Control method, control device, and vehicle for vehicle collision

Abstract

The application discloses a vehicle collision control method, a control device and a vehicle, and belongs to the technical field of automobile control. The method comprises the following steps: determining that the vehicle is in a too-close-to-vehicle mode or a pre-collision mode based on the current vehicle speed and a brake signal of the vehicle; outputting a collision warning information in response to the vehicle being in the too-close-to-vehicle mode; and performing a collision protection operation in response to the vehicle being in the pre-collision mode. The vehicle collision control method can improve the safety of vehicle driving to a certain extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, in particular to a vehicle collision control method, a vehicle collision control device and a vehicle. BACKGROUND

[0002] With the rapid development of new energy automobile industry technology, the configuration of new energy automobiles is getting higher and higher, and the demand of drivers for safe driving of vehicles is getting stronger and stronger. During driving, the vehicle may have sudden conditions such as collision with a front vehicle.

[0003] At present, whether there is a collision danger with a front vehicle is mainly judged by the driver according to experience and the alarm prompt of a ranging device, and after judging that there is a collision danger with a front vehicle, braking is performed to avoid traffic accidents. However, the avoidance of collision mainly depends on the experience of the driver and the reaction speed of stepping on the brake, which is easily affected by human factors, and the safety of vehicle driving is not high. SUMMARY

[0004] In view of this, the present application provides a vehicle collision control method, a vehicle collision control device and a vehicle, which can improve the safety of vehicle driving to a certain extent.

[0005] The present application provides a vehicle collision control method, applied to a vehicle, the method comprising:

[0006] determining that the vehicle is in an over-close-to-front-vehicle mode or a pre-collision mode based on a current vehicle speed and a brake signal of the vehicle;

[0007] in response to the vehicle being in the over-close-to-front-vehicle mode, outputting collision warning information;

[0008] in response to the vehicle being in the pre-collision mode, performing a collision protection operation,

[0009] wherein, when the vehicle has a ranging radar:

[0010] in response to the current vehicle speed being within a set first vehicle speed range and the distance between the vehicle and a front vehicle being not greater than a first distance threshold, the vehicle enters the over-close-to-front-vehicle mode;

[0011] when the vehicle is in the over-close-to-front-vehicle mode, in response to the distance between the vehicle and the front vehicle being not greater than a second distance threshold and the brake signal not being detected, the vehicle enters the pre-collision mode, and the first distance threshold is greater than the second distance threshold;

[0012] when the vehicle does not have the ranging radar:

[0013] In response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected and a brake speed after a set brake time being not less than a first speed threshold, the vehicle enters the pre-collision mode.

[0014] In some embodiments, the first distance threshold and the second distance threshold each has a positive correlation with the current vehicle speed; and / or

[0015] The brake time has a positive correlation with the current vehicle speed.

[0016] In some embodiments, when the current vehicle speed is not greater than a set second speed threshold, the positive correlation between the first distance threshold and the current vehicle speed is different from the positive correlation between the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.

[0017] In some embodiments, the second vehicle speed range includes a plurality of sub-ranges, each of the sub-ranges corresponding to a constant brake time; and

[0018] The brake times corresponding to the plurality of sub-ranges arranged in ascending order gradually increase.

[0019] In some embodiments, the method further comprises:

[0020] When the vehicle is in the pre-collision mode, in response to obtaining the brake signal or the distance between the vehicle and the forward vehicle being greater than the second distance threshold, the vehicle exits the pre-collision mode.

[0021] In some embodiments, the collision protection operation includes emergency braking and sending warning information to the surrounding environment;

[0022] The vehicle exiting the pre-collision mode in response to obtaining the brake signal or the distance between the vehicle and the forward vehicle being greater than the second distance threshold includes:

[0023] The vehicle stops performing the emergency braking operation within a set delay period from a response time, the response time being a time when the brake signal is detected or the distance between the vehicle and the forward vehicle is detected to be greater than the second distance threshold;

[0024] After the delay period, the operation of sending warning information to the surrounding environment is stopped to make the vehicle exit the pre-collision mode.

[0025] In some embodiments, the collision protection operation further includes at least one of:

[0026] not responding to throttle requests, unlocking the doors, closing all the windows, pre-tensioning the seat belts, turning off the air conditioning compressor, turning off the heater, and opening the active grille shutter.

[0027] In some embodiments, the outputting the collision warning information comprises at least one of:

[0028] displaying text information through a vehicle display screen; and

[0029] outputting voice information through a vehicle audio system.

[0030] Embodiments of the present application also provide a vehicle collision control device, which is applied to a vehicle, and the device comprises:

[0031] a determination module configured to determine that the vehicle is in a too-close-to-vehicle mode or a pre-collision mode based on a current vehicle speed and a brake signal of the vehicle;

[0032] an output module configured to output collision warning information in response to the vehicle being in the too-close-to-vehicle mode;

[0033] a protection module configured to perform a collision protection operation in response to the vehicle being in the pre-collision mode,

[0034] wherein, when the vehicle is provided with a ranging radar:

[0035] in response to the current vehicle speed being within a set first vehicle speed range and a distance between the vehicle and a front vehicle being not greater than a first distance threshold, the vehicle enters the too-close-to-vehicle mode;

[0036] when the vehicle is in the too-close-to-vehicle mode, in response to the distance between the vehicle and the front vehicle being not greater than a second distance threshold and the brake signal not being detected, the vehicle enters the pre-collision mode, and the first distance threshold is greater than the second distance threshold;

[0037] when the vehicle is not provided with the ranging radar:

[0038] in response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected, and a brake vehicle speed after a set brake time being not less than a first speed threshold, the vehicle enters the pre-collision mode.

[0039] Embodiments of the present application also provide a vehicle, which performs the vehicle collision control method as described above.

[0040] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0041] The vehicle collision control method, the control device and the vehicle provided by the embodiments of the present application can determine whether the vehicle is in the too-close mode or the pre-collision mode based on the current vehicle speed and the brake signal, and do not depend on the experience of the driver, thereby reducing the influence of human factors, improving the accuracy of the collision condition judgment, and helping to improve the safety of vehicle driving; when the vehicle is in the too-close mode, the collision warning information is output to attract the attention of the driver, so that the driver can control the vehicle speed in time; when the vehicle is in the pre-collision mode, the vehicle performs the collision protection operation, thereby reducing the risk and severity of the collision through the vehicle warning and the emergency intervention operation of the vehicle, and further improving the safety of vehicle driving. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 A vehicle collision control method is provided in the embodiments of the present application.

[0044] Figure 2 Another vehicle collision control method is provided in the embodiments of the present application.

[0045] Figure 3 Still another vehicle collision control method is provided in the embodiments of the present application.

[0046] Figure 4 A structural schematic diagram of a vehicle collision control device provided in the embodiments of the present application is shown. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0048] Figure 1 A vehicle collision control method provided in the embodiments of the present application is shown in Figure 1 The vehicle collision control method provided by the embodiments of the present application is applied to a vehicle, and includes the following steps:

[0049] Step 101, determining whether the vehicle is in a too-close mode or a pre-collision mode based on the current vehicle speed and the brake signal.

[0050] In step 102, in response to the vehicle being in the too-close-to-front-vehicle mode, outputting a collision warning information.

[0051] In step 103, in response to the vehicle being in the pre-collision mode, performing a collision protection operation.

[0052] When the vehicle has a ranging radar, in response to the current vehicle speed being in a set first vehicle speed range and the distance between the vehicle and the front vehicle being not greater than a first distance threshold, the vehicle enters the too-close-to-front-vehicle mode; in response to the distance between the vehicle and the front vehicle being not greater than a second distance threshold and no brake signal being detected, the vehicle enters the pre-collision mode when the vehicle is in the too-close-to-front-vehicle mode, the first distance threshold being greater than the second distance threshold.

[0053] When the vehicle does not have a ranging radar, in response to the current vehicle speed being in a set second vehicle speed range, a brake signal being detected and the brake speed after a set brake time being not less than a first speed threshold, the vehicle enters the pre-collision mode.

[0054] In the embodiments of the present application, the first vehicle speed range and the second vehicle speed range can be set by the developers or users of the vehicle, and the division of the two can be the same or different.

[0055] The vehicle collision control method provided in the embodiments of the present application determines whether the vehicle is in the too-close-to-front-vehicle mode or the pre-collision mode based on the current vehicle speed and the brake signal, which does not depend on the experience of the driver, reduces the influence of human factors, improves the accuracy of collision condition judgment, and helps to improve the safety of vehicle driving; when the vehicle is in the too-close-to-front-vehicle mode, the collision warning information is outputted to attract the attention of the driver, so that the driver can control the vehicle speed in time; when the vehicle is in the pre-collision mode, the collision protection operation is performed, so as to reduce the risk and severity of collision through vehicle warning and emergency intervention operation of the vehicle, and further improve the safety of vehicle driving.

[0056] In addition, the vehicle collision control method provided by the embodiment of the present application considers that the configuration of the ranging radar of different models of vehicles can be different. For a vehicle without a ranging radar, whether the vehicle is in a pre-collision mode is determined based on the current vehicle speed, the brake signal, and the brake speed after the set brake time. For a vehicle with a ranging radar, a pre-warning function is added. When the distance between the vehicle and the front vehicle is not less than a first distance threshold, it is determined that the vehicle enters an over-close mode with the front vehicle. In the case of being over-close to the front vehicle, the distance between the vehicle and the front vehicle is continuously detected. When the distance is not less than a second distance threshold and no brake signal is detected, it is determined that the vehicle enters a pre-collision mode. Therefore, the vehicle collision control method provided by the embodiment of the present application can accurately determine the collision of a vehicle equipped with a ranging radar or a vehicle without a ranging radar, thereby improving the universality of the method.

[0057] In some embodiments, the first distance threshold and the second distance threshold each have a positive correlation with the current vehicle speed; and / or

[0058] The brake time has a positive correlation with the current vehicle speed.

