Hierarchical dual-tank coordinated inflation method and device based on head impact point prediction

Abstract

The application relates to a hierarchical double-tank coordinated inflation method and device based on head collision point prediction, and belongs to the technical field of airbag inflation. The method comprises the following steps: taking the midpoint of a vehicle bumper as an origin, taking the vehicle head direction as an x axis, taking the left side of the vehicle as a y axis, establishing a coordinate system, and converting a vehicle front collision area into a plurality of line segments in the coordinate system; based on the height of a pedestrian, the distance from the pedestrian to the origin, the relative speed, the azimuth angle and the body inclination angle of the pedestrian, the initial coordinates of the head of the pedestrian, the velocity components of the pedestrian on the x axis and the y axis are calculated; the head prediction coordinates and the shortest distance of each line segment are calculated, the line segment corresponding to the shortest distance less than a first preset threshold value is determined as a target line segment, and the remaining time from the current time to the occurrence of the collision is determined; based on the target line segment, the remaining time and the required inflation time of each airbag, an inflation strategy is determined. The method provided by the application improves the inflation efficiency and realizes that the external safety airbag is inflated when the personnel collides with the vehicle.

Description

Technical Field

[0001] This invention relates to the field of airbag inflation technology, and in particular to a graded dual-tank coordinated inflation method and apparatus based on head impact point prediction. Background Technology

[0002] With the development of electric vehicles, the impact of high performance, high configuration, and high driving experience on the market and consumer concepts has led to a rapid increase in the number of electric vehicles. Although the 48V / 800V electrical architecture has given rise to all-dimensional collision avoidance systems and standard AEB safety functions, the number of collision accidents remains high. According to statistics, there are tens of thousands of electric vehicle collision accidents (pedestrians and two-wheeled vehicles) per year. The collision injury points are: the hood accounts for about 32%, and the lower edge of the windshield and the A-pillar account for nearly 45%.

[0003] Given the current price reduction of air suspension in electric vehicles, we are considering using a dual-tank air suspension air source and reusable external airbags to achieve gas circulation and protect pedestrians. Although dual-tank external airbag inflation already exists, the software's internal status judgment and valve response take a long time. In addition, the current air circuit principle is simply that the high-pressure tank inflates the airbag and the airbag deflates to the low-pressure tank. Although the whole process is stable, the inflation efficiency is low.

[0004] Based on the current situation, this invention proposes a graded dual-tank collaborative airbag inflation algorithm based on head impact point prediction. Summary of the Invention

[0005] In view of this, it is necessary to provide a graded dual-tank coordinated inflation method and device based on head impact point prediction, so as to improve the inflation efficiency of airbags and enhance collision safety.

[0006] To achieve the above objectives, in a first aspect, the present invention provides a graded dual-tank cooperative inflation method based on head impact point prediction, comprising: A coordinate system is established with the midpoint of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis. Within this coordinate system, the front collision area of ​​the vehicle is converted into multiple line segments. Based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle, calculate the pedestrian's initial head coordinates and the pedestrian's velocity components on the x and y axes. Calculate the predicted head coordinates and the shortest distance for each line segment, identify the line segment whose shortest distance is less than a first preset threshold as the target line segment, and determine the remaining time from the current moment until the collision occurs; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; An inflation strategy is determined based on the target line segment, the remaining time, and the required inflation time for each airbag.

[0007] In one possible implementation, the calculation of the pedestrian's initial head coordinates and velocity components along the x and y axes based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle includes: Determine the head height based on the stated height; The initial position of the foot is determined based on the distance of the pedestrian from the origin and the azimuth angle. The initial coordinates of the head are determined based on the body tilt angle, the initial position of the feet, and the head height. Based on the relative velocity and the azimuth angle, the velocity components on the x-axis and y-axis are determined.

[0008] In one possible implementation, calculating the predicted head coordinates and the shortest distance for each line segment includes: Based on the direction vector of each line segment and the vector from the head prediction coordinates to the starting point of each line segment, calculate the projection position of the head prediction coordinates on each line segment. Based on the projected position, determine the target point on each line segment that is closest to the predicted head coordinates; Calculate the shortest distance based on the target point.

[0009] In one possible implementation, the plurality of line segments includes: First line segment, second line segment, third line segment, fourth line segment, and fifth line segment; The first line segment corresponds to the left front grille and fender area; The second line segment corresponds to the area of ​​column A on the left. The third line segment corresponds to the lower edge area of ​​the windshield; The fourth line segment corresponds to the right-side A-pillar area; The fifth line segment corresponds to the right front grille and fender area.

