A vehicle, a vehicle collision protection method and system

Abstract

The present invention provides a vehicle, a vehicle collision protection method and system, belonging to the field of vehicle collision safety. The method includes: obtaining the current or voltage value of an electronic collision sensor within the vehicle collision trigger time, and calculating the average change rate of the current or voltage within the vehicle collision trigger time, comparing the average change rate of the current or voltage within the vehicle collision trigger time with a set collision threshold to determine the collision intensity of the vehicle; performing braking control on the vehicle according to the determined collision intensity to achieve vehicle collision protection. By continuously detecting the current or voltage value within the vehicle collision trigger time, the present invention calculates the average change rate of the current or voltage using multiple current or voltage values within this period to determine the collision intensity of the vehicle, and then can achieve precise control of vehicle braking according to the determined collision intensity, improving the precision of vehicle braking control, and being able to reduce the occurrence of serious accidents or weaken accident damage.

Description

Technical Field

[0001] The present invention relates to a vehicle, a vehicle collision protection method and a system, belonging to the technical field of vehicle collision safety. Background Art

[0002] Currently, there are mainly the following two ways to protect against out-of-vehicle collision accidents:

[0003] (1) Active collision protection: Through intelligent environmental perception sensors (such as lidar, vision sensors, millimeter-wave radars, and ultrasonic radars, etc.), collision warnings of the vehicle are realized, so as to control the vehicle in advance to prevent collisions; the automatic emergency braking function can also be added to prevent collisions from occurring.

[0004] (2) Passive collision protection: An electronic collision sensor is used to convert the collision signal when the vehicle collides into a current value or a voltage value. When the magnitude of the current value or the voltage value exceeds a set threshold, it is determined that a collision has occurred, and certain braking measures are taken.

[0005] However, there are some problems with the above two methods currently: In method (1), the environmental perception sensors used in the vehicle collision warning and automatic emergency braking systems are non-contact sensors, which mainly judge the relative state between the vehicle and the target by measuring parameters such as distance or TTC for warning, and there is a high false alarm rate in some scenarios, seriously interfering with the normal driving of the vehicle; method (2) can only judge whether a collision has occurred and cannot determine the intensity of the collision, resulting in the inability to precisely control the braking of the vehicle, and still causing greater harm to road traffic personnel, vehicles, etc. outside the vehicle when a collision accident occurs. Summary of the Invention

[0006] The purpose of the present invention is to provide a vehicle, a vehicle collision protection method and a system, so as to solve the problem that currently, only whether a collision has occurred can be judged by the magnitude of the current value or voltage value output by the electronic collision sensor, and the intensity of the collision cannot be determined, resulting in the inability to precisely control the braking of the vehicle, and greater harm will be caused to road traffic personnel, vehicles, etc. outside the vehicle when a collision accident occurs.

[0007] To achieve the above purpose, the present invention provides a vehicle collision protection method, which includes the following steps:

[0008] (1) Obtain the current or voltage value of the electronic collision sensor within the vehicle collision trigger time, calculate the average change rate of the current or voltage within the vehicle collision trigger time, and compare the average change rate of the current or voltage within the vehicle collision trigger time with a set collision threshold to determine the collision intensity of the vehicle; the vehicle collision trigger time is the time taken for the current or voltage value of the electronic collision sensor to reach the trigger value from the initial value, and the trigger value is the current or voltage value when the electronic collision sensor can just detect the occurrence of a collision;

[0009] (2) Perform braking control on the vehicle according to the determined collision intensity to achieve collision protection of the vehicle.

[0010] The present invention also provides a vehicle collision protection system, which includes:

[0011] At least one electronic collision sensor, each electronic collision sensor is arranged at different positions on the vehicle body, and each electronic collision sensor is respectively connected to a controller; the electronic collision sensor is used to convert the collision force received when the vehicle collides into a current or voltage value;

[0012] A controller, which is used to obtain the current or voltage value of each electronic collision sensor within the vehicle collision trigger time, and implement the above-mentioned vehicle collision protection method according to the obtained current or voltage value.

[0013] The present invention also provides a vehicle, which includes a vehicle body and a vehicle collision protection system, and the vehicle collision protection system includes:

[0014] At least one electronic collision sensor, each electronic collision sensor is arranged at different positions on the vehicle body, and each electronic collision sensor is respectively connected to a controller; the electronic collision sensor is used to convert the collision force received when the vehicle collides into a current or voltage value;

[0015] A controller, which is used to obtain the current or voltage value of each electronic collision sensor within the vehicle collision trigger time, and implement the above-mentioned vehicle collision protection method according to the obtained current or voltage value.