[0059] In some embodiments, when the current vehicle speed is not greater than a set second speed threshold, the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed is different from the positive correlation between each of the first distance threshold and the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.

[0060] In some embodiments, the second vehicle speed range includes a plurality of sub-ranges, and the brake time corresponding to each sub-range is constant; and

[0061] The brake time corresponding to each of the plurality of sub-ranges arranged from small to large gradually increases.

[0062] In some embodiments, the method further comprises:

[0063] When the vehicle is in the pre-collision mode, in response to obtaining the brake signal or the distance between the vehicle and the front vehicle being greater than the second distance threshold, the vehicle exits the pre-collision mode.

[0064] In some embodiments, the collision protection operation includes emergency braking and sending warning information to the surrounding environment;

[0065] In response to obtaining the brake signal or the distance between the vehicle and the front vehicle being greater than the second distance threshold, the vehicle exits the pre-collision mode, including:

[0066] The vehicle stops performing the emergency braking operation within a set delay period from a response time, and the response time is the time when the brake signal is detected or the distance between the vehicle and the front vehicle is detected to be greater than the second distance threshold.

[0067] After the delay period, the operation of sending the warning information to the surrounding environment is stopped, so that the vehicle exits the pre-collision mode.

[0068] In some embodiments, the collision protection operation further includes at least one of:

[0069] not responding to a throttle request, unlocking the vehicle door, closing all vehicle windows, pre-tightening the seat belt, turning off the air conditioner compressor, turning off the heater, and fully opening the active air intake grille.

[0070] In some embodiments, outputting the collision warning information includes at least one of:

[0071] displaying text information through a vehicle display screen; and

[0072] outputting voice information through a vehicle audio system.

[0073] For a vehicle equipped with a ranging radar, the embodiments of the present application also provide another vehicle collision control method. As shown in Figure 2 The control method is applied to a vehicle and can be specifically executed by a vehicle control unit (VCU, Vehicle Control Unit) of the vehicle, and includes the following steps:

[0074] In response to the current vehicle speed being within a set first vehicle speed range and the distance between the vehicle and the front vehicle being not greater than a first distance threshold, the vehicle enters a too-close-to-front-vehicle mode.

[0075] The ranging radar can be used to detect the distance between vehicles, so for a vehicle equipped with a ranging radar, the distance between the vehicle and the front vehicle can be detected. When the distance between the vehicle and the front vehicle is not greater than the first distance threshold, it means that the distance between the vehicle and the front vehicle is too close, and there is a certain risk of collision. Therefore, for a vehicle equipped with a ranging radar, a too-close-to-front-vehicle warning function can be added to reduce the risk of collision.

[0076] When the vehicle is too close to the front vehicle, if the current vehicle speed is low or the vehicle is already in an idle coasting state, it can be considered that the risk of collision of the vehicle is low, and therefore no warning is given to the user. If a throttle signal is detected, it means that the user has not noticed that the vehicle is too close to the front vehicle and has the intention to continue to accelerate, in which case the risk of collision is high and the user needs to be warned in time. Therefore, in some embodiments, the vehicle enters the too-close-to-front-vehicle mode in response to the current vehicle speed being within a set first vehicle speed range, the distance between the vehicle and the front vehicle being not greater than a first distance threshold, and a throttle signal being detected, so as to improve the accuracy of judging the collision of the vehicle.

[0077] The first vehicle speed range can be set by a developer of the vehicle or a user autonomously. In some embodiments, the first vehicle speed range can be greater than 10 kph.

[0078] In some embodiments, in response to the current vehicle speed not being within the set first vehicle speed range, the vehicle does not enter the too-close-to-vehicle-ahead mode.

[0079] The current vehicle speed not being within the first vehicle speed range indicates that the current vehicle speed is small, and the vehicle can be in a parking or following state, at which time the driver's attention is relatively concentrated, and there is no need to enter the too-close-to-vehicle-ahead mode to avoid interfering with the driver's normal driving.

[0080] At step 202, in response to the vehicle being in the too-close-to-vehicle-ahead mode, collision warning information is output.

[0081] In some embodiments, the collision warning information can include in-vehicle warning information and can also include out-of-vehicle warning information. The in-vehicle warning information can include text information or voice information, etc., for alerting the user driving the vehicle. The out-of-vehicle warning signal can include a horn and flashing of vehicle lights, etc., for alerting pedestrians or other vehicles around the vehicle.

[0082] In some embodiments, outputting the collision warning information can include at least one of: displaying text information through a vehicle-mounted display screen; and outputting voice information through a vehicle-mounted audio system. Thus, when the vehicle is in the too-close-to-vehicle-ahead mode, the VCU can control the vehicle-mounted display screen and the vehicle-mounted audio system to output the collision warning information to attract the driver's attention, so that the driver can timely control the vehicle speed to adjust the distance between the vehicles and reduce the risk of collision.

[0083] In some embodiments, the text information can be displayed in the form of a pop-up window through the vehicle-mounted display screen.