[0010] In one possible implementation, the airbag includes: First airbag, second airbag, third airbag and fourth airbag; The first airbag is disposed between the first line segment and the fifth line segment; The second airbag is positioned above the fourth segment; The third airbag is positioned above the second line segment; The fourth airbag is positioned above the third line segment.

[0011] In one possible implementation, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the first line segment or the fifth line segment, and the remaining time is greater than the inflation time of the first airbag, the first airbag is inflated using a high-pressure air tank.

[0012] In one possible implementation, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the third line segment and any one of the first line segment or the fifth line segment, and the remaining time is less than the inflation time of all airbags, the remaining time and the second preset threshold are determined. When the remaining time is greater than or equal to the second preset threshold, the first airbag is first inflated using a high- and low-pressure dual air tank, and then the fourth airbag is inflated using a high- and low-pressure dual air tank. When the remaining time is less than the second preset threshold, the fourth airbag is first inflated using a high-low pressure dual air tank, and then the second airbag or the third airbag is inflated using a high-low pressure dual air tank.

[0013] In one possible implementation, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the second line segment and the remaining time is greater than the inflation time of the third airbag, the third airbag is inflated using a high-pressure air tank. When the target line segment includes the fourth line segment, and the remaining time is greater than the inflation time of the second airbag, the second airbag is inflated using a high-pressure air tank.

[0014] Secondly, the present invention also provides a graded dual-tank cooperative inflation device based on head impact point prediction, comprising: A unit is established to create a coordinate system with the center point of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis, and to convert the front collision area of ​​the vehicle into multiple line segments within the coordinate system. The calculation unit is used to calculate the initial head coordinates of the pedestrian and the velocity components of the pedestrian on the x-axis and y-axis based on the pedestrian's height, distance from the pedestrian to the origin, relative velocity, azimuth angle and body tilt angle. The determination unit is used to calculate the predicted head coordinates and the shortest distance of each line segment, determine the line segment corresponding to the shortest distance being less than a first preset threshold as the target line segment, and determine the remaining time from the current moment to the occurrence of the collision; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; An inflation unit is used to determine an inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag.

[0015] Thirdly, the present invention also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the graded dual-tank cooperative inflation method based on head collision point prediction as described in any of the above implementations.

[0016] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instruction, which, when executed by a processor, is capable of implementing the steps in the graded dual-tank cooperative inflation method based on head collision point prediction described in any of the above implementations.

[0017] The beneficial effects of the present invention are as follows: The graded dual-tank coordinated inflation method and device based on head collision point prediction provided by the present invention establishes a coordinate system and simplifies the collision zone contour. It predicts the pedestrian's head coordinates by combining the pedestrian's initial head coordinates and velocity components. Based on the predicted head coordinates and the shortest distance of each line segment, it predicts in advance whether a collision will occur by combining a first preset threshold. It also compares the remaining time from the current moment to the collision and the airbag inflation time required to determine whether the inflation source is a high-pressure air tank or a high- and low-pressure dual air tank. It determines the airbag inflation strategy as either high-pressure air tank inflation alone or high- and low-pressure dual air tank coordinated inflation. By predicting and executing in advance, the inflation efficiency is improved, and the purpose of external airbag inflation is achieved when a person collides with a vehicle is realized. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic flowchart of an embodiment of the graded dual-tank cooperative inflation method based on head collision point prediction provided by the present invention. Figure 2 A simplified line segment diagram of the collision contour provided by the present invention; Figure 3 This is a schematic diagram of the air suspension external airbag air circuit principle provided by the present invention; Figure 4 This is a schematic diagram of the hierarchical dual-tank collaborative inflation method based on head collision point prediction provided by the present invention. Figure 5This is a schematic diagram of an embodiment of the graded dual-tank cooperative inflation device based on head collision point prediction provided by the present invention. Figure 6 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0022] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] This invention provides a graded dual-tank coordinated inflation method and apparatus based on head impact point prediction, which will be described below.

[0025] Figure 1 This is a schematic flowchart of an embodiment of the graded dual-tank cooperative inflation method based on head collision point prediction provided by the present invention, as shown below. Figure 1 As shown, the graded dual-tank cooperative inflation method based on head impact point prediction includes: S101. Establish a coordinate system with the midpoint of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis, and convert the front collision area of ​​the vehicle into multiple line segments within the coordinate system. S102. Based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle, calculate the initial head coordinates of the pedestrian and the velocity components of the pedestrian on the x-axis and y-axis. S103. Calculate the predicted head coordinates and the shortest distance of each line segment, determine the line segment corresponding to the shortest distance being less than a first preset threshold as the target line segment, and determine the remaining time from the current moment until the collision occurs; the predicted head coordinates are determined based on the initial head coordinates and the velocity components. S104. Determine an inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag.