[0016] The beneficial effects of the present invention are as follows: When a vehicle collides, the present invention continuously detects the current or voltage value within the vehicle collision trigger time, calculates the average change rate of the current or voltage using multiple current or voltage values within this period to determine the collision intensity of the vehicle, and performs braking control on the vehicle according to the determined collision intensity. Therefore, the present invention can not only detect whether a collision occurs, but also detect the intensity of the collision, enabling precise control of vehicle braking based on the determined collision intensity, reducing the additional harm to the vehicle occupants and the following vehicle caused by excessive emergency braking during a collision accident. Moreover, the present invention determines the collision intensity of the vehicle by calculating the average change rate of the current or voltage, has the ability to detect low-intensity collisions, and has high sensitivity in collision intensity detection, thereby further ensuring the accuracy of subsequent vehicle braking control. Especially when the colliding vehicle is a bus, due to the large mass and strong structure of the bus, general collisions cause greater harm to vulnerable groups outside the vehicle. Using the collision protection method of the present invention, precise control of vehicle braking can be achieved based on the determined collision intensity, effectively alleviating the intensity of the vehicle collision, reducing the occurrence of serious accidents or reducing the secondary harm of the collision accident to road traffic personnel, vehicles, etc. outside the vehicle.

[0017] Further, in order to improve the accuracy of vehicle collision intensity detection at low speeds, in the above-mentioned vehicle, vehicle collision protection method and system, the average change rate of the current or voltage is continuously calculated multiple times within the vehicle collision trigger time, and the maximum average change rate of the current or voltage is selected as the average change rate of the current or voltage within the vehicle collision trigger time; wherein, the calculation time of each average change rate of the current or voltage is greater than or equal to w0, and w0 is the minimum collision trigger time that the electronic collision sensor can detect.

[0018] Further, in order to further improve the detection accuracy of vehicle collision intensity, in the above-mentioned vehicle, vehicle collision protection method and system, the vehicle speed when the vehicle collides is also obtained. When the vehicle speed when the vehicle collides is higher than the vehicle speed upper limit value or lower than the vehicle speed lower limit value, the collision intensity determined in step (1) is corrected, and braking control is performed on the vehicle using the corrected collision intensity; wherein, when the vehicle speed when the vehicle collides is higher than the vehicle speed upper limit value, the collision intensity determined in step (1) is enhanced, and the enhanced collision intensity is used as the corrected collision intensity; when the vehicle speed when the vehicle collides is lower than the vehicle speed lower limit value, the collision intensity of 0 is used as the corrected collision intensity.

[0019] Further, in the above-mentioned vehicle, vehicle collision protection method and system, the collision threshold is set in levels, the collision intensity is also set in levels, and the braking control of the vehicle includes stopping the power output of the vehicle and performing graded electric braking on the vehicle. Among them, the collision threshold, collision intensity, and electric braking level are set corresponding to each other. The higher the collision intensity, the stronger the electric braking ability.

[0020] The beneficial effects of this are as follows: By stopping the power output of the vehicle and performing stepped electric braking on the vehicle, the intensity of the vehicle collision can be effectively alleviated, and the damage caused by the collision accident can be reduced.

[0021] Furthermore, in the above-mentioned vehicle, vehicle collision protection method and system, before calculating the average change rate of current or voltage within the vehicle collision trigger time, it further includes the step of determining whether the current or voltage value of the electronic collision sensor reaches the trigger value. If the current or voltage value of the electronic collision sensor reaches the trigger value, the power output of the vehicle is stopped, and then stepped electric braking is performed on the vehicle according to the determined collision intensity.

[0022] The beneficial effects of this are as follows: While achieving the maximum degree of collision mitigation, additional injuries caused by sudden braking are reduced.

[0023] Furthermore, in the above-mentioned vehicle, vehicle collision protection method and system, the electronic collision sensor is a strip collision sensor.

[0024] The beneficial effects of this are as follows: The strip collision sensor can be arranged more flexibly and has a wide coverage range, which is beneficial to expanding the detection range of the collision position and improving the sensitivity of collision detection.

