejection request to VIU2 and VIU3; when the first VIU is VIU2, VIU2 can send a door lock unlocking request and a door handle ejection request to VIU1, and after receiving the unlocking request and the door handle ejection request, VIU1 can forward the above requests to VIU3; when the first VIU is VIU3, VIU3 can send a door lock unlocking request and a door handle ejection request to VIU1, and after receiving the unlocking request and the door handle ejection request, VIU1 can forward the above requests to VIU2.

[0225] It should be understood that in method 1000, the VIUs are distinguished by suffixes 1, 2, and 3, and the specific positions where each VIU accesses the door can be transformed accordingly.

[0226] In the embodiments of the present application, different door motors are connected to different VIUs nearby, and different VIUs can transmit unlocking instructions to each other, which can improve the success rate of the escape of the vehicle occupants after a collision.

[0227] Figure 11 It is a schematic diagram of a control device 1100 provided by an embodiment of the present application. The device 1100 may include an acquisition unit 1110, a storage unit 1120, and a processing unit 1130. The acquisition unit 1110 is used to acquire instructions and / or data, and the storage unit 1120 is used to implement the corresponding storage function and store the corresponding instructions and / or data; the processing unit 1130 is used to perform data processing so that the device 1100 implements the foregoing control method.

[0228] The device 1100 includes: an acquisition unit 1110 and a processing unit 1130; the acquisition unit 1110 is configured to acquire a collision signal; the processing unit 1130 is configured to control the unlocking of the first vehicle door according to the collision signal and send a first unlocking instruction to a second control unit, where the first unlocking instruction is used to indicate unlocking of the second vehicle door corresponding to the second control unit.

[0229] In a possible implementation, the acquisition unit 1110 is further configured to acquire a second unlocking instruction from a third control unit, where the second unlocking instruction is used to indicate unlocking of the first vehicle door; the processing unit 1130 is specifically configured to control the unlocking of the first vehicle door according to the collision signal and the second unlocking instruction.

[0230] In a possible implementation, the processing unit 1130 is specifically configured to control the unlocking of the first vehicle door when a fourth unlocking instruction from a fifth control unit is not received within a preset time period starting from the acquisition of the collision signal, where the fourth unlocking instruction is used to indicate unlocking of the first vehicle door.

[0231] In a possible implementation, the processing unit 1130 is further configured to control the door handle corresponding to the first vehicle door to pop out according to the collision signal.

[0232] In a possible implementation, the first unlocking instruction is further used to indicate popping out of the door handle corresponding to the second vehicle door.

[0233] Optionally, if the device 1100 is located in the vehicle 100, the foregoing processing unit 1130 may be Figure 1 the processor 131 shown.

[0234] Figure 12 It is a schematic diagram of another control device 1200 provided by an embodiment of the present application.

[0235] The device 1200 includes: a memory 1210, a processor 1220, and a communication interface 1230. Among them, the memory 1210, the processor 1220, and the communication interface 1230 are connected through an internal connection path. The memory 1210 is used to store instructions, and the processor 1220 is used to execute the instructions stored in the memory 1210 to control the communication interface 1230 to acquire information, so that the device 1200 implements the foregoing control method. Optionally, the memory 1210 may be coupled to the processor 1220 through an interface or integrated with the processor 1220.

[0236] It should be noted that the foregoing communication interface 1230 uses a transceiver device such as, but not limited to, a transceiver. The foregoing communication interface 1230 may further include an input / output interface.

[0237] The processor 1220 stores one or more computer programs, and the one or more computer programs include instructions. When the instructions are run by the processor 1220, the control device 1200 is caused to execute the control methods in the above various embodiments.

[0238] In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 1220 or the instructions in software form. The method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 1210, and the processor 1220 reads the information in the memory 1210 and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0239] Optionally, Figure 12 the communication interface 1230 in Figure 11 can implement the acquisition unit 1110 in Figure 12 the memory 1210 in Figure 11 can implement 1120 in Figure 12 the processor 1220 in Figure 11 can implement the processing unit 1130 in

[0240] Optionally, the device 1100 or the device 1200 can be located in Figure 1 the vehicle 100 in

[0241] Optionally, the device 1100 or the device 1200 can be Figure 1 the computing platform 130 in the vehicle.

[0242] The embodiments of the present application further provide a computer-readable storage medium, and the computer-readable storage medium stores program codes. When the computer program codes are run on a computer, the computer is caused to execute any of the above Figures 6 to 10 methods.

[0243] The embodiments of the present application further provide a computer program product, and the computer product includes a computer program. When the computer program is run, the computer is caused to execute any of the above Figures 6 to 10 methods.

[0244] The embodiments of the present application further provide a chip, including: a circuit, and the circuit is used to execute any of the above Figures 6 to 10 methods.

[0245] The embodiments of the present application further provide a vehicle, including asFigure 11 or Figure 12 any of the control devices shown

[0246] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0247] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0248] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0249] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0250] In addition, the functional units in each embodiment of this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0251] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0252] As described above, the above are only specific implementation manners of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A control system, characterized in that, Including: A first control unit and a second control unit, the first control unit and the second control unit establish a communication connection, the first control unit is used to control the unlocking of the first vehicle door, and the second control unit is used to control the unlocking of the second vehicle door; The first control unit is used to obtain a collision signal; The first control unit is further used to control the unlocking of the first vehicle door according to the collision signal, and send a first unlocking instruction to the second control unit, and the first unlocking instruction is used to indicate unlocking of the second vehicle door.