[0026] In S101, a coordinate system is established to simplify the outline of the collision zone. The origin is the center of the bumper, the direction of the front of the car is the positive x-axis, and the leftward direction of the y-axis is positive.

[0027] For ease of calculation, the front collision area is simplified into lines. The front collision area includes: the left front grille and fender area, the left A-pillar area, the corresponding lower edge of the windshield area, the right A-pillar area, and the right front grille and fender area. Each of these five areas corresponds to one of five line segments: line segment L1, line segment L2, line segment L3, line segment L4, and line segment L5.

[0028] In S102, the head height can be determined based on the pedestrian's height, and the initial foot position can be determined based on the distance of the pedestrian from the origin and the pedestrian's azimuth angle.

[0029] The initial head coordinates can be determined based on the pedestrian's body tilt angle, initial foot position, and head height. The pedestrian's velocity components on the x and y axes can be determined based on the pedestrian's relative velocity and azimuth angle.

[0030] In S103, the predicted coordinates of the pedestrian's head can be predicted based on the pedestrian's initial head coordinates and velocity components.

[0031] Calculate the shortest distance between the predicted head coordinates and each line segment, and determine the line segment corresponding to the shortest distance being less than the first preset threshold as the target line segment. The area corresponding to the target line segment is the area where a collision risk may occur, and calculate the remaining time from the current moment until the collision occurs.

[0032] In S104, the area where a collision may occur can be determined based on the target line segment. Combining the remaining time from the current moment until the collision occurs with the inflation time required for the airbag in that area, the inflation strategy for the airbag is determined. For example, the high-pressure air tank can be inflated separately, or high- and low-pressure dual air tanks can be used for coordinated inflation to improve inflation efficiency and ensure the safety of the driver.

[0033] For example, when the remaining time is greater than the inflation time, the high-pressure gas tank is used for inflation alone; when the remaining time is less than or equal to the inflation time, the high- and low-pressure gas tanks are used for inflation together.

[0034] In summary, the hierarchical dual-tank coordinated inflation method based on head collision point prediction provided by this invention establishes a coordinate system and simplifies the collision zone contour. It predicts the pedestrian's head coordinates by combining the pedestrian's initial head coordinates and velocity components. Based on the predicted head coordinates and the shortest distance of each line segment, it predicts in advance whether a collision will occur by combining a first preset threshold. It also compares the remaining time from the current moment to the collision and the airbag's required inflation time to determine whether the inflation source is a high-pressure air tank or a high- and low-pressure dual air tank. It determines the airbag inflation strategy as either high-pressure air tank inflation alone or high- and low-pressure dual air tank coordinated inflation. By predicting and executing in advance, the inflation efficiency is improved, achieving the goal of external airbags being fully inflated when a person collides with a vehicle.

[0035] In some embodiments of the present invention, the plurality of line segments include: First line segment, second line segment, third line segment, fourth line segment, and fifth line segment; The first line segment corresponds to the left front grille and fender area; The second line segment corresponds to the area of ​​column A on the left. The third line segment corresponds to the lower edge area of ​​the windshield; The fourth line segment corresponds to the right-side A-pillar area; The fifth line segment corresponds to the right front grille and fender area.

[0036] In this embodiment of the invention, a coordinate system is established to simplify the outline of the collision area. The origin is the center of the bumper, the direction of the front of the vehicle is the positive x-axis, and the leftward direction of the y-axis is positive.

[0037] For ease of calculation, the front collision area is simplified to lines. Figure 2 A simplified line segment diagram of the collision contour provided by the present invention, such as Figure 2 As shown, the segments include the first segment L1, the second segment L2, the third segment L3, the fourth segment L4, and the fifth segment L5. The descriptions of each segment are shown in Table 1.

[0038] Table 1: Description of each line segment

[0039] In some embodiments of the present invention, the calculation of the pedestrian's initial head coordinates and the pedestrian's velocity components on the x and y axes based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle includes: Determine the head height based on the stated height; The initial position of the foot is determined based on the distance of the pedestrian from the origin and the azimuth angle. The initial coordinates of the head are determined based on the body tilt angle, the initial position of the feet, and the head height. Based on the relative velocity and the azimuth angle, the velocity components on the x-axis and y-axis are determined.