[0084] At step 203, in response to the distance between the vehicle and the vehicle ahead being not greater than a second distance threshold and no brake signal being detected while the vehicle is in the too-close-to-vehicle-ahead mode, the vehicle enters a pre-collision mode.

[0085] The first distance threshold is greater than the second distance threshold.

[0086] When the vehicle is in the too-close-to-vehicle-ahead mode, the distance between the vehicle and the vehicle ahead is less than the second distance threshold and no brake signal is detected, which indicates that the user has not noticed that the distance between the vehicles has become close under the prompt of the collision warning information, the vehicle continues to move forward, causing the distance between the vehicles to further decrease, and the user still does not perform a brake operation, at which time the user can be in a fatigue driving state or a coma state, and the risk of collision between the vehicles is high. In this case, the vehicle can enter the pre-collision mode, and in the pre-collision mode, the vehicle itself can perform some emergency intervention operations to reduce the risk and severity of collision.

[0087] In some embodiments, the first distance threshold and the second distance threshold can each have a positive correlation with the current vehicle speed.

[0088] The first distance threshold has a positive correlation with the current vehicle speed, i.e. the greater the current vehicle speed, the greater the value of the first distance threshold; the second distance threshold has a positive correlation with the current vehicle speed, i.e. the greater the current vehicle speed, the greater the value of the second distance threshold.

[0089] In some embodiments, the positive correlation between the first distance threshold and the current vehicle speed is variable when the current vehicle speed is in different vehicle speed ranges, and the positive correlation between the second distance threshold and the current vehicle speed is also variable. In other words, when the current vehicle speed is not greater than a set speed threshold, the positive correlation between the first distance threshold and the current vehicle speed and the positive correlation between the second distance threshold and the current vehicle speed are different from when the current vehicle speed is greater than the speed threshold.

[0090] In some embodiments, the speed threshold that determines the above-mentioned positive correlation can be 40 kph. When the current vehicle speed of the vehicle is greater than the speed threshold, it means that the current vehicle speed is fast, and once a collision occurs, the risk is greater, so the values of the first distance threshold and the second distance threshold need to be greater in order to minimize the risk of collision and reduce the severity. When the current vehicle speed is not greater than the speed threshold, it means that the current vehicle speed is slow, and the values of the first distance threshold and the second distance threshold can also be relatively small.

[0091] In some embodiments, the first distance threshold and the second distance threshold can each be proportional to the current vehicle speed. When the current vehicle speed is not greater than 40 kph, the positive proportionality between the first distance threshold and the current vehicle speed can be that the first distance threshold is 1 / 3 of the value of the current vehicle speed; the positive proportionality between the second distance threshold and the current vehicle speed can be that the second distance threshold is 1 / 6 of the value of the current vehicle speed. Assuming that the current vehicle speed is V, the value of the first distance threshold obtained is V / 3, and the value of the second distance threshold obtained is V / 6. When the current vehicle speed is greater than 40 kph, the positive proportionality between the first distance threshold and the current vehicle speed can be that the first distance threshold is 1 / 2 of the value of the current vehicle speed or the same as the value of the current vehicle speed; the positive proportionality between the second distance threshold and the current vehicle speed can be that the second distance threshold is 1 / 4 or 1 / 2 of the value of the current vehicle speed. Assuming that the current vehicle speed is V, the value of the first distance threshold obtained is V / 2 or V, and the value of the second distance threshold obtained is V / 4 or V / 2.

[0092] In some embodiments, multiple speed threshold values can be set to divide the speed range used by the vehicle into multiple sub-ranges. The positive correlation between the first distance threshold value and the second distance threshold value corresponding to one of the multiple sub-ranges and the current vehicle speed is different from the positive correlation between the first distance threshold value and the second distance threshold value corresponding to other sub-ranges and the current vehicle speed.

[0093] As shown in Table 1, when the current vehicle speed V≤10 kph (i.e., the current vehicle speed is not within the set first vehicle speed range), the current vehicle speed is small, and the vehicle does not enter the too-close-to-vehicle mode and the pre-collision mode. When the current vehicle speed is greater than 10 kph (i.e., the current vehicle speed is within the set first vehicle speed range), the first vehicle speed range can be specifically divided as follows: (1) when the current vehicle speed is 10

[0094] Table 1: Judgment conditions for entering the too-close-to-vehicle mode and the pre-collision mode

[0095]

[0096] Step 204: In response to the vehicle being in the pre-collision mode, a collision protection operation is performed.

[0097] When the vehicle is in the pre-collision mode, the vehicle itself performs a collision protection operation to reduce the risk and severity of a collision.

[0098] In some embodiments, the collision protection operation can include emergency braking and sending warning information to the surrounding environment.

[0099] In some embodiments, the VCU controls an electronic stability system (ESC) to perform emergency braking on the vehicle.

[0100] In some embodiments, the VCU first acquires a braking state of the vehicle, and when the vehicle is in an unbraking state, the VCU controls the ESC to perform emergency braking on the vehicle; and when the vehicle is in a braking state, the VCU controls the ESC to continue braking on the vehicle.

[0101] In some embodiments, the VCU sends a pre-warning signal to a battery management system (BMS), so that the BMS controls the vehicle lights to flash rapidly to send warning information to the surrounding environment.

[0102] When the vehicle is in the pre-collision mode, the vehicle performs emergency braking to reduce the vehicle speed at the time of collision, sends warning information to the surrounding environment, and makes the people outside the vehicle to avoid and protect their own safety.

[0103] In some embodiments, the collision protection operation can further include at least one of:

[0104] not responding to a request for an accelerator, unlocking a vehicle door, closing all vehicle windows, pre-tightening a safety belt, turning off an air conditioner compressor, turning off a heater, and fully opening an active air intake grille.

[0105] It should be noted that since the driver may not realize that a collision with the preceding vehicle is imminent, the driver may still be in the state of stepping on the accelerator, and not responding to the request for the accelerator can block the vehicle from continuing to accelerate, thereby avoiding a collision with the preceding vehicle or reducing the severity of the collision. Unlocking the vehicle door facilitates the opening of the vehicle door by the people inside the vehicle after the collision and leaving the vehicle to avoid staying in the vehicle to receive secondary injuries, and also facilitates the quick opening of the vehicle by the people outside the vehicle when the people inside the vehicle are in an unconscious state due to the collision, thereby providing timely assistance to the people inside the vehicle and improving rescue efficiency. Closing all vehicle windows can prevent the people inside the vehicle from being thrown out of the vehicle window due to the collision, thereby preventing secondary injuries to the people inside the vehicle. Pre-tightening the safety belt can enhance the restraint of the passengers during emergency braking of the vehicle or before the collision, and lock the safety belt to prevent the passengers from leaning forward, thereby effectively protecting the safety of the passengers during emergency braking or collision of the vehicle. Turning off the air conditioner compressor and the heater can disconnect unnecessary high-voltage devices and reduce the power consumption of the vehicle, thereby reducing the risk of self-ignition after the collision. Fully opening the active air intake grille can increase the heat dissipation capacity of the front compartment to prevent overheating or even self-ignition after the collision.

[0106] In some embodiments, when the vehicle is in the pre-collision mode, the vehicle can exit the pre-collision mode in response to acquiring a brake signal or the distance between the vehicle and the preceding vehicle being greater than a second distance threshold.

[0107] When the vehicle is in the pre-collision mode, the distance between the vehicle and the front vehicle is greater than the second threshold value due to the timely brake operation of the user or due to the collision protection operation of the vehicle itself or the acceleration or steering measures of the front vehicle, and the like, and the vehicle can exit the pre-collision mode to keep the vehicle normal driving.

[0108] In some embodiments, in response to obtaining the brake signal or the distance between the vehicle and the front vehicle being greater than the second distance threshold value, the vehicle exits the pre-collision mode, and the specific implementation can include:

[0109] The vehicle stops performing the emergency braking operation within a set delay period from a response time, the response time being the time when the brake signal is detected or the distance between the vehicle and the front vehicle is detected to be greater than the second distance threshold value; and after the delay period, the operation of sending the warning information to the surrounding environment is stopped to make the vehicle exit the pre-collision mode.

[0110] It should be noted that the vehicle detects the brake signal or detects that the distance between the vehicle and the front vehicle is greater than the second distance threshold value, which indicates that the risk of collision of the vehicle has been reduced, and at this time the vehicle itself can stop performing the emergency braking operation, return the control right of the vehicle to the user or keep the vehicle stable driving; at the same time, the vehicle can continue to perform the operation of sending the warning information to the surrounding environment, so that the vehicle only partially exits the pre-collision mode to cope with the situation that the vehicle may again approach the front vehicle and cause emergency braking. After the delay period, if the vehicle still satisfies the distance between the vehicle and the front vehicle being greater than the second distance threshold value or continuously detects the brake signal, it can be considered that the user can normally drive the vehicle or the risk of collision of the vehicle has been reduced, and the operation of sending the warning information to the surrounding environment can be stopped to make the vehicle completely exit the pre-collision mode. In the embodiments of the present application, the delay period is set to make the vehicle gradually exit the pre-collision mode, thereby improving the safety of the vehicle driving.

[0111] In some embodiments, the set delay time period can be 1s.

[0112] In summary, for the vehicle with the ranging radar, the embodiments of the present application provide another vehicle collision control method, which can determine whether the vehicle is too close to the front vehicle or will collide with the front vehicle by the current speed of the vehicle and the brake signal; when the vehicle is too close to the front vehicle or will collide with the front vehicle, the collision warning information is output or the collision protection operation is performed, thereby reducing the risk and severity of the collision and improving the safety of the vehicle.

[0113] For the vehicle without the ranging radar, the embodiments of the present application also provide another vehicle collision control method. For example, Figure 3As shown, the control method is applied to a vehicle, and can be specifically executed by a VCU of the vehicle, and comprises the following steps:

[0114] At step 301, in response to the current vehicle speed being within a set second vehicle speed range, detecting a brake signal and the brake speed after a set brake time being not less than a first speed threshold, the vehicle enters a pre-collision mode.