[0025] Furthermore, in order to achieve frontal collision protection for the vehicle, in the above-mentioned vehicle collision protection system, when only 3 strip collision sensors are included in the vehicle collision protection system, these 3 strip collision sensors are respectively arranged at the left front position of the vehicle head, the middle position of the vehicle head, and the right front position of the vehicle head.

[0026] Furthermore, in order to ensure the real-time performance and continuity of collision detection, in the above-mentioned vehicle collision protection system, each strip collision sensor is horizontally arranged at the prominent position of the front skin of the vehicle head. Brief Description of the Drawings

[0027] Figure 1 is a schematic diagram of the vehicle structure of the vehicle embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the arrangement of 3 strip sensors in the vehicle collision protection system of the vehicle embodiment of the present invention;

[0029] Figure 3 is a flowchart of the vehicle collision protection method of the vehicle embodiment of the present invention. Detailed Embodiments

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0031] Vehicle Embodiment:

[0032] As shown Figure 1 in the figure, the vehicle in this embodiment includes a vehicle body and a vehicle collision protection system. Among them, the vehicle body includes a vehicle control unit (VCU), an integrated controller, a drive motor, and a vehicle rear axle. The VCU and the integrated controller are communicatively connected through a CAN bus, and the drive motor and the integrated controller are connected by a high-voltage wire. The vehicle collision protection system includes at least one rubber strip collision sensor (hereinafter referred to as the rubber strip sensor) and a collision detection and control unit.

[0033] Among them, the rubber strip collision sensor is a safety edge sensor, which belongs to an existing product, such as the Swiss BIRCHER safety edge sensor, model ELT011 / 008A0W. When using a safety edge sensor for collision detection, the safety edge sensor undergoes physical deformation due to the collision pressure. Its contact resistance changes from a large value to a small value during the deformation process, and the current value or voltage value will increase sharply. When the current value or voltage value reaches the trigger value, it can be determined that a collision has occurred, thereby realizing collision detection.

[0034] In this embodiment, taking the arrangement of 3 rubber strip sensors on the front of the vehicle to achieve frontal collision protection of the vehicle as an example, the vehicle collision protection system will be introduced in detail. As other implementation manners, the side or rear collision protection of the vehicle can also be achieved by arranging rubber strip sensors on the vehicle body or the rear of the vehicle, or the all-round collision protection of the whole vehicle can be achieved by arranging rubber strip sensors on the front, rear, and body of the vehicle. And the number of rubber strip sensors arranged on the vehicle can be adjusted according to actual needs. It is easy to know that the more rubber strip sensors are arranged, the wider the coverage range, the more comprehensive the collision positions that can be detected, and the higher the safety of collision protection.

[0035] As shown Figure 2 in the figure, in this embodiment, 3 independent rubber strip sensors are arranged horizontally on the front skin of the vehicle (i.e., rubber strip sensor 1, rubber strip sensor 2, and rubber strip sensor 3, which are respectively the 3 thick black curve segments in the figure). It can be Figure 2 seen that rubber strip sensor 1 is arranged in the left front, rubber strip sensor 2 is arranged in the due front, and rubber strip sensor 3 is arranged in the right front, which are respectively used for detecting the collision intensity at the left front, due front, and right front positions of the vehicle. These 3 rubber strip sensors are combined to cover the entire forward driving direction of the vehicle, and thus can realize the detection of the collision intensity in the forward driving direction of the vehicle and achieve the frontal collision protection of the vehicle.

[0036] In this embodiment, these three strip sensors are all installed at the prominent positions of the front skin, so that they can come into contact first during a collision to ensure the real-time nature of collision detection. Moreover, these three strip sensors are all arranged horizontally on the front skin, which can ensure the continuity of collision detection. As other implementation manners, the installation positions of the strip sensors can be adjusted according to different vehicle models, but they need to be arranged horizontally on the front skin to ensure the continuity of collision detection.

[0037] The following is a detailed introduction to each component in the vehicle collision protection system:

[0038] As Figure 1 shown, in this embodiment, the vehicle collision protection system includes three strip sensors and a collision detection and control unit. These three strip sensors are respectively connected to the collision detection and control unit for data information transmission.