[0040] Based on pedestrian height Calculate head height ,as follows:

[0041] in, Head height The distance from a person's chin to the ground is approximately 90% of their height.

[0042] The pedestrian's position coordinates are based on foot coordinates:

[0043] in, Indicates the initial position of the foot. The distance from the pedestrian to the origin of the coordinate system. Let be the azimuth angle of a pedestrian, defined by the right-hand rule that its sign is positive in the z-direction upwards.

[0044] A person's body may tilt during movement. ,inclination It refers to the angle between the line connecting a pedestrian's head and feet and the vertical direction when the pedestrian is walking.

[0045] This embodiment primarily considers positive collisions, ignoring abnormal situations like head tilting, and simplifies the model. Therefore, the initial head coordinates are... as follows:

[0046] Assuming the velocity is the same at all points on the human body, the velocity components of the pedestrian on the coordinate axes are:

[0047] in, This represents the relative speed between pedestrians and vehicles.

[0048] In some embodiments of the present invention, calculating the predicted head coordinates and the shortest distance for each line segment includes: Based on the direction vector of each line segment and the vector from the head prediction coordinates to the starting point of each line segment, calculate the projection position of the head prediction coordinates on each line segment. Based on the projected position, determine the target point on each line segment that is closest to the predicted head coordinates; Calculate the shortest distance based on the target point.

[0049] line segment The direction vectors for (i=1,2,3,4,5) are as follows:

[0050] Calculate any point of the pedestrian's head The vectors to the starting points of each line segment are as follows:

[0051] Head predicted coordinates The projection positions on each line segment are as follows:

[0052] Then the distance to each point on each line The most recent target is:

[0053] Head predicted coordinates The shortest distances to each line segment are as follows:

[0054] In the above formula , Each line segment is a distance from the point. The coordinates of the nearest target point.

[0055] In some embodiments of the present invention, the airbag includes: First airbag, second airbag, third airbag and fourth airbag; The first airbag is disposed between the first line segment and the fifth line segment; The second airbag is positioned above the fourth segment; The third airbag is positioned above the second line segment; The fourth airbag is positioned above the third line segment.

[0056] Figure 3 This is a schematic diagram of the air suspension external airbag circuit principle provided by the present invention, as shown below. Figure 3 As shown, the airbag includes a first airbag (airbag 1), a second airbag (airbag 2), a third airbag (airbag 3), and a fourth airbag (airbag 4).

[0057] The first airbag (airbag 1) is located in the front grille area corresponding to the first line segment L1 and the fifth line segment L5, i.e. and Using a large-area wrap-around airbag, the second airbag (airbag 2) is located in the right A-pillar area corresponding to the fourth line segment L4, the third airbag (airbag 3) is located in the left A-pillar area corresponding to the second line segment L2, and the fourth airbag (airbag 4) is located in the lower edge area of ​​the windshield corresponding to the third line segment L3.

[0058] In some embodiments of the present invention, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the first line segment or the fifth line segment, and the remaining time is greater than the inflation time of the first airbag, the first airbag is inflated using a high-pressure air tank.

[0059] When an obstacle is detected ahead, the relevant collision status inside the ECU should be in a ready state. When the predicted trajectory of a pedestrian's head exceeds the safety threshold in a certain task cycle, the corresponding airbag valve opening command should be issued immediately to inflate it.

[0060] After determining the vehicle dimensions and the pressure and capacity of the air tanks in the suspension system, and completing the design of the volumes of airbags 1-4, the line segments were obtained through simulation. Time required for the airbag in the corresponding area to fully inflate .

[0061] When the target line segment is detected as the first line segment or the fifth line segment, and the area of ​​the first line segment and the fifth line segment corresponds to the first airbag, if it is determined that the remaining time from the current moment to the collision is greater than the inflation time of the first airbag, then only the first airbag is inflated and the air source is a high-pressure tank; otherwise, the airbag is inflated by a dual-tank air source.

[0062] In some embodiments of the present invention, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the third line segment and any one of the first line segment or the fifth line segment, and the remaining time is less than the inflation time of all airbags, the remaining time and the second preset threshold are determined. When the remaining time is greater than or equal to the second preset threshold, the first airbag is first inflated using a high- and low-pressure dual air tank, and then the fourth airbag is inflated using a high- and low-pressure dual air tank. When the remaining time is less than the second preset threshold, the fourth airbag is first inflated using a high-low pressure dual air tank, and then the second airbag or the third airbag is inflated using a high-low pressure dual air tank.