[0115] For a vehicle without a ranging radar, since the vehicle cannot detect the distance between the vehicle and the front vehicle, it cannot determine the collision risk according to the distance between the vehicles. In this case, the collision risk can be determined according to the user's brake demand and the vehicle speed before and after braking.

[0116] The current vehicle speed being within the set second vehicle speed range and detecting the brake signal indicates that the current vehicle speed can be large and the user has a brake demand, which can be a user's autonomous judgment that there can be a collision risk, and thus an emergency brake is performed. In this case, the brake speed after braking can be obtained to confirm the braking effect. If the brake speed after the set brake time is still not less than the first speed threshold after detecting the brake signal, it indicates that the braking effect of the current braking operation is not good, and the risk of collision is high. In this case, the vehicle can enter the pre-collision mode, and in the pre-collision mode, the vehicle itself can perform some emergency intervention operations to reduce the risk and severity of collision.

[0117] In some embodiments, detecting the brake signal can include detecting that the depression (or pedal travel) of the brake pedal reaches a set threshold. The threshold can be, for example, 100%, 90%, or 80% of the entire pedal travel, etc. When the depression (or pedal travel) of the brake pedal reaches the set threshold, it can be considered that the current user is braking at full power. Determining whether the vehicle enters the pre-collision mode in the case of the user braking at full power can improve the accuracy of the collision situation judgment.

[0118] The second vehicle speed range can be set by the developer of the vehicle or the user autonomously. In some embodiments, the second vehicle speed range can be greater than 10 kph. The second vehicle speed range can be the same as or different from the first vehicle speed range in the above embodiments.

[0119] In some embodiments, the first speed threshold can be 10 kph.

[0120] In some embodiments, in response to the current vehicle speed not being within the set second vehicle speed range or the depression (or pedal travel) of the brake pedal not reaching the set threshold, the vehicle does not enter the pre-collision mode.

[0121] If the current vehicle speed is not within the set second speed range or the brake pedal pressure (or pedal travel) has not reached the set threshold, it means that the current vehicle speed is low or the user is only lightly pressing the brake, and the risk of collision is low. Therefore, it is not necessary to enter the pre-collision mode to avoid interfering with the driver's normal driving.

[0122] In some embodiments, braking time may be positively correlated with the current vehicle speed. That is, the higher the current vehicle speed, the longer the braking time.

[0123] In some embodiments, the positive correlation between braking time and previous speeds can vary when the current vehicle speed is within different speed ranges.

[0124] In some embodiments, the second speed range may include multiple sub-ranges, each with a constant braking time; and the braking times corresponding to the multiple sub-ranges arranged from smallest to largest gradually increase. The arrangement of sub-ranges from smallest to largest can be understood as follows: the minimum speed corresponding to a later sub-range is greater than the maximum speed corresponding to an earlier sub-range.

[0125] The faster the vehicle is traveling, the more difficult it is to brake, requiring more time to reduce the speed to a safe level. Therefore, the braking time corresponding to higher speed sub-ranges is longer. If the vehicle speed is still not less than the first speed threshold after a prolonged period of full braking, it indicates a higher risk of collision. The braking time setting improves the accuracy of collision assessment.

[0126] In some embodiments, as shown in Table 2, when the current vehicle speed V ≤ 10 kph (i.e., the current vehicle speed is not within the set second vehicle speed range), the current vehicle speed is relatively low and the pre-collision mode is not entered. When the current vehicle speed is greater than 10 kph (i.e., the current vehicle speed is within the set second vehicle speed range), the multiple sub-ranges included in the second vehicle speed range can be specifically divided as follows: (1) When the current vehicle speed is 10 < V ≤ 40: the braking speed V after the brake signal is detected and the set braking time of 1 second has elapsed. 制动 (1) If the speed is not less than the first speed threshold of 10 kph, the vehicle is at risk of colliding with the vehicle in front, and the vehicle enters the pre-collision mode. (2) When the current vehicle speed is 40 < V ≤ 80: the braking signal is detected and the braking speed V is 1.5 s after the set braking time. 制动 If the speed is not less than the first speed threshold of 10 kph, the vehicle is at risk of colliding with the vehicle in front, and the vehicle enters the pre-collision mode. (3) When the current vehicle speed is 80 < V ≤ 120: the braking signal is detected and the braking speed V is 2 seconds after the set braking time. 制动 If the speed is not less than the first speed threshold of 10 kph, the vehicle is at risk of colliding with the vehicle in front, and the vehicle enters the pre-collision mode. (4) When the current vehicle speed V > 120: the braking signal is detected and the braking speed V after the set braking time of 2 seconds is reached.制动 When the vehicle speed is not less than the first speed threshold 10 kph, the vehicle is in danger of collision with the front vehicle, and the vehicle enters the pre-collision mode.

[0127] Table 2 Judgment condition for entering the pre-collision mode

[0128]

[0129] Step 302, in response to the vehicle being in the pre-collision mode, performing a collision protection operation.

