Control methods, devices and vehicles

Abstract

The control method, device, and vehicle relate to the field of vehicle control technology. The control method includes: determining the collision time and relative collision position between the vehicle (100) and a target object based on the vehicle's (100's) driving data and the vehicle's (100's) environmental data, wherein the vehicle's (100's) environmental data includes one or more of the following: the target object's position, the target object's speed, and the target object's trajectory; and activating a protective device (140) based on the collision time and / or the relative collision position.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a control method, apparatus, and vehicle. Background Technology

[0002] Regarding vehicle safety, current technology generally considers the safety of occupants by installing protective devices such as airbags inside the vehicle. When the vehicle is subjected to force, the airbags are deployed to improve the safety of the driver or passengers. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a control method, apparatus, and vehicle that can improve the safety of vehicle operation.

[0004] This application provides a control method applied to a vehicle, comprising:

[0005] Based on the vehicle's driving data and the vehicle's environmental data, the collision time and relative collision position between the vehicle and the target are determined. The vehicle's environmental data includes one or more of the following: the target's position, the target's speed, and the target's trajectory.

[0006] The protective equipment is activated based on the collision time and / or the relative position of the collision.

[0007] In an optional implementation, the protective device includes: a target airbag; activating the protective device based on the collision time and / or the relative position of the collision includes:

[0008] Based on the relative positions of the collisions, the predicted collision location on the vehicle is determined;

[0009] Based on the predicted collision location, a target airbag is identified from multiple airbags installed at multiple locations on the exterior of the vehicle, and the target airbag is activated.

[0010] In the above embodiments, one or more airbags installed at multiple locations on the outside of the vehicle can be determined as protective devices based on the relative collision positions, which can achieve protection of the vehicle's external structure and the target object.

[0011] In an optional implementation, activating the protective device based on the collision time and / or the relative position of the collision includes:

[0012] The target airbag is determined based on the collision time, the relative collision position, and the activation time of multiple airbags installed at multiple locations on the exterior of the vehicle. The target airbag is a protective device.

[0013] Activate the target airbag.

[0014] In an optional implementation, determining the target airbag based on the collision time, the relative collision position, and the deployment time of multiple airbags installed at multiple locations on the exterior of the vehicle includes:

[0015] From multiple airbags installed at multiple locations on the exterior of the vehicle, an initial airbag group is selected whose activation time is less than the time difference between the collision time and the current time.

[0016] Based on the relