A door control system and control method for bottoming collision of pure electric vehicle

Abstract

The present invention discloses a door control system and control method for a bottoming collision of a pure electric vehicle, comprising an obstacle recognition module, a relative position comparison module and a warning action execution module; the obstacle recognition module is used to determine whether there is an obstacle in front of the vehicle body and determine the position of the obstacle; the relative position comparison module is used to compare the relative position of the obstacle and the vehicle body, and determine whether the vehicle body will bottom-collide with the obstacle; the warning action execution module is used to execute or not execute the door unlocking warning action according to the judgment result of whether the vehicle body will bottom-collide with the obstacle. The present invention ensures that after a bottoming collision accident occurs, outsiders can quickly rescue people in the vehicle, and there is sufficient accident warning time and rescue time.

Description

Technical Field

[0001] The present invention relates to the technical field of safety systems for pure electric vehicles, and in particular to a door control system and a control method for a bottoming collision of a pure electric vehicle. Background Art

[0002] Pure electric vehicles are the development trend of the automotive industry, but the power battery system of electric vehicles is flammable and explosive, especially ternary lithium batteries are more likely to be damaged when they collide and squeeze. There are clear collision regulations for the front, side, and rear, and the battery system collision protection is considered in vehicle design. However, there are no relevant testing regulations for the working conditions that are very likely to occur in actual use, which has become a weak link in the protection of electric vehicle battery systems. And because the battery system is explosive and burns quickly, how to increase the rescue speed and reduce the rescue time has become an urgent problem that needs to be solved in rescue after a pure electric vehicle collision accident. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned background technology and to provide a door control system and control method for a pure electric vehicle under-under-under-collision, which ensures that when an under-under collision accident occurs, the vehicle doors are unlocked automatically and in a timely manner to ensure that outsiders can quickly rescue the people in the vehicle, and at the same time, an alarm signal is used to remind rescue personnel to provide timely rescue, thereby significantly reducing the accident warning time and rescue time.

[0004] To achieve this purpose, the door control system for bottoming collision of a pure electric vehicle designed in the present invention includes an obstacle recognition module, a relative position comparison module and a warning action execution module; the obstacle recognition module is used to judge whether there is an obstacle in front of the vehicle body and determine the position of the obstacle; the relative position comparison module is used to compare the relative position of the obstacle and the vehicle body, and judge whether the vehicle body will bottom collide with the obstacle; the warning action execution module is used to execute or not execute the door unlocking warning action according to the judgment result of whether the vehicle body will bottom collide with the obstacle.

[0005] Furthermore, the door control system of the pure electric vehicle in the bottoming collision also includes a warning action release module, and the warning action release module is used to stop executing the door unlocking warning action.

[0006] Furthermore, the obstacle recognition module includes a radar and a camera.

[0007] Furthermore, the method for the obstacle recognition module to determine the position of the obstacle is: constructing a virtual coordinate system of the vehicle body and determining the coordinates of the highest point of the obstacle.

[0008] Furthermore, the relative position comparison module includes a distance comparison module, a vehicle body position comparison module and a reaction time comparison module; the distance comparison module is used to compare the coordinates of the highest point of the obstacle with the coordinates of the lowest point of the vehicle body to obtain the Z-direction distance and the X-direction distance between the lowest point of the vehicle body and the highest point of the obstacle; the vehicle body position comparison module is used to compare the X-direction distance between the lowest point of the vehicle body and the highest point of the obstacle at two consecutive moments to determine the movement direction and movement speed of the vehicle; the reaction time comparison module is used to calculate the driver's current braking reaction time based on the X-direction distance between the lowest point of the vehicle body and the highest point of the obstacle and the movement speed of the vehicle, and compare the driver's current braking reaction time with the driver's braking safety reaction time and the driver's minimum braking reaction time to determine whether the vehicle body will bottom out and collide with the obstacle.

[0009] Furthermore, the warning action execution module includes an in-vehicle warning module, an out-vehicle warning module and a door unlocking module; the in-vehicle warning module is used to prompt the driver that the vehicle may bottom out; the out-vehicle warning module is used to prompt people outside the vehicle that the vehicle may bottom out; and the door unlocking module is used to unlock the door.

[0010] Furthermore, the in-vehicle warning module includes an alarm, a collision warning image or an animation.

[0011] Furthermore, the external warning module includes a horn and a lighting system.

[0012] Furthermore, the door unlocking module includes a door unlocking system.