[0130] This step can be performed similarly to step 204 described above. In some embodiments, the collision protection operation can include emergency braking and sending warning information to the surrounding environment. Among them, since the brake signal has been detected for a period of time, the current vehicle can be in a braking state. When the vehicle is in the braking state, the VCU controls the ESC to continue braking the vehicle.

[0131] In some embodiments, the collision protection operation can further include at least one of the following:

[0132] Not responding to the throttle request, unlocking the vehicle door, closing all vehicle windows, pre-tightening the safety belt, closing the air conditioner compressor, closing the heater, and fully opening the active air intake grille.

[0133] In some embodiments, when the vehicle is in the pre-collision mode, the vehicle can exit the pre-collision mode in response to the braking vehicle speed being less than the first speed threshold or stopping obtaining the brake signal.

[0134] When the vehicle is in the pre-collision mode, if the braking vehicle speed decreases below the first speed threshold or the user stops the brake operation, it can be considered that the vehicle speed has been effectively controlled, or the user considers that there is no collision risk. In this case, the vehicle can exit the pre-collision mode to maintain normal driving of the vehicle.

[0135] In some embodiments, in response to the braking vehicle speed being less than the first speed threshold or stopping obtaining the brake signal, the vehicle exits the pre-collision mode, and the specific implementation can include:

[0136] The vehicle stops performing the emergency braking operation within a set delay period from a response time, the response time being the time when the braking vehicle speed is detected to be less than the first speed threshold or the time when the brake signal is stopped being obtained; after the delay period, the operation of sending warning information to the surrounding environment is stopped to make the vehicle exit the pre-collision mode.

[0137] In some embodiments, the set delay period can be 1 s.

[0138] In summary, for the vehicle without the ranging radar, the application provides another vehicle collision control method, which can determine whether the vehicle will collide with the front vehicle through the current vehicle speed and the brake signal; when the vehicle will collide with the front vehicle, the collision protection operation is performed, so as to reduce the risk and severity of the collision and improve the vehicle safety.

[0139] As shown in Figure 4 The application also provides a vehicle collision control device, which is applied to a vehicle and includes:

[0140] A determination module 401 is configured to determine whether the vehicle is in a too-close-to-front-vehicle mode or a pre-collision mode based on the current vehicle speed and the brake signal.

[0141] An output module 402 is configured to output a collision warning information in response to the vehicle being in the too-close-to-front-vehicle mode.

[0142] A protection module 403 is configured to perform a collision protection operation in response to the vehicle being in the pre-collision mode.

[0143] When the vehicle has a ranging radar:

[0144] In response to the current vehicle speed being within a set first vehicle speed range, the distance between the vehicle and the front vehicle being not greater than a first distance threshold, and the accelerator signal being detected, the vehicle enters the too-close-to-front-vehicle mode.

[0145] When the vehicle is in the too-close-to-front-vehicle mode, in response to the distance between the vehicle and the front vehicle being not greater than a second distance threshold and the brake signal not being detected, the vehicle enters the pre-collision mode, and the first distance threshold is greater than the second distance threshold.

[0146] When the vehicle does not have a ranging radar:

[0147] In response to the current vehicle speed being within a set second vehicle speed range, the brake signal being detected, and the brake speed after a set brake time being not less than a first speed threshold, the vehicle enters the pre-collision mode.

[0148] In some embodiments, the first distance threshold and the second distance threshold each has a positive correlation with the current vehicle speed; and / or

[0149] The brake time has a positive correlation with the current vehicle speed.

[0150] In some embodiments, when the current vehicle speed is not greater than a set second speed threshold, the positive correlation between the first distance threshold and the second distance threshold and the current vehicle speed is different from that when the current vehicle speed is greater than the second speed threshold.

[0151] In some embodiments, the second vehicle speed range comprises a plurality of sub-ranges, each sub-range corresponding to a constant brake time; and the plurality of sub-ranges arranged from small to large correspond to brake times gradually increasing.

[0152] In some embodiments, the apparatus further comprises:

[0153] The exiting module is configured to, when the vehicle is in the pre-collision mode, in response to obtaining the brake signal or the distance between the vehicle and the front vehicle being greater than the second distance threshold, the vehicle exits the pre-collision mode.

[0154] In some embodiments, the collision protection operation comprises emergency braking and sending warning information to the surrounding environment.

[0155] The exiting module comprises:

[0156] The stopping unit is configured to, within a set delay period, stop performing the operation of emergency braking, when the vehicle is in the pre-collision mode, in response to obtaining the brake signal or the distance between the vehicle and the front vehicle being greater than the second distance threshold.

[0157] The exiting unit is configured to, after the delay period, stop the operation of sending warning information to the surrounding environment, so that the vehicle exits the pre-collision mode.

[0158] In some embodiments, the collision protection operation further comprises at least one of:

[0159] Not responding to a throttle request, unlocking a vehicle door, closing all vehicle windows, pre-tightening a seat belt, closing an air conditioner compressor, closing a heater, and fully opening an active air intake grille.

[0160] In some embodiments, outputting the collision warning information comprises at least one of:

[0161] Displaying text information through a vehicle-mounted display screen; and

[0162] Outputting voice information through a vehicle-mounted audio system.