[0063] When the target line segment is detected to include the third line segment and either the first or the fifth line segment, the area of ​​the third line segment corresponds to the fourth airbag, and the areas of the first and fifth line segments correspond to the first airbag.

[0064] If the remaining time from the current moment to the occurrence of the collision is less than the inflation time of the first airbag and less than the inflation time of the fourth airbag, then the remaining time and the second preset threshold TBD1 are further determined.

[0065] When the remaining time is greater than or equal to the second preset threshold TBD1, it is necessary to use the dual-canister system to inflate the first airbag first, and then inflate the fourth airbag.

[0066] When the remaining time is less than the second preset threshold TBD1, the first airbag cannot be completed due to excessive speed. At this time, the first airbag can no longer provide effective protection. It is necessary to inflate the fourth airbag first, and then inflate the second or third airbag according to the status of the first and fifth segments. This process requires the use of dual air tanks for inflation.

[0067] In some embodiments of the present invention, determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the second line segment and the remaining time is greater than the inflation time of the third airbag, the third airbag is inflated using a high-pressure air tank. When the target line segment includes the fourth line segment, and the remaining time is greater than the inflation time of the second airbag, the second airbag is inflated using a high-pressure air tank.

[0068] When the target line segment is detected as the second line segment, the area of ​​the second line segment corresponds to the third airbag. If it is determined that the remaining time from the current moment to the collision is greater than the inflation time of the third airbag, then only the high-pressure tank is used to inflate the third airbag; otherwise, dual-tank air source is used for inflation.

[0069] When the target line segment is detected as the fourth line segment, the area of ​​the fourth line segment corresponds to the second airbag. If it is determined that the remaining time from the current moment to the collision is greater than the inflation time of the second airbag, then only the high-pressure tank is used to inflate the second airbag; otherwise, dual-tank air source is used for inflation.

[0070] It should be noted that, since the current suspension system cannot achieve dual-tank external output, this embodiment of the invention adds pipelines and solenoid valves, and adds one-way valves to the high-pressure tank and low-pressure tank channels to prevent gas from flowing around in the dual-tank cooperative operation mode.

[0071] Inflation strategy reference Figure 3 The ECU-controlled inflation scheme is as follows: High-pressure circuit: High-pressure gas tank - S1 solenoid valve - compressor - S3 - corresponding airbag solenoid valve; Low-pressure pipeline: Low-pressure gas tank - S10 - Compressor - S3 - Corresponding airbag solenoid valve.

[0072] During the dual-tank inflation process, the pressure of the low-pressure tank needs to be checked. If the pressure is found to be lower than 1 bar, S10-S3 should be turned off and the low-pressure tank should be stopped.

[0073] This invention addresses the problem that current air suspension inflation rates cannot effectively protect against external impacts during collisions. It proposes a hierarchical dual-tank collaborative inflation algorithm based on head impact point prediction. This algorithm predicts and executes inflation in advance from the external sensing layer, and determines the inflation air source by comparing the prediction time with the simulation time threshold, thereby improving inflation efficiency. This achieves the goal of ensuring that the external airbags are fully inflated when a person collides with the vehicle.

[0074] Figure 4 This is a schematic diagram of the hierarchical dual-tank cooperative inflation method based on head impact point prediction provided by the present invention, as shown below. Figure 4 As shown, to address the issue of external airbag inflation efficiency, this invention proposes a graded dual-tank cooperative inflation algorithm based on collision point prediction, assuming sufficient air volume in the air tanks. The algorithm includes: S401. Establish a coordinate system and simplify the collision zone outline.

[0075] With the midpoint of the bumper as the origin, the direction the car's front faces is the positive x-axis, and the leftward direction of the y-axis is positive. For ease of calculation, the frontal collision area is simplified to lines, such as... Figure 2 As shown.

[0076] S402, Pedestrian Status Calculation.

[0077] Head height:

[0078] in, Head height The distance from a person's chin to the ground is approximately 90% of their height.

[0079] The person's position coordinates are based on the foot coordinates:

[0080] in, The distance from the pedestrian to the origin of the coordinate system. Let be the azimuth angle of a pedestrian, defined by the right-hand rule that its sign is positive in the z-direction upwards.

[0081] A person's body may tilt at an angle during movement, let's call it an angle. ,inclination It refers to the angle between the line connecting a pedestrian's head and feet and the vertical direction when the pedestrian is walking.