[0039] Among them, the strip sensor is used to convert the collision force received when the vehicle collides into a current or voltage value; the collision detection and control unit processes the current or voltage value of the strip sensor to obtain parameters such as the position and intensity level of the collision, and generates information such as an electric braking level and a stop power output command according to the obtained collision intensity, and then sends these information to the vehicle controller through the CAN bus. The vehicle controller receives and analyzes the above information, controls the motor controller to stop the driving motor from rotating, and turns on the electric braking mode according to the electric braking level. At this time, the vehicle is cut off from the power output and starts braking in the electric braking mode.

[0040] The collision detection and control unit is composed of a signal conditioning circuit, a collision detection module, and a collision mitigation control module. The signal conditioning circuit collects the current or voltage value of the strip sensor and synchronously outputs it to the collision detection module after filtering. Since the collision time is short, the sampling rate of the signal conditioning circuit needs to reach more than 200KHz. The signal conditioning circuit also has the function of collecting the resistance value of the strip sensor, which can realize the synchronous measurement of current or voltage and resistance, and synchronously output the resistance value to the collision detection module. Among them, the resistance value of the strip sensor can be used for self-check and data verification of the strip sensor.

[0041] In this embodiment, a collision detection module and a collision mitigation control module are separately set. The collision detection module is used to process the received current value to obtain the position and intensity of the collision; the collision mitigation control module is used to generate corresponding electric braking instructions and stop power output instructions according to the intensity of the collision, and send these instructions to the vehicle controller through the CAN bus; among them, the functions of these two modules can be realized by a specially set controller; as other implementation manners, the functions of these two modules can also be directly realized by the vehicle controller.

[0042] The vehicle collision protection system of this embodiment can implement a vehicle collision protection method. In this embodiment, taking the use of a strip sensor to detect the current value during the vehicle collision trigger time and realizing vehicle collision protection by calculating the average current change rate during the vehicle collision trigger time as an example, the vehicle collision protection method will be introduced in detail, as Figure 3 shown, this method includes the following steps:

[0043] (1) Self-check of strip sensor: By connecting a fixed-value resistor in series inside the strip, open-circuit fault detection of the strip is realized. After the vehicle is powered on, the resistance values of strip sensor 1, strip sensor 2, and strip sensor 3 are detected respectively. Determine whether the resistance value exceeds the open-circuit threshold. When it is greater than the open-circuit threshold, it is determined that the strip sensor fails, and a strip sensor short-circuit fault message is sent, and the vehicle's collision protection function cannot be used normally.

[0044] (2) Calculate the average current change rate ΔI during the vehicle collision trigger time: The current values of strip sensor 1, strip sensor 2, and strip sensor 3 are measured in real time. Under normal circumstances, the strip sensor is in a high-resistance state, and the current value of the strip sensor is a certain fixed value (i.e., the initial current value I c , for a strip sensor without a self-check resistor, the initial value I c is zero, for a strip sensor with a self-check resistor, I c is a certain value, and at this time, the numerical value of I c is related to the number of strip sensors and the detection circuit). When a collision occurs, the resistance value of the strip sensor decreases, and the current value increases sharply until the current value reaches the current trigger value I0, and the strip sensor can just detect the occurrence of the collision. The time it takes for the current value of the strip sensor to reach the current trigger value I0 from the initial current value I c is the vehicle collision trigger time; let the resistance trigger value corresponding to the current trigger value I0 be represented by R0.

[0045] The current value of the strip sensor is collected in real time through the signal conditioning circuit. The current collected by the strip sensor is first subjected to digital filtering to reduce noise interference. Then, the current values within the vehicle collision trigger time w L are subjected to sliding integration with an integration window w0, that is, as time increases, it slides forward along the time axis by a sliding interval Δt0 continuously, to achieve continuous integral calculation and detection, and ensure detection real-time performance. The integration interval w0 is the minimum collision trigger time that the strip sensor can detect (the minimum collision trigger time is the shortest time it takes for the strip sensor to detect that its current value increases from the initial value I c to the trigger value I0). The vehicle collision trigger time w L is equally divided into n sub-intervals [t i-1 , t i](i=1,2,3,…n), satisfying t i ≥T0, T0 is the sampling interval. The sliding interval Δt0 can be an integer multiple of the sampling time T0, and the maximum value does not exceed w0. The smaller Δt0 is, the higher the detection accuracy is, but the higher the hardware computing performance requirements are. The average current change rate ΔI within an integral window [t-w0, t] is w0 , as shown below:

[0046]

[0047] In this embodiment, under the condition that the resistance value of the rubber strip sensor is less than the resistance trigger value R0, the vehicle collision trigger time w is calculated using the integration window w0. L The current value within the sliding integral is continuously calculated multiple times for the average current change rate, and the largest average current change rate is selected as the average current change rate ΔI within the vehicle collision trigger time. The continuous detection is to improve the accuracy of collision detection at low speed. As another embodiment, the integral window of the sliding integral can also be greater than w0. In particular, the vehicle collision trigger time w can also be directly L As the integration window, the average current change rate only needs to be calculated once. Among them, the vehicle collision trigger time w L Through the actual vehicle collision test calibration, it is found that the collision trigger time of different vehicles at the same speed will be different. For example, when the vehicle collides at a speed of 10km / h, the vehicle collision trigger time w L When the vehicle speed is 10 km / h, the current of the rubber strip sensor changes from the initial current value I c The time taken to reach the current trigger value I0, the vehicle collision trigger time w L Decreases with the increase of vehicle speed.

[0048] If a vehicle collides with at least two rubber strip sensors at the same time, there are two ways to calculate the average current change rate within the vehicle collision trigger time. In actual application, you can choose one of the calculation methods: 1) Calculate the average current change rate separately for the current value of each rubber strip sensor according to the method of this embodiment, so that each rubber strip sensor corresponds to an average current change rate, and select the largest one as the average current change rate within the vehicle collision trigger time; 2) Summarize the current values ​​of each rubber strip sensor and regard it as the current value of one rubber strip sensor, and calculate the average current change rate within the vehicle collision trigger time according to the method of this embodiment.

[0049] (3) The average current change rate ΔI within the vehicle collision trigger time and the collision threshold I h1 ,I h2Match them separately to determine the collision intensity of the vehicle, and stop the vehicle power output and perform hierarchical electric braking according to the determined collision intensity. Among them, the levels of collision intensity are divided into low intensity, medium intensity, and high intensity, and the levels of electric braking are divided into B v1 、B v2 and B v3 . The higher the collision intensity, the stronger the electric braking ability.

[0050] When ΔI < I h1 , it is recognized as a low-intensity collision, stop the power output, and execute B v1 level electric braking;

[0051] When I h1 ≤ΔI < I h2 , it is recognized as a medium-intensity collision, stop the power output, and execute B v2 level electric braking;

[0052] When I h2 ≤ΔI, it is recognized as a high-intensity collision, stop the power output, and execute B v3 level electric braking.

[0053] Among them, the collision threshold is calibrated by testing the average current change rate when vehicles of different models collide at different speeds. The speed range can be 10 km / h to 40 km / h. As the vehicle mass increases and the vehicle speed increases, the average current change rate during collision also increases.

[0054] In this embodiment, the magnitude of the average current change rate within the vehicle collision trigger time is used to characterize the collision intensity of the vehicle. The larger the average current change rate, the greater the collision intensity. The basis for this is as follows: For the rubber strip sensor, the magnitude of its voltage or current at any moment has nothing to do with the collision intensity. When its current or voltage magnitude exceeds the trigger value, it is considered that a collision has occurred; otherwise, it is considered that no collision has occurred. However, the magnitude of the collision trigger time is related to the collision intensity. The current trigger value of the rubber strip sensor under different collision intensities is the same. The difference is that the time taken for the current to reach the trigger value from the initial value is different (i.e., the collision trigger time is different). The greater the collision intensity, the shorter the collision trigger time, and the shorter the collision trigger time, the greater the average current change rate of the current from the current initial value to the current trigger value. Therefore, in this embodiment, the average current change rate is used to characterize the collision intensity of the vehicle.

[0055] In this embodiment, there are two collision thresholds. Correspondingly, the levels of collision intensity and electric braking are divided into three levels; as other implementation manners, the number of collision thresholds can be set according to actual needs, and only the levels of collision intensity and electric braking need to be adjusted accordingly.

[0056] As other embodiments, during a high-intensity collision, the vehicle's entire braking system can also be associated to perform emergency braking of the vehicle, so as to rapidly reduce the vehicle speed during a high-intensity collision.

[0057] In this embodiment, after the strip sensor is triggered (i.e., the current value of the strip sensor reaches the current trigger value I0), the average current change rate is also calculated and the collision intensity is determined, and then the power output of the vehicle is stopped; as other embodiments, as long as the strip sensor is triggered, the power output of the vehicle is stopped, and then stepped electric braking is performed according to the collision threshold, while achieving the maximum degree of collision mitigation, reducing the additional harm to the vehicle occupants caused by sudden braking.

