A method for assigning vehicle safety integrity levels based on avoiding torque runaway.

Abstract

This invention relates to a method for allocating vehicle safety integrity levels based on avoiding torque runaway, belonging to the field of automotive testing technology. The method includes: determining whether a collision will occur between the preceding and following vehicles within the fault tolerance time; determining the Simplified Damage Assessment Indicator (AIS) based on the damage from the collision; determining the severity S based on the AIS; estimating the exposure rate E and controllability C of the vehicle safety level; and determining the vehicle safety integrity level based on the severity S, exposure rate E, and controllability C. This invention determines whether a collision will occur based on the fault tolerance time, calculates the AIS for damage assessment after the collision, and then obtains the severity S. Combined with the exposure rate E and controllability C, it can determine the vehicle safety integrity level. Experimental verification has shown that the obtained level judgment is accurate, and when analyzing hazardous events, it can consider the connections and differences between each control domain.

Description

Technical Field

[0001] This invention belongs to the field of automotive testing technology, and specifically relates to a method for allocating automotive safety integrity levels based on avoiding torque runaway. Background Technology

[0002] With the development of automobiles and the increasing popularity of new energy vehicles, people have higher and higher requirements for the safety and reliability of electric vehicles. The power domain and chassis domain are the core of electric vehicles, and their safety performance is particularly important. Functional safety is designed to address these issues. Functional safety has development process requirements. First, hazard analysis and risk assessment must be performed to identify hazardous events, determine the exposure rate in specific scenarios, apply algorithms to obtain severity and controllability, and obtain the vehicle's safety integrity level.

[0003] Currently, many car companies determine vehicle safety integrity levels based on experience, without detailed derivation processes, simulations, or experimental verification, making the results highly inaccurate. Furthermore, when analyzing hazard events, the connections and distinctions between each control domain are not considered.

[0004] To address the aforementioned issues, it is necessary to design a method for assigning vehicle safety integrity levels based on avoiding torque runaway. Summary of the Invention

[0005] To address the above problems, this invention provides a method for assigning vehicle safety integrity levels based on avoiding torque runaway, the method comprising:

[0006] Determine whether a collision will occur between the vehicle in front and the vehicle behind within the fault tolerance period;

[0007] The Accidental Injury Classification (AIS) is determined based on the extent of the impact injury.

[0008] Severity (S) is determined based on the AIS (Advanced Injury Classification System).

[0009] Estimated exposure rate (E) and controllability (C) of vehicle safety level;

[0010] The vehicle safety integrity level is determined based on severity (S), exposure rate (E), and controllability (C).

[0011] Preferably, the fault tolerance time includes reaction time t1 and action time t2.

[0012] Preferably, determining whether a collision will occur within the fault tolerance time includes the following steps:

[0013] Calculate the speeds V of the preceding and following vehicles during the fault tolerance time. 前末 and V 后末 ;

[0014] Calculate the travel distances S1 and S2 of the preceding and following vehicles during the fault tolerance time;

[0015] Determine whether a collision will occur between the following vehicles based on the following distance S2, the following distance S1, and the initial distance △S between the two vehicles.

[0016] Preferably, the speed of the preceding vehicle during the fault tolerance time is calculated as follows: V 前末 =V 前 +a 前1 *t1+a 前2 *t2, where V 前 Let a represent the initial velocity of the vehicle in front. 前1 a represents the acceleration of the vehicle in front during its reaction time. 前2 This indicates the acceleration of the vehicle in front during the action time;

[0017] The method for calculating the speed of the following vehicle during the fault tolerance time is as follows: V 后末 =V 后 +a 后1 *t1+a 后2 *t2, where V 后 Let a represent the initial velocity of the following vehicle. 后1 a represents the acceleration of the following vehicle during its reaction time. 后2 This represents the acceleration of the following vehicle during the action time;

[0018] The relative speed between the vehicles in front and behind is ΔV = V 后末 -V 前末 .