[0082] This embodiment primarily considers positive collisions, ignoring abnormal situations like head tilting, and simplifies the model. Therefore, the head coordinates should be:

[0083] Assuming the velocity is the same at all points on the human body, the velocity components of the pedestrian on the coordinate axes are:

[0084] in, This represents the relative speed between pedestrians and vehicles.

[0085] S403, Head Movement Prediction.

[0086] According to data from the European New Car Assessment Programme (Euro NCAP), which analyzes the time window from pedestrian appearance to collision, and to cover severe driving conditions, a predicted time window T is used. sc The time is 500ms, and the software task cycle is T. S =5ms, the number of points scanned is N=T sc / T S =100 (meaning 100 points are predicted forward within 500ms in each task cycle), setting the predicted collision distance safety threshold to 100. 0.1m. Scan the first... k Time at each point:

[0087] exist The predicted coordinates of the human head are as follows (without considering changes in pedestrian speed over a short period of time):

[0088] Record the current head position:

[0089] S404, Collision Prediction.

[0090] line segment The direction vector of (i=1,2,3,4,5):

[0091] For any point in calculating the pedestrian's head Vectors to the starting points of each line segment:

[0092] point Projected positions on each line segment:

[0093] Then the distance to each point on each line The nearest point is:

[0094] point The shortest distance to each line segment is:

[0095] In the above formula , Distance points on each line The coordinates of the nearest target point.

[0096] Within each cycle, the predicted point breaks through the minimum distance of each line segment. At this time, a flag signal needs to be fed back. (Corresponding to five line segments) indicates which line segments the safety threshold is breached.

[0097] Simultaneously, record the forward prediction time when the distance between the head prediction trajectory and each line segment exceeds the safety threshold within the current task cycle. .

[0098] When performing forward prediction within the prediction window, record the prediction duration when the safety threshold is exceeded within the prediction time, because it is necessary to record... Compared with the simulated inflation time, for lines within the prediction window that have no collision risk... It is directly recorded as the given value of 500ms.

[0099]

[0100] in, Indicates the first line segment The corresponding remaining time from the current moment until the collision occurs.

[0101] S405, Hierarchical Collaboration Strategy.

[0102] When an obstacle is detected ahead, the relevant collision status inside the ECU should be in a ready state. When the predicted trajectory of a pedestrian's head exceeds the safety threshold in a certain task cycle, the corresponding airbag valve opening command should be issued immediately to inflate it.

[0103] In specific projects, after determining the vehicle dimensions and the pressure and capacity of the air tanks in the suspension system, and after designing the volumes of airbags 1-4, simulations were used to determine the time required for the four airbags to fully inflate.

[0104] in, Indicates the first line segment The time required for the airbag in the corresponding area to fully inflate. and Use a large area of ​​airbag.

[0105] In this embodiment, the flag bit signal Set to 1 to indicate a line segment The corresponding area is at risk of collision. The '&' symbol represents the logical 'OR' symbol, and the '&' symbol represents the logical 'AND' symbol.

[0106] (1) When detected or Set to 1, and If the airbag 1 is inflated, the air source is a high-pressure tank; otherwise, it is inflated using a dual-tank air source.

[0107] (2) When detected || && Set to 1, but At this point, you need to use the double canisters to inflate airbag 1 first, and then inflate airbag 4. but and or If the value is less than TBD1 (the second preset threshold), airbag 1 cannot complete its operation due to excessive speed. In this case, airbag 1 can no longer provide effective protection, and airbag 4 needs to be inflated first, and then... or The system inflates either airbag 2 or airbag 3, and this process requires the use of dual air tanks for inflation.

[0108] (3) When detected or Set to 1, and If the pressure tank is used, only airbag 2 or airbag 3 will be inflated; otherwise, both airbags will be inflated.

[0109] S406, Dual-tank collaborative strategy.

[0110] Since the current suspension system cannot achieve dual-tank external output, pipelines and solenoid valves were added. In the dual-tank coordinated operation, one-way valves were added to the high-pressure tank and low-pressure tank channels to prevent gas from flowing around randomly.

[0111] Inflation strategy see Figure 3 ECU-controlled inflation scheme: High-pressure circuit: High-pressure gas tank - S1 solenoid valve - compressor - S3 - corresponding airbag solenoid valve; Low-pressure pipeline: Low-pressure gas tank - S10 - Compressor - S3 - Corresponding airbag solenoid valve.