[0013] Still further, a door control method for a pure electric vehicle in a bottoming collision comprises the following steps:

[0014] Step 1: Determine whether there is an obstacle in front of the vehicle and determine the location of the obstacle;

[0015] Step 2: Compare the relative positions of the obstacle and the vehicle body to determine whether the vehicle body will collide with the obstacle;

[0016] Step 3: Execute or not execute the door unlocking warning action based on the judgment result of whether the vehicle body will collide with the obstacle.

[0017] The beneficial effects of the present invention are: by using radar, camera, etc. to assess whether a vehicle may or has already bottomed out, when a bottoming collision is inevitable or has already occurred, the door is unlocked by the door unlocking system to improve the rescue efficiency after the collision; and at the same time, an early warning system is used to warn the people inside the vehicle to save themselves, and an early warning is given to the people outside the vehicle to obtain rescue, further improving the rescue efficiency. It is ensured that after a bottoming collision accident occurs, outsiders can quickly rescue the people inside the vehicle, and there is sufficient accident warning time and rescue time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of module connection of a door control system for a pure electric vehicle under a bottoming collision in the present invention;

[0019] Figure 2 This is a schematic diagram of the internal module connections of the relative position comparison module in the present invention;

[0020] Figure 3 This is a schematic diagram of the internal module connections of the early warning action execution module in the present invention;

[0021] Figure 4 It is a schematic diagram of control signal transmission in the present invention;

[0022] Figure 5 It is a schematic diagram of the arrangement structure of the control system on the vehicle body in the present invention;

[0023] Among them, 1 is an obstacle recognition module, 2 is a relative position comparison module, 3 is a warning action execution module, 4 is a warning action release module, 5 is a distance comparison module, 6 is a vehicle body position comparison module, 7 is a reaction time comparison module, 8 is an in-vehicle warning module, 9 is an out-vehicle warning module, 10 is a door unlocking module, 11 is a vehicle body, 12 is an obstacle, 13 is a radar, 14 is a camera, 15 is a speaker, 16 is a lighting system, 17 is a door unlocking system, 18 is a power battery, and 19 is a control unit. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1 —3 shows a door control system for a pure electric vehicle underbody collision designed by the present invention, which includes an obstacle recognition module 1, a relative position comparison module 2, a warning action execution module 3 and a warning action cancellation module 4.

[0026] The obstacle recognition module 1 includes a radar 13 and a camera 14 , which are used to determine whether there is an obstacle 12 in front of the vehicle body 11 and determine the position of the obstacle 12 .

[0027] The relative position comparison module 2 includes a distance comparison module 5, a vehicle body position comparison module 6 and a reaction time comparison module 7. The distance comparison module 5 is used to compare the coordinates of the highest point of the obstacle 12 with the coordinates of the lowest point of the vehicle body 11, and obtain the Z-direction distance and the X-direction distance between the lowest point of the vehicle body 11 and the highest point of the obstacle 12; the vehicle body position comparison module 6 is used to compare the X-direction distance between the lowest point of the vehicle body 11 and the highest point of the obstacle 12 at two consecutive moments, and determine the moving direction and moving speed of the vehicle; the reaction time comparison module 7 is used to calculate the driver's current braking reaction time according to the X-direction distance between the lowest point of the vehicle body 11 and the highest point of the obstacle 12 and the moving speed of the vehicle, and compare the driver's current braking reaction time with the driver's braking safety reaction time and the driver's minimum braking reaction time to determine whether the vehicle body 11 will collide with the obstacle 12.

[0028] The warning action execution module 3 includes an in-vehicle warning module 8, an out-vehicle warning module 9 and a door unlocking module 10. The in-vehicle warning module 8 includes an alarm, a collision prompt image or animation, which is used to prompt the driver that the vehicle may have a bottoming collision; the out-vehicle warning module 9 includes a horn 15 and a lighting system 16, which is used to prompt people outside the vehicle that the vehicle may have a bottoming collision; the door unlocking module 10 includes a door unlocking system 17, which is used to unlock the door.

[0029] The warning action cancellation module 4 is used to stop executing the door unlocking warning action of the warning action execution module 3 .

[0030] Specifically, Figure 4 As shown in FIG. 5 , the door control system of a pure electric vehicle in a bottom collision includes a radar 13 and a camera 14, which are responsible for evaluating and sensing the spatial position of obstacles in front of the vehicle, the coordinates of the upper surface control points and the vehicle's movement speed; the control unit 19 forms a control signal through calculation based on the signal collected by the environmental perception system; the in-vehicle warning module 8 gives a warning prompt to the occupants in the vehicle according to the control signal of the control unit 19; the out-vehicle warning module 9 gives a warning prompt to the occupants outside the vehicle according to the control signal of the control unit 19; the door unlocking system 10 unlocks the door according to the control signal of the control unit 19; and the warning action release module 4 is used to manually release the warning signal.