[0019] Preferably, the method for calculating the travel distance of the preceding and following vehicles during the fault tolerance time is as follows:

[0020] Calculate the distance S traveled by the vehicle in front within the reaction time. 反 S 反 =V 前 *t1+0.5*a 前1 *t1*t1;

[0021] Calculate the distance S traveled by the vehicle in front during the action time. 动 S 动 =V 前 *t2+a 前1 *t1*t2+0.5*a 前2 *t2*t2;

[0022] The distance traveled by the preceding vehicle during the fault time is S1 = S 反 +S 动 ;

[0023] Calculate the distance S traveled by the following vehicle within the reaction time. 后 S后 =V 后 *t1+0.5*a 后1 *t1*t1;

[0024] Calculate the distance S traveled by the following vehicle during the action time. 后2 S 后2 =V 后 *t2+a 后1 *t1*t2+0.5*a 后2 *t2*t2;

[0025] The distance traveled by the following vehicle during the fault time is S2 = S 后 +S 后2 ;

[0026] The initial distance between the vehicles in front and behind is △S.

[0027] Preferably, when the distance S2 traveled by the rear vehicle during the fault time is less than the sum of the initial distance ΔS between the front and rear vehicles and the distance S1 traveled by the front vehicle during the fault time, the front vehicle and the rear vehicle will not collide.

[0028] When the distance S2 traveled by the following vehicle during the fault period is greater than or equal to the sum of the initial distance ΔS between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, a collision will occur between the preceding and following vehicles.

[0029] Preferably, the Simplified Injury Classification (AIS) represents a severity rating of the injury;

[0030] The simplified damage classification system (AIS) includes the following levels:

[0031] AIS 0: No damage;

[0032] AIS 1: Minor injury, including superficial skin wounds, muscle pain, and whiplash injury;

[0033] AIS 2: Moderate injury, including deep cutaneous wounds, concussion with 15 minutes of unconsciousness, simple long bone fractures, and simple rib fractures;

[0034] AIS 3: Serious but non-life-threatening injuries, including skull fractures without brain damage, spinal misalignment below the fourth cervical vertebra without spinal cord injury, and more than one rib fracture without respiratory abnormalities.

[0035] AIS 4: Serious injury, specifically life-threatening or potentially fatal injury, including coma lasting up to 12 hours or abnormal breathing due to concussion with or without skull fracture.

[0036] AIS 5: Dangerous injury, which is life-threatening or of uncertain survival, including fracture of the spine below the fourth cervical vertebra with spinal cord injury, intestinal rupture, cardiac rupture, and coma lasting more than 12 hours with intracranial hemorrhage.

[0037] AIS 6: Extremely dangerous or fatal injury, including fracture of the third cervical vertebra or above with spinal cord injury, extremely dangerous body cavities, including the thoracic and abdominal cavities, and open wounds.

[0038] Preferably, the severity S includes the following levels:

[0039] S0: No harm, corresponding to a probability of less than 10% for simplified damage rating AIS 0 and AIS 1-AIS 6, or cannot be classified as safety-related harm;

[0040] S1: Mild and moderate injury, corresponding to a probability of greater than 10% for simplified damage rating AIS 1-AIS 6 and a probability of less than 10% for AIS 3-AIS 6;

[0041] S2: Severe and life-threatening injury or possible survival, corresponding to a probability of greater than 10% for the simplified injury classification AIS 3-AIS 6 and less than 10% for AIS 5-AIS 6;

[0042] S3: Life-threatening injury or uncertain survival, fatal injury, with a probability greater than 10% corresponding to a simplified damage rating of AIS 5-AIS 6.

[0043] Preferably, the exposure rate E represents the exposure probability of the vehicle operation scenario;

[0044] The exposure rate E includes the following levels:

[0045] E1: Extremely low probability;

[0046] E2: Low probability;

[0047] E3: Medium probability;

[0048] E4: High probability;

[0049] The controllability C refers to the driver's or other personnel in the operational scenario's ability to control the hazardous event;

[0050] The controllability C includes the following levels:

[0051] C1: Simple and controllable;

[0052] C2: Generally controllable;

[0053] C3: Difficult to control or uncontrollable.

[0054] Preferably, the vehicle safety integrity level includes four levels: A, B, C, and D.

[0055] Among them, A is the most lenient level of security protection, and D is the most stringent level of security protection.

[0056] The present invention has the following beneficial effects:

[0057] This invention determines whether a collision has occurred based on the fault tolerance time and calculates the simplified injury classification (AIS) after the collision, thereby obtaining the severity (S). Combined with the exposure rate (E) and controllability (C), it can determine the vehicle safety integrity level. Furthermore, experimental verification has shown that the obtained level judgment is accurate. When analyzing hazardous events, it can consider the connections and differences between hazardous events in each control domain.

[0058] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This diagram illustrates a flowchart of a vehicle safety integrity level allocation method based on avoiding torque runaway in an embodiment of the present invention.

[0061] Figure 2 This diagram illustrates a vehicle behind the vehicle in an embodiment of the present invention.

[0062] Figure 3 This diagram illustrates a vehicle in front of an embodiment of the present invention.

[0063] Figure 4 This diagram illustrates a safety architecture block diagram for avoiding torque runaway in an embodiment of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] like Figure 1 As shown, this invention proposes a method for allocating vehicle safety integrity levels based on avoiding torque runaway. The method includes: determining whether a collision will occur between the preceding and following vehicles within the fault tolerance time; determining the simplified damage classification (AIS) based on the extent of the collision damage; determining the severity (S) based on the AIS; estimating the exposure rate (E) and controllability (C) of the vehicle safety level; and determining the vehicle safety integrity level based on the severity (S), exposure rate (E), and controllability (C).

[0066] The fault tolerance time includes reaction time t1 and action time t2. Determining whether a collision will occur within the fault tolerance time includes two scenarios: a vehicle in front and a vehicle behind. This determination involves the following steps: calculating the speeds V of the vehicles in front and behind during the fault tolerance time. 前末 and V 后末 ; Calculate the travel distances S1 and S2 of the preceding and following vehicles during the fault tolerance time; Based on the travel distance S2 of the following vehicle, the travel distance S1 of the preceding vehicle, and the initial distance △S between the preceding and following vehicles, determine whether a collision will occur between the preceding and following vehicles.

[0067] like Figure 2 As shown, when there is a vehicle behind, if a collision with a vehicle in front occurs within the fault tolerance time, the speed of the vehicle in front during the fault tolerance time is calculated as follows: V 前末 =V 前 +a 前1 *t1+a 前2 *t2, where V 前 Let a represent the initial velocity of the vehicle in front. 前1 a represents the acceleration of the vehicle in front during its reaction time. 前2 The acceleration of the preceding vehicle during its action time is represented by V; the velocity of the following vehicle during the fault tolerance time is calculated as follows: V 后末 =V 后 +a 后1 *t1+a 后2 *t2, where V 后 Let a represent the initial velocity of the following vehicle. 后1 a represents the acceleration of the following vehicle during its reaction time. 后2 This represents the acceleration of the following vehicle during its motion; the relative velocity between the two vehicles is ΔV = Va. 后末 -V前末 .

[0068] The calculation method for the travel distance of the preceding and following vehicles within the fault tolerance time is as follows: Calculate the travel distance S of the preceding vehicle within the reaction time. 反 S 反 =V 前 *t1+0.5*a 前1 *t1*t1; Calculate the distance S traveled by the vehicle in front during the action time. 动 S 动 =V 前 *t2+a 前1 *t1*t2+0.5*a 前2 *t2*t2; The distance traveled by the vehicle in front during the fault time is S1=S 反 +S 动 ; Calculate the distance S traveled by the following vehicle within the reaction time. 后 S 后 =V 后 *t1+0.5*a 后1 *t1*t1; Calculate the distance S traveled by the following vehicle during the action time. 后2 S 后2 =V 后 *t2+a 后1 *t1*t2+0.5*a 后2 *t2*t2; The distance traveled by the following vehicle during the fault time is S2=S 后 +S 后2 The initial distance between the vehicles in front and behind is △S.

[0069] When the distance S2 traveled by the following vehicle during the fault period is less than the sum of the initial distance △S between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, the two vehicles will not collide; when the distance S2 traveled by the following vehicle during the fault period is greater than or equal to the sum of the initial distance △S between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, the two vehicles will collide.

[0070] like Figure 3 As shown, when there is a vehicle ahead, if a collision occurs within the fault tolerance time (FTTI), the speed of the vehicle ahead during the fault tolerance time is calculated as V. 前末 =V 前 +a 前 *(t1+t2), where V 前 Let a represent the initial velocity of the vehicle in front. 前 The acceleration of the preceding vehicle is represented by V; the speed of the following vehicle during the fault tolerance time is calculated using the formula V. 后末 =V 后 +a 后1 *t1+a 后2 *t2, where V 后Let a represent the initial velocity of the following vehicle. 后1 a represents the acceleration of the following vehicle during its reaction time. 后2 This represents the acceleration of the following vehicle during its motion; the relative velocity between the two vehicles is ΔV = Va. 后末 -V 前末 .