[0112] During the dual-tank inflation process, the pressure of the low-pressure tank needs to be checked. If the pressure is found to be lower than 1 bar, S10-S3 should be turned off and the low-pressure tank should be stopped.

[0113] This invention addresses head protection by establishing a predictive model for head trajectory, predicting the collision point, and calculating the collision time. It also improves the suspension air circuit principle by adding pipelines to enable simultaneous inflation of both air tanks. Furthermore, it plans the inflation sequence and method of the airbags based on the collision point and time, thereby enhancing the inflation efficiency of the air suspension during a collision.

[0114] To better implement the graded dual-tank cooperative inflation method based on head impact point prediction in the embodiments of the present invention, based on the graded dual-tank cooperative inflation method based on head impact point prediction, the corresponding method is as follows: Figure 5 As shown, this embodiment of the invention also provides a graded dual-tank cooperative inflation device based on head impact point prediction. The graded dual-tank cooperative inflation device 500 based on head impact point prediction includes: Establishment unit 501 is used to establish a coordinate system with the midpoint of the vehicle bumper as the origin, the direction of the vehicle front as the x-axis, and the left side of the vehicle as the y-axis, and to convert the front collision area of ​​the vehicle into multiple line segments within the coordinate system. The calculation unit 502 is used to calculate the initial head coordinates of the pedestrian and the velocity components of the pedestrian on the x-axis and y-axis based on the pedestrian's height, distance from the pedestrian to the origin, relative velocity, azimuth angle and body tilt angle. The determining unit 503 is used to calculate the predicted head coordinates and the shortest distance of each line segment, determine the line segment corresponding to the shortest distance being less than a first preset threshold as the target line segment, and determine the remaining time from the current moment to the occurrence of the collision; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; Inflation unit 504 is used to determine an inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag.

[0115] The graded dual-tank coordinated inflation device 500 based on head impact point prediction provided in the above embodiments can realize the technical solution described in the above embodiments of the graded dual-tank coordinated inflation method based on head impact point prediction. The specific implementation principle of each module or unit can be found in the corresponding content in the above embodiments of the graded dual-tank coordinated inflation method based on head impact point prediction, and will not be repeated here.

[0116] like Figure 6 As shown, the present invention also provides an electronic device 600. The electronic device 600 includes a processor 601, a memory 602, and a display 603. Figure 6 Only some components of the electronic device 600 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0117] In some embodiments, processor 601 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 602 or process data, such as the graded dual-tank co-inflation method based on head impact point prediction in this invention.

[0118] In some embodiments, processor 601 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 601 may be local or remote. In some embodiments, processor 601 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, or any combination thereof.

[0119] In some embodiments, memory 602 may be an internal storage unit of electronic device 600, such as a hard disk or memory of electronic device 600. In other embodiments, memory 602 may also be an external storage device of electronic device 600, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 600.

[0120] Furthermore, the memory 602 may include both internal storage units of the electronic device 600 and external storage devices. The memory 602 is used to store application software and various types of data installed on the electronic device 600.

[0121] In some embodiments, display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an organic light-emitting diode (OLED) touchscreen. Display 603 is used to display information from electronic device 600 and to display a visual user interface. Components 601-603 of electronic device 600 communicate with each other via a system bus.

[0122] In one embodiment, when processor 601 executes the graded dual-tank co-inflation program based on head impact point prediction in memory 602, the following steps can be implemented: A coordinate system is established with the midpoint of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis. Within this coordinate system, the front collision area of ​​the vehicle is converted into multiple line segments. Based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle, calculate the pedestrian's initial head coordinates and the pedestrian's velocity components on the x and y axes. Calculate the predicted head coordinates and the shortest distance for each line segment, identify the line segment whose shortest distance is less than a first preset threshold as the target line segment, and determine the remaining time from the current moment until the collision occurs; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; An inflation strategy is determined based on the target line segment, the remaining time, and the required inflation time for each airbag.

[0123] It should be understood that when the processor 601 executes the graded dual-tank cooperative inflation program based on head collision point prediction in the memory 602, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0124] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 600 mentioned. Electronic device 600 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 600 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0125] Accordingly, embodiments of the present invention also provide a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the graded dual-tank cooperative inflation method based on head collision point prediction provided in the above-described method embodiments.