[0058] (4) When a collision is detected, a collision detection fault message is sent simultaneously, and the message content includes information such as the serial number of the strip sensor where the collision occurs (equivalent to the collision position), the collision intensity, and the electric braking level.

[0059] In this embodiment, the average current change rate during the vehicle collision trigger time is directly calculated based on the current value of the strip sensor to determine the collision intensity, and then the corresponding braking strategy is executed; as other embodiments, vehicle speed information can also be associated when determining the collision intensity, and the collision intensity determined according to the average current change rate during the vehicle collision trigger time is corrected using the vehicle speed at the time of the collision, and the vehicle is braked and controlled using the corrected collision intensity; specifically, when the vehicle speed at the time of the collision is higher than the vehicle speed upper limit value (set according to actual needs), the collision intensity determined according to the average current change rate during the vehicle collision trigger time is enhanced, and the enhanced collision intensity is used as the corrected collision intensity; for example: when the vehicle speed at the time of the collision is greater than 30 km / h, even if the current change rate ΔI during the vehicle collision trigger time does not reach I h2 at this time, B v3 level electric braking is also performed to avoid the collision object being a flexible body, and its current change rate is relatively small; when the vehicle speed at the time of the collision is lower than the vehicle speed lower limit value (set according to actual needs), the collision intensity is set to 0 as the corrected collision intensity; for example: when the vehicle stops and someone accidentally touches the strip sensor, its current value may also reach the current trigger value. If the vehicle speed is not associated, it will be regarded as a collision and the vehicle will be braked, but this situation does not belong to the case of a collision. If the vehicle speed is associated, the operation of vehicle braking can be avoided, thereby reducing the false trigger probability; when the vehicle speed at the time of the collision is between the vehicle speed lower limit value and the upper limit value, the collision intensity determined according to the average current change rate during the vehicle collision trigger time remains unchanged.

[0060] In this embodiment, a strip sensor is used to detect the current value during the vehicle collision trigger time, and the vehicle collision protection is achieved by calculating the average current change rate during the vehicle collision trigger time. The strip sensor has the characteristics of flexible arrangement and wide coverage, which can expand the detection range of the collision position and improve the sensitivity of collision detection. As another implementation, a strip sensor can also be used to detect the voltage value during the vehicle collision trigger time, and the vehicle collision protection is achieved by calculating the average voltage change rate during the vehicle collision trigger time. In this case, the current trigger value needs to be replaced with the voltage trigger value, and at the same time, the collision threshold needs to be calibrated by testing the average voltage change rate of different vehicle models at different speeds during collisions. The remaining processes are similar to those for detecting the current value and will not be elaborated here. As another implementation, existing other electronic collision sensors can also be used to detect the current or voltage value during the vehicle collision trigger time, and the average current or voltage change rate during the vehicle collision trigger time is used to determine the collision intensity of the vehicle, thereby achieving vehicle collision protection. The vehicle collision trigger time is the time it takes for the current or voltage value of the electronic collision sensor to reach the trigger value from the initial value.

[0061] In summary, the vehicle collision protection method of this embodiment can not only detect whether a collision occurs, but also detect the intensity of the collision, enabling precise control of vehicle braking according to the determined collision intensity, reducing the additional harm caused to the vehicle occupants and the following vehicles by excessive emergency braking during a collision accident, and determining the collision intensity of the vehicle by calculating the average current or voltage change rate, having the detection ability for low-intensity collisions and high sensitivity of collision intensity detection, thereby further ensuring the accuracy of subsequent vehicle braking control. Especially when the vehicle involved in the collision is a bus, due to the large mass and strong structure of the bus, general collisions cause greater harm to vulnerable groups outside the vehicle. Using the collision protection method of this embodiment, precise control of vehicle braking can be achieved according to the determined collision intensity, effectively alleviating the intensity of the vehicle collision, reducing the occurrence of serious accidents or reducing the secondary harm of collision accidents (especially consecutive collisions) to road traffic personnel, vehicles, etc. outside the vehicle.

[0062] Embodiment of vehicle collision protection system:

[0063] The vehicle collision protection system of this embodiment is the same as the vehicle collision protection system in the vehicle embodiment and will not be elaborated here.