[0071] The method for calculating the distance traveled by the front and rear vehicles within the fault tolerance time is as follows: the distance traveled by the front vehicle within the fault tolerance time is S1 = V 前 *(t2+t1)+0.5*a 前 *(t2+t1) 2 The distance traveled by the following vehicle within the reaction time is S. 反 =V 后 *t1+0.5*a 后1 *t1*t1, the distance S traveled by the following vehicle during the action time. 动 =(V 后 +a 后1 *t1)*t2+0.5*a 后2 *t2*t2, the distance traveled by the following vehicle within the fault tolerance time is S2=S 反 +S 动 The initial distance between the front and rear vehicles is ΔS, and FTTI = t1 + t2.

[0072] When the distance S2 traveled by the following vehicle during the fault period is less than the sum of the initial distance △S between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, the two vehicles will not collide; when the distance S2 traveled by the following vehicle during the fault period is greater than or equal to the sum of the initial distance △S between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, the two vehicles will collide.

[0073] The AIS (Association of Injuries and Classifications) represents the severity of an injury.

[0074] The simplified damage classification system (AIS) includes the following levels:

[0075] AIS 0: No damage;

[0076] AIS 1: Minor injury, including superficial skin wounds, muscle pain, and whiplash injury;

[0077] AIS 2: Moderate injury, including deep cutaneous wounds, concussion with 15 minutes of unconsciousness, simple long bone fractures, and simple rib fractures;

[0078] AIS 3: Serious but non-life-threatening injuries, including skull fractures without brain damage, spinal misalignment below the fourth cervical vertebra without spinal cord injury, and more than one rib fracture without respiratory abnormalities.

[0079] AIS 4: Serious injury, specifically life-threatening or potentially fatal injury, including coma lasting up to 12 hours or abnormal breathing due to concussion with or without skull fracture.

[0080] AIS 5: Dangerous injury, which is life-threatening or of uncertain survival, including fracture of the spine below the fourth cervical vertebra with spinal cord injury, intestinal rupture, cardiac rupture, and coma lasting more than 12 hours with intracranial hemorrhage.

[0081] AIS 6: Extremely dangerous or fatal injury, including fracture of the third cervical vertebra or above with spinal cord injury, extremely dangerous body cavities, including the thoracic and abdominal cavities, and open wounds.

[0082] Severity S includes the following levels:

[0083] S0: No harm, corresponding to a probability of less than 10% for simplified damage rating AIS 0 and AIS 1-AIS 6, or cannot be classified as safety-related harm;

[0084] S1: Mild and moderate injury, corresponding to a simplified damage rating AIS 1-AIS 6 probability greater than 10%, and an AIS 3-AIS 6 probability less than 10%;

[0085] S2: Severe and life-threatening injury or possible survival, corresponding to a simplified injury rating AIS 3-AIS 6 probability greater than 10%, and an AIS 5-AIS 6 probability less than 10%;

[0086] S3: Life-threatening injury or uncertain survival, fatal injury, corresponding to a probability greater than 10% of AIS 5-AIS 6 in the Concise Damage Classification.

[0087] Exposure rate E represents the probability of exposure to the vehicle's operating scenario;

[0088] Exposure rate E includes the following levels:

[0089] E1: Extremely low probability;

[0090] E2: Low probability;

[0091] E3: Medium probability;

[0092] E4: High probability.

[0093] Controllability C represents the ability of the driver or other personnel in the operational scenario to control the hazardous event;

[0094] Controllability C includes the following levels:

[0095] C1: Simple and controllable;

[0096] C2: Generally controllable;

[0097] C3: Difficult to control or uncontrollable.

[0098] The safety integrity level of a vehicle is divided into four levels: A, B, C, and D. Among them, A is the most lenient level in terms of safety protection, and D is the most stringent level in terms of safety protection.

[0099] The method for determining ASIL level is shown in Table 1. In Table 1, QM represents quality management, which falls under the scope of the 16949 quality management system.

[0100] Table 1

[0101]

[0102] Example 1: Analysis of a vehicle with a safety integrity level of B

[0103] Scenario: Sunny weather conditions, driving straight on a highway, there is a vehicle ahead, the vehicle in front suddenly slows down (the distance between the two vehicles is 120m, the vehicle in front is traveling at 120km / h, suddenly slows down to 6.2m / s). 2 (When the vehicle is traveling at 120 km / h, braking torque is lost, and the vehicle cannot decelerate).