[0031] The control strategy of the control system of the present invention is:

[0032] Step 1: The control unit 19 constructs a virtual coordinate system O of the vehicle body according to the vehicle body characteristics (the coordinate system moves with the vehicle body). Based on the coordinate system, the key control points on the lower surface of the vehicle body 11 form a coordinate set (X1, Z1), which is built into the controller;

[0033] Step 2: The radar 13 and the camera 14 identify the obstacle 12 on the ground in front of the vehicle. The control unit 19 constructs the upper surface space coordinate set (X2, Z2) of the obstacle 12 based on the measurement data and the virtual coordinate system O of the vehicle body, and obtains the vehicle speed V in the X direction (V≥0, indicating that the obstacle is far away from the vehicle, V<0, indicating that the obstacle is close to the vehicle);

[0034] In the third step, the control unit 19 determines the minimum Z-direction distance h (h>0, indicating that there is a gap between the vehicle and the obstacle, h<0 indicating that the obstacle overlaps in the Z direction and a collision will occur) between the lower surface of the vehicle body 11 and the obstacle 12, and the X-direction distance L (L≥0, indicating that the vehicle has passed the obstacle 12, L<0 indicating that the horizontal distance between the vehicle and the obstacle 12 is |L|) between the minimum distance point and the obstacle 12 according to (X1, Z1) and (X2, Z2);

[0035] In the fourth step, the control unit 19 performs relevant actions according to the h value:

[0036] If h≥h0, no matter what the values ​​of V and L are, the vehicle body 11 will not collide with the obstacle 12, the external and internal warning systems will not be activated, and the door unlocking system 17 will not operate;

[0037] If h<h0, if L<0, and V<0, and |L / V|≥T0, the in-vehicle warning module 8 is activated to remind the driver that a bottoming collision may occur, and the door unlocking system 17 does not operate;

[0038] If h<h0, if L<0, and V<0, and T1≤|L / V|<T0, the in-vehicle warning module 8 is activated to remind the driver that a bottoming collision may occur, and the door unlocking system 17 does not operate;

[0039] If h<h0, if L<0, and V<0, and |L / V|<T1, the bottoming collision is inevitable, the vehicle interior warning module 8 and the vehicle exterior warning module 9 are both activated, and the door unlocking system 17 is activated;

[0040] If h<h0, if L≥0, no matter what the values ​​of V and L are, a bottoming collision has occurred, the in-vehicle warning module 8 and the out-vehicle warning module 9 are both activated, and the door unlocking system 17 is activated.

[0041] Among them, h0 is the safety gap, T0 is the driver's braking safety reaction time, and T1 is the driver's minimum braking reaction time.

[0042] In the fifth step, the personnel inside and outside the vehicle confirm through testing that the accident has no major impact, and the alarm can be canceled through the early warning action cancellation module 4.

[0043] The present invention uses radar 13, camera 14, etc. to assess whether a vehicle may or has already bottomed out. When a bottoming collision is inevitable or has already occurred, the door is unlocked by the door unlocking system 17 to improve the rescue efficiency after the collision. At the same time, an early warning system is used to warn the occupants to save themselves and to warn the people outside the vehicle to obtain rescue, further improving the rescue efficiency. It ensures that after a bottoming collision accident occurs, outsiders can quickly rescue the occupants, and there is sufficient accident warning time and rescue time.