2. The system according to claim 1, characterized in that, The system further includes a third control unit; The first control unit is further used to obtain a second unlocking instruction sent by the third control unit, and the second unlocking instruction is used to indicate unlocking of the first vehicle door; The first control unit is specifically used to control the unlocking of the first vehicle door according to the collision signal and the second unlocking instruction.

3. The system according to claim 1, characterized in that, The system further includes a third control unit and a fourth control unit; The fourth control unit is used to obtain the collision signal; The fourth control unit is further used to generate a third unlocking instruction according to the collision signal, and the third unlocking instruction is used to indicate unlocking of the first vehicle door; The fourth control unit is further used to send the third unlocking instruction to the third control unit; The third control unit is further used to send the third unlocking instruction to the first control unit; The first control unit is specifically used to unlock the first vehicle door according to the collision signal and the third unlocking instruction.

4. The system according to claim 1, characterized in that, The system further includes a fifth control unit; The first control unit is further used to control the unlocking of the first vehicle door when a fourth unlocking instruction from the fifth control unit is not received within a preset time period starting from obtaining the collision signal, and the fourth unlocking instruction is used to indicate unlocking of the first vehicle door.

5. The system according to any one of claims 1 to 4, characterized in that, The first control unit is further used to control the door handle corresponding to the first vehicle door to pop out according to the collision signal.

6. The system according to any one of claims 1 to 5, characterized in that, The second control unit is used to control the unlocking of the second vehicle door according to the first unlocking instruction.

7. The system according to any one of claims 1 to 6, characterized in that, The second control unit is further used to: obtain a collision signal; The second control unit is specifically used to: control the unlocking of the second vehicle door according to the collision signal and the first unlocking instruction.

8. The system according to any one of claims 1 to 7, characterized in that, The first unlocking instruction is further used to indicate popping out the door handle corresponding to the second vehicle door; The second control unit is further used to control the door handle corresponding to the second vehicle door to pop out according to the first unlocking instruction.

9. A control method, characterized in that, The method is applied to a first control unit, and the first control unit is used to control the unlocking of a first vehicle door. The method includes: Obtaining a collision signal; Controlling the unlocking of the first vehicle door according to the collision signal, and sending a first unlocking instruction to a second control unit, and the first unlocking instruction is used to indicate unlocking of the second vehicle door corresponding to the second control unit.

10. The method according to claim 9, characterized in that, The method further includes: Obtaining a second unlocking instruction from a third control unit, and the second unlocking instruction is used to indicate unlocking of the first vehicle door; The controlling the unlocking of the first vehicle door according to the collision signal includes: Controlling the unlocking of the first vehicle door according to the collision signal and the second unlocking instruction.

11. The method according to claim 10, characterized in that, Controlling the unlocking of the first door according to the collision signal includes: Controlling the unlocking of the first door when no fourth unlocking instruction from the fifth control unit is received within a preset time period starting from the acquisition of the collision signal, where the fourth unlocking instruction is used to indicate unlocking the first door.

12. The method according to any one of claims 9 to 11, characterized in that, The method further includes: Controlling the door handle corresponding to the first door to pop out according to the collision signal.

13. The method according to any one of claims 9 to 12, characterized in that, The first unlocking instruction is further used to indicate popping out the door handle corresponding to the second door.

14. A control device, characterized in that, The device is used to control the unlocking of the first door, and the device includes an acquisition unit and a processing unit; The acquisition unit is used to acquire a collision signal; The processing unit is used to control the unlocking of the first door according to the collision signal and send a first unlocking instruction to the second control unit, where the first unlocking instruction is used to indicate unlocking the second door corresponding to the second control unit.

15. The device according to claim 14, characterized in that, The acquisition unit is further used to acquire a second unlocking instruction from the third control unit, where the second unlocking instruction is used to indicate unlocking the first door; The processing unit is specifically used to control the unlocking of the first door according to the collision signal and the second unlocking instruction.

16. The device according to claim 14, characterized in that, The processing unit is specifically used to control the unlocking of the first door when no fourth unlocking instruction from the fifth control unit is received within a preset time period starting from the acquisition of the collision signal, where the fourth unlocking instruction is used to indicate unlocking the first door.

17. The device according to any one of claims 14 to 16, characterized in that, The processing unit is further used to control the door handle corresponding to the first door to pop out according to the collision signal.

18. The device according to any one of claims 14 to 17, characterized in that, The first unlocking instruction is further used to indicate popping out the door handle corresponding to the second door.

19. A control device, characterized in that, It includes a processor and a memory, the processor is coupled to the memory, the memory is used to store a computer program or instruction, and the processor is used to execute the computer program or instruction in the memory, so that the method according to any one of claims 9 to 13 is executed.

20. A chip, the chip includes a circuit for performing the method according to any one of claims 9 to 13.

21. A computer-readable storage medium storing program code, when the computer program code runs on a computer, causing the computer to execute the method according to any one of claims 9 to 13.

22. A vehicle, characterized in that, It includes the system according to any one of claims 1 to 8, or includes the device according to any one of claims 14 to 19.

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