[0163] In summary, the vehicle collision control device provided by the embodiments of the present application can reduce the influence of human factors and improve the safety of vehicle driving.

[0164] The embodiments of the present application also provide a vehicle that performs the vehicle collision control method provided by the embodiments of the present application, which can reduce the influence of human factors and improve the safety of vehicle driving.

[0165] In the present application, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance. The term "a plurality of" means two or more, unless otherwise explicitly limited.

[0166] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application cover any and all variations of the application that come within the scope of the

[0167] It is understood that the application is not limited to the precise construction herein disclosed and shown in the drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A method for controlling vehicle collisions, characterized in that, Applied to vehicles, the method includes: Based on the vehicle's current speed and braking signal, it is determined that the vehicle is in a mode of being too close to the vehicle in front or a pre-collision mode. In response to the vehicle being in the "too close to the vehicle in front" mode, a collision warning message is output; In response to the vehicle being in the pre-collision mode, a collision protection operation is performed. Wherein, when the vehicle is equipped with a ranging radar: In response to the current vehicle speed being within a set first speed range and the distance between the vehicle and the vehicle in front not being greater than a first distance threshold, the vehicle enters the mode of being too close to the vehicle in front. When the vehicle is in the "too close to the vehicle in front" mode, in response to the distance between the vehicle and the vehicle in front not being greater than the second distance threshold and no braking signal being detected, the vehicle enters the pre-collision mode, where the first distance threshold is greater than the second distance threshold. When the vehicle does not have the ranging radar: In response to the current vehicle speed being within a set second vehicle speed range, the vehicle enters the pre-collision mode if the braking signal is detected and the braking speed after a set braking time is not less than a first speed threshold.

2. The control method according to claim 1, characterized in that, The first distance threshold and the second distance threshold are each positively correlated with the current vehicle speed; and / or The braking time is positively correlated with the current vehicle speed.

3. The control method according to claim 2, characterized in that, When the current vehicle speed is not greater than the set second speed threshold, the positive correlation between the first distance threshold and the second distance threshold and the current vehicle speed is different from the positive correlation between the first distance threshold and the second distance threshold and the current vehicle speed when the current vehicle speed is greater than the second speed threshold.

4. The control method according to claim 2, characterized in that, The second speed range includes multiple sub-ranges, and the braking time corresponding to each sub-range is constant; and The braking time corresponding to the multiple sub-ranges arranged from smallest to largest gradually increases.

5. The control method according to claim 1, characterized in that, The method further includes: When the vehicle is in the pre-collision mode, in response to obtaining the braking signal or the distance between the vehicle and the vehicle in front being greater than the second distance threshold, the vehicle exits the pre-collision mode.

6. The control method according to claim 5, characterized in that, The collision protection operations include emergency braking and sending warning messages to the surrounding environment; The step of responding to the acquisition of the braking signal or the distance between the vehicle and the vehicle in front being greater than the second distance threshold, wherein the vehicle exits the pre-collision mode, includes: The vehicle stops performing the emergency braking operation within a set delay period from the response time, where the response time is the moment when the brake signal is detected or when the distance between the vehicle and the vehicle in front is detected to be greater than the second distance threshold. After the aforementioned delay period, the operation of sending warning information to the surrounding environment is stopped, so that the vehicle exits the pre-collision mode.

7. The control method according to claim 6, characterized in that, The collision protection operation also includes at least one of the following: It does not respond to accelerator requests, unlock doors, close all windows, pretension seat belts, turn off the air conditioning compressor, turn off the heater, and fully open the active grille shutters.

8. The control method according to claim 1, characterized in that, The output collision warning information includes at least one of the following: Displaying text information via the vehicle's in-vehicle display screen; and Voice information is output through the car's audio system.

9. A vehicle collision control device, characterized in that, The device is applied to a vehicle, and the device includes: The determination module is used to determine whether the vehicle is in a mode of being too close to the vehicle in front or a pre-collision mode based on the vehicle's current speed and braking signal. The output module is used to output collision warning information in response to the vehicle being in the mode of being too close to the vehicle in front; The protection module is configured to perform collision protection operations in response to the vehicle being in the pre-collision mode. Wherein, when the vehicle is equipped with a ranging radar: In response to the current vehicle speed being within a set first speed range and the distance between the vehicle and the vehicle in front not being greater than a first distance threshold, the vehicle enters the mode of being too close to the vehicle in front. When the vehicle is in the "too close to the vehicle in front" mode, in response to the distance between the vehicle and the vehicle in front not being greater than the second distance threshold and no braking signal being detected, the vehicle enters the pre-collision mode, where the first distance threshold is greater than the second distance threshold. When the vehicle does not have the ranging radar: In response to the current vehicle speed being within a set second vehicle speed range, the vehicle enters the pre-collision mode if the braking signal is detected and the braking speed after a set braking time is not less than a first speed threshold.

10. A vehicle, characterized in that, The vehicle performs the vehicle collision control method as described in any one of claims 1-8.

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