[0064] Embodiment of vehicle collision protection method:

[0065] The vehicle collision protection method of this embodiment is the same as the vehicle collision protection method in the vehicle embodiment and will not be elaborated here.

Claims

1. A vehicle collision protection method, characterized in that, The method includes the following steps: (1) Obtain the current or voltage value of the electronic collision sensor within the vehicle collision trigger time, and calculate the average change rate of the current or voltage within the vehicle collision trigger time. Compare the average change rate of the current or voltage within the vehicle collision trigger time with a set collision threshold to determine the collision intensity of the vehicle; the vehicle collision trigger time is the time taken for the current or voltage value of the electronic collision sensor to reach the trigger value from the initial value, and the trigger value is the current or voltage value when the electronic collision sensor can just detect the occurrence of a collision; (2) Perform braking control on the vehicle according to the determined collision intensity to achieve collision protection of the vehicle.

2. The vehicle collision protection method according to claim 1, wherein Calculate the average change rate of the current or voltage multiple times continuously within the vehicle collision trigger time, and select the maximum average change rate of the current or voltage as the average change rate of the current or voltage within the vehicle collision trigger time; wherein, the calculation time of each average change rate of the current or voltage is greater than or equal to w0, and w0 is the minimum collision trigger time that the electronic collision sensor can detect.

3. The vehicle collision protection method according to claim 1 or 2, characterized in that, Also obtain the vehicle speed when the vehicle collides. When the vehicle speed when the vehicle collides is higher than the vehicle speed upper limit value or lower than the vehicle speed lower limit value, correct the collision intensity determined in step (1), and perform braking control on the vehicle using the corrected collision intensity; wherein, when the vehicle speed when the vehicle collides is higher than the vehicle speed upper limit value, enhance the collision intensity determined in step (1), and use the enhanced collision intensity as the corrected collision intensity; when the vehicle speed when the vehicle collides is lower than the vehicle speed lower limit value, use a collision intensity of 0 as the corrected collision intensity.

4. The vehicle collision protection method according to claim 3, characterized in that The collision threshold is set in levels, the collision intensity is also set in levels, and the braking control of the vehicle includes stopping the power output of the vehicle and performing graded electric braking on the vehicle. Among them, the collision threshold, the collision intensity, and the electric braking level are set corresponding to each other. The higher the collision intensity, the stronger the electric braking ability.

5. The vehicle collision protection method according to claim 4, characterized in that, Before calculating the average change rate of the current or voltage within the vehicle collision trigger time, it also includes the step of judging whether the current or voltage value of the electronic collision sensor reaches the trigger value. If the current or voltage value of the electronic collision sensor reaches the trigger value, stop the power output of the vehicle, and then perform graded electric braking on the vehicle according to the determined collision intensity.

6. The vehicle collision protection method according to claim 1 or 2, characterized in that, The electronic collision sensor is a strip collision sensor.

7. A vehicle collision protection system, characterized in that, The system includes: At least one electronic collision sensor, each electronic collision sensor is arranged at different positions on the vehicle body, and each electronic collision sensor is respectively connected to the controller; the electronic collision sensor is used to convert the collision force received when the vehicle collides into a current or voltage value; A controller, configured to obtain the current or voltage value of each electronic collision sensor within the vehicle collision trigger time, and implement the vehicle collision protection method according to any one of claims 1-6 based on the obtained current or voltage value.

8. The vehicle collision protection system according to claim 7, characterized in that, When the vehicle collision protection system only includes 3 strip collision sensors, these 3 strip collision sensors are respectively arranged at the left front position of the vehicle head, the middle position of the vehicle head, and the right front position of the vehicle head.

9. The vehicle collision protection system according to claim 8, wherein, Each strip collision sensor is horizontally arranged at the prominent position of the front skin of the vehicle head.

10. A vehicle, comprising a vehicle body and a vehicle collision protection system, characterized in that, The vehicle collision protection system includes: At least one electronic collision sensor, each electronic collision sensor is arranged at different positions on the vehicle body, and each electronic collision sensor is respectively connected to a controller; the electronic collision sensor is used to convert the collision force received when the vehicle collides into a current or voltage value; A controller, configured to obtain the current or voltage values of each electronic collision sensor within the vehicle collision trigger time, and implement the vehicle collision protection method according to any one of claims 1-6 based on the obtained current or voltage values.

Images