[0104] Exposure rate E: Highway, straight driving, normal weather conditions; the vehicle in front brakes at maximum deceleration on the highway, E=2; the final exposure rate is 2.

[0105] Severity S: Based on the longitudinal algorithm described above, the relative velocity during the collision is approximately 120 kph, which is greater than 65 kph, and the severity is 3.

[0106] Controllability C: Based on the longitudinal algorithm described above, the maximum reaction time is 6.29s. Since the driver's reaction time is about 0.4s and the time to press the brake pedal is about 0.3s, but it is found that there is still no deceleration, the driver tries to avoid the vehicle by turning to other lanes or taking other measures. However, since there may be vehicles in the adjacent lanes, it is uncontrollable, so the controllability is 3.

[0107] Example 2: Analysis of a vehicle with a safety integrity level of C

[0108] Scenario: Rainy weather conditions, driving straight on a highway, there is a vehicle ahead, the vehicle in front suddenly slows down (the distance between the two vehicles is 120m, the vehicle in front is traveling at 120km / h, and the speed is 2m / s). 2 (When the vehicle is traveling at 120 km / h, braking torque is lost, and the vehicle cannot decelerate).

[0109] Exposure rate E: Highway, straight driving, rainy weather conditions, with the vehicle in front traveling at 2 m / s 2 Deceleration is performed, E=4, and the exposure rate is 4.

[0110] Severity S: The relative velocity at the time of the collision calculated by the above longitudinal algorithm is approximately 78.87 kph, which is greater than 65 kph, so the severity is 3.

[0111] Controllability C: The maximum reaction time calculated by the above longitudinal algorithm is 10.95s. Since the driver's reaction time is about 0.4s and the time to press the brake pedal is about 0.3s, but it is found that there is still no deceleration, the driver takes measures such as turning to other lanes or other measures to avoid the vehicle. However, since there may be vehicles in the adjacent lanes, the reaction time is relatively long and controllable, so the controllability is 2.

[0112] Therefore, the hazardous event of torque runaway can be defined with the safety objective of avoiding torque runaway, the vehicle safety integrity level being C, and the safety architecture for avoiding torque runaway as shown in Figure 4. Here, BPS represents the brake pedal signal; APS represents the accelerator pedal signal; VCU represents the vehicle control unit; MCU represents the motor control unit; and ESP represents the electronic stability system. In functional safety, it is difficult for some signals to achieve the expected ASIL level target value; therefore, ASIL level decomposition is used. It is difficult to achieve ASIL C in the accelerator pedal signal (APS), therefore, it is decomposed into ASIL B(C) and ASIL A(C); it is difficult to achieve ASIL D in the brake pedal signal (BPS), therefore, it is decomposed into ASIL B(D) and ASIL B(D).

[0113] Those skilled in the art should understand that, despite the detailed description of the present invention with reference to the foregoing embodiments, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for allocating vehicle safety integrity levels based on avoiding torque runaway, characterized in that, The method includes: Determine whether a collision will occur between the vehicle in front and the vehicle behind within the fault tolerance period; The Accidental Injury Classification (AIS) is determined based on the extent of the impact injury. Severity (S) is determined based on the AIS (Advanced Injury Assessment System). Estimated exposure rate (E) and controllability (C) of vehicle safety level; The vehicle safety integrity level is determined based on severity (S), exposure rate (E), and controllability (C). The fault tolerance time includes the reaction time t1 and the action time t2; The determination of whether a collision will occur within the fault tolerance time includes the following steps: Calculate the speeds V of the preceding and following vehicles during the fault tolerance time. 前末 and V 后末 ; Calculate the travel distances S1 and S2 of the preceding and following vehicles during the fault tolerance time; Determine whether a collision will occur between the following vehicles based on the following distance S2, the following distance S1, and the initial distance △S between the two vehicles. The method for calculating the speed of the preceding vehicle during the fault tolerance time is as follows: V 前末 = V 前 +a 前1 *t1+ a 前2 *t2, where V 前 Let a represent the initial velocity of the vehicle in front. 前1 Let a represent the acceleration of the vehicle in front during the reaction time t1. 前2 This represents the acceleration of the vehicle in front during the action time t2; The method for calculating the speed of the following vehicle during the fault tolerance time is as follows: V 后末 = V 后 +a 后1 *t1+ a 后2 *t2, where V 后 Let a represent the initial velocity of the following vehicle. 后1 a represents the acceleration of the following vehicle during the reaction time t1. 后2 This represents the acceleration of the following vehicle during the action time t2; The relative speed between the vehicles in front and behind is ΔV = V 后末 -V 前末 ; The calculation method for the travel distance of the preceding and following vehicles during the fault tolerance time is as follows: Calculate the distance S traveled by the vehicle in front within the reaction time. 反 S 反 =V 前 *t1+0.5*a 前1 *t1*t1; Calculate the distance S traveled by the vehicle in front during the action time. 动 S 动 =V 前 *t2+a 前1 *t1*t2+0.5*a 前2 *t2*t2; The distance traveled by the preceding vehicle during the fault time is S1=S 反 +S 动 ; Calculate the distance S traveled by the following vehicle within the reaction time. 后 S 后 =V 后 *t1+0.5*a 后1 *t1*t1; Calculate the distance S traveled by the following vehicle during the action time. 后2 S 后2 =V 后 *t2+a 后1 *t1*t2+0.5*a 后2 *t2*t2; The distance traveled by the following vehicle during the fault time is S2=S 后 +S 后2 ; The initial distance between the vehicles in front and behind is △S; When the distance S2 traveled by the following vehicle during the fault time is less than the sum of the initial distance △S between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault time, the preceding vehicle and the following vehicle will not collide. When the distance S2 traveled by the following vehicle during the fault period is greater than or equal to the sum of the initial distance ΔS between the two vehicles and the distance S1 traveled by the preceding vehicle during the fault period, a collision will occur between the preceding and following vehicles.

2. The method for allocating vehicle safety integrity levels based on avoiding torque runaway as described in claim 1, characterized in that, The Concise Injury Classification System (AIS) represents the severity level of the injury; The simplified damage classification system (AIS) includes the following levels: AIS 0: No damage; AIS 1: Minor injury, including superficial skin wounds, muscle pain, and whiplash injury; AIS 2: Moderate injury, including deep cutaneous wounds, concussion with 15 minutes of unconsciousness, simple long bone fractures, and simple rib fractures; AIS 3: Serious but non-life-threatening injuries, including skull fractures without brain damage, spinal misalignment below the fourth cervical vertebra without spinal cord injury, and more than one rib fracture without respiratory abnormalities. AIS 4: Serious injury, specifically life-threatening or potentially fatal injury, including coma lasting up to 12 hours or abnormal breathing due to concussion with or without skull fracture. AIS 5: Dangerous injury, which is life-threatening or of uncertain survival, including fracture of the spine below the fourth cervical vertebra with spinal cord injury, intestinal rupture, cardiac rupture, and coma lasting more than 12 hours with intracranial hemorrhage. AIS 6: Extremely dangerous or fatal injury, including fracture of the third cervical vertebra or above with spinal cord injury, extremely dangerous body cavities, including the thoracic and abdominal cavities, and open wounds.

3. The method for allocating vehicle safety integrity levels based on avoiding torque runaway as described in claim 2, characterized in that, The severity S includes the following levels: S0: No harm, corresponding to a probability of less than 10% for simplified damage rating AIS 0 and AIS 1-AIS 6, or cannot be classified as safety-related harm; S1: Mild to moderate injury, corresponding to a probability of AIS 1-AIS 6 greater than 10%, and a probability of AIS 3-AIS 6 less than 10%; S2: Severe and life-threatening injury or possible survival, corresponding to a probability of AIS 3-AIS 6 greater than 10%, and a probability of AIS 5-AIS 6 less than 10%; S3: Life-threatening injury or uncertain survival, fatal injury, with a probability greater than 10% corresponding to a simplified damage rating (AIS 5-AIS 6).

4. The method for allocating vehicle safety integrity levels based on avoiding torque runaway as described in claim 1, characterized in that, The exposure rate E represents the probability of exposure to the vehicle operation scenario; The exposure rate E includes the following levels: E1: Extremely low probability; E2: Low probability; E3: Medium probability; E4: High probability; The controllability C refers to the driver's or other personnel in the operational scenario's ability to control collision events between vehicles in front and behind; The controllability C includes the following levels: C1: Simple and controllable; C2: Generally controllable; C3: Difficult to control or uncontrollable.

5. The method for assigning vehicle safety integrity levels based on avoiding torque runaway as described in claim 1, characterized in that, The vehicle safety integrity level includes four levels: A, B, C, and D. Among them, A is the most lenient level of security protection, and D is the most stringent level of security protection.

Images