[0126] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0127] The above provides a detailed description of the graded dual-tank cooperative inflation method and device based on head collision point prediction provided by the present invention. Specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A graded dual-tank cooperative inflation method based on head impact point prediction, characterized in that, include: A coordinate system is established with the midpoint of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis. Within this coordinate system, the front collision area of ​​the vehicle is converted into multiple line segments. Based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle, calculate the pedestrian's initial head coordinates and the pedestrian's velocity components on the x and y axes. Calculate the predicted head coordinates and the shortest distance for each line segment, identify the line segment whose shortest distance is less than a first preset threshold as the target line segment, and determine the remaining time from the current moment until the collision occurs; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; An inflation strategy is determined based on the target line segment, the remaining time, and the required inflation time for each airbag.

2. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 1, characterized in that, The calculation of the pedestrian's initial head coordinates and velocity components on the x and y axes, based on the pedestrian's height, distance from the origin, relative velocity, azimuth angle, and body tilt angle, includes: Determine the head height based on the stated height; The initial position of the foot is determined based on the distance of the pedestrian from the origin and the azimuth angle. The initial coordinates of the head are determined based on the body tilt angle, the initial position of the feet, and the head height; Based on the relative velocity and the azimuth angle, the velocity components on the x-axis and y-axis are determined.

3. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 1, characterized in that, The calculation of the predicted head coordinates and the shortest distance for each line segment includes: Based on the direction vector of each line segment and the vector from the head prediction coordinates to the starting point of each line segment, calculate the projection position of the head prediction coordinates on each line segment. Based on the projected position, determine the target point on each line segment that is closest to the predicted head coordinates; Calculate the shortest distance based on the target point.

4. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 1, characterized in that, The multiple line segments include: First line segment, second line segment, third line segment, fourth line segment, and fifth line segment; The first line segment corresponds to the left front grille and fender area; The second line segment corresponds to the area of ​​column A on the left. The third line segment corresponds to the lower edge area of ​​the windshield; The fourth line segment corresponds to the right-side A-pillar area; The fifth line segment corresponds to the right front grille and fender area.

5. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 4, characterized in that, The airbag includes: First airbag, second airbag, third airbag and fourth airbag; The first airbag is disposed between the first line segment and the fifth line segment; The second airbag is positioned above the fourth segment; The third airbag is positioned above the second line segment; The fourth airbag is positioned above the third line segment.

6. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 5, characterized in that, The step of determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the first line segment or the fifth line segment, and the remaining time is greater than the inflation time of the first airbag, the first airbag is inflated using a high-pressure air tank.

7. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 5, characterized in that, The step of determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the third line segment and any one of the first line segment or the fifth line segment, and the remaining time is less than the inflation time of all airbags, the remaining time and the second preset threshold are determined. When the remaining time is greater than or equal to the second preset threshold, the first airbag is first inflated using a high- and low-pressure dual air tank, and then the fourth airbag is inflated using a high- and low-pressure dual air tank. When the remaining time is less than the second preset threshold, the fourth airbag is first inflated using a high-low pressure dual air tank, and then the second airbag or the third airbag is inflated using a high-low pressure dual air tank.

8. The graded dual-tank cooperative inflation method based on head impact point prediction according to claim 5, characterized in that, The step of determining the inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag includes: When the target line segment includes the second line segment and the remaining time is greater than the inflation time of the third airbag, the third airbag is inflated using a high-pressure air tank. When the target line segment includes the fourth line segment, and the remaining time is greater than the inflation time of the second airbag, the second airbag is inflated using a high-pressure air tank.

9. A graded dual-tank cooperative inflation device based on head impact point prediction, characterized in that, include: A unit is established to create a coordinate system with the center point of the vehicle bumper as the origin, the direction of the vehicle's front as the x-axis, and the left side of the vehicle as the y-axis, and to convert the front collision area of ​​the vehicle into multiple line segments within the coordinate system. The calculation unit is used to calculate the initial head coordinates of the pedestrian and the velocity components of the pedestrian on the x-axis and y-axis based on the pedestrian's height, distance from the pedestrian to the origin, relative velocity, azimuth angle and body tilt angle. The determination unit is used to calculate the predicted head coordinates and the shortest distance of each line segment, determine the line segment corresponding to the shortest distance being less than a first preset threshold as the target line segment, and determine the remaining time from the current moment to the occurrence of the collision; the predicted head coordinates are determined based on the initial head coordinates and the velocity components; An inflation unit is used to determine an inflation strategy based on the target line segment, the remaining time, and the required inflation time for each airbag.

10. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of the graded dual-tank co-inflation method based on head impact point prediction as described in any one of claims 1 to 8.

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