[0044] The above is only a preferred embodiment of the present invention, and does not limit the structure of the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A control method for a door control system applied to a bottoming collision of a pure electric vehicle, Features: The door control system for a pure electric vehicle underbody collision comprises an obstacle recognition module (1), a relative position comparison module (2) and a warning action execution module (3); The obstacle recognition module (1) is used to determine whether there is an obstacle (12) in front of the vehicle body (11) and to determine the position of the obstacle (12); The relative position comparison module (2) is used to compare the relative positions of the obstacle (12) and the vehicle body (11) to determine whether the vehicle body (11) will collide with the obstacle (12); The warning action execution module (3) is used to execute or not execute the door unlocking warning action according to the judgment result of whether the vehicle body (11) will have a bottom collision with the obstacle (12); The method for the obstacle recognition module (1) to determine the position of the obstacle is: constructing a virtual coordinate system of the vehicle body and determining the coordinates of the highest point of the obstacle (12); The relative position comparison module (2) comprises a distance comparison module (5), a vehicle body position comparison module (6) and a reaction time comparison module (7); The distance comparison module (5) is used to compare the coordinates of the highest point of the obstacle (12) with the coordinates of the lowest point of the vehicle body (11) to obtain the Z-direction distance and the X-direction distance between the lowest point of the vehicle body (11) and the highest point of the obstacle (12); The vehicle body position comparison module (6) is used to compare the X-direction distance between the lowest point of the vehicle body (11) and the highest point of the obstacle (12) at two consecutive moments, so as to determine the moving direction and moving speed of the vehicle; The reaction time comparison module (7) is used to calculate the driver's current braking reaction time based on the X-direction distance between the lowest point of the vehicle body (11) and the highest point of the obstacle (12) and the movement speed of the vehicle, and compare the driver's current braking reaction time with the driver's braking safety reaction time and the driver's minimum braking reaction time to determine whether the vehicle body (11) will collide with the obstacle (12); The control method of the door control system applied to the bottoming collision of a pure electric vehicle comprises: Step 1: Determine whether there is an obstacle in front of the vehicle and determine the location of the obstacle; The method comprises: a control unit (19) constructs a virtual coordinate system O of the vehicle body according to vehicle body features, the coordinate system moves together with the vehicle body, and based on the coordinate system, key control points on the lower surface of the vehicle body (11) form a coordinate set (X1, Z1), and the coordinate sets are built into the controller; a radar (13) and a camera (14) identify an obstacle (12) on the ground in front of the vehicle, and the control unit (19) constructs a spatial coordinate set (X2, Z2) of the upper surface of the obstacle (12) based on the vehicle body virtual coordinate system O according to measurement data, and simultaneously obtains the vehicle speed V along the X direction, wherein V≥0 indicates that the obstacle is moving away from the vehicle, and V<0 indicates that the obstacle is approaching the vehicle; Step 2: Compare the relative positions of the obstacle and the vehicle body to determine whether the vehicle body will collide with the obstacle; the method includes: The control unit (19) determines the minimum distance h in the Z direction between the lower surface of the vehicle body (11) and the obstacle (12) and the distance L in the X direction from the minimum distance point to the obstacle (12) according to (X1, Z1) and (X2, Z2). If h>0, it means that there is a gap between the vehicle and the obstacle. If h<0, it means that there is an overlap in the Z direction between the obstacles and a collision will occur. If L≥0, it means that the vehicle has passed the obstacle (12). If L<0, it means that the horizontal distance between the vehicle and the obstacle (12) is |L|. Step 3: executing or not executing the door unlocking warning action according to the judgment result of whether the vehicle body will collide with the obstacle; The method comprises: a control unit (19) performs relevant actions according to the h value: If h≥h0, no matter what the values ​​of V and L are, the vehicle body (11) will not collide with the obstacle (12), the exterior and interior warning systems will not be activated, and the door unlocking system (17) will not operate; If h<h0, if L<0, and V<0, and |L / V|≥T0, the in-vehicle warning module (8) is activated to warn the driver of a possible bottoming collision, and the door unlocking system (17) does not operate; If h<h0, if L<0, and V<0, and T1≤|L / V|<T0, the in-vehicle warning module (8) is activated to warn the driver of a possible bottoming collision, and the door unlocking system (17) does not operate; If h<h0, if L<0, and V<0, and |L / V|<T1, the bottoming collision is inevitable, the vehicle interior warning module (8) and the vehicle exterior warning module (9) are both activated, and the door unlocking system (17) is activated; If h<h0, if L≥0, no matter what the values ​​of V and L are, a bottoming collision has occurred, the vehicle interior warning module (8) and the vehicle exterior warning module (9) are both activated, and the door unlocking system (17) is activated; Among them, h0 is the safety gap, T0 is the driver's braking safety reaction time, and T1 is the driver's minimum braking reaction time.

2. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 1, Features: It also comprises a warning action cancellation module (4), wherein the warning action cancellation module (4) is used to stop executing the vehicle door unlocking warning action.

3. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 1, Features: The obstacle recognition module (1) comprises a radar (13) and a camera (14).

4. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 1, Features: The warning action execution module (3) comprises an in-vehicle warning module (8), an out-vehicle warning module (9) and a door unlocking module (10); The in-vehicle warning module (8) is used to remind the driver that the vehicle may have a bottoming collision; The vehicle exterior warning module (9) is used to warn people outside the vehicle that a bottom collision may occur; The vehicle door unlocking module (10) is used for unlocking the vehicle door.

5. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 4, Features: The in-vehicle warning module (8) comprises an alarm, a collision warning image or an animation.

6. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 4, Features: The vehicle exterior warning module (9) comprises a speaker (15) and a lighting system (16).

7. The control method of the door control system applied to the bottoming collision of a pure electric vehicle as claimed in claim 4, Features: The vehicle door unlocking module (10) comprises a vehicle door unlocking system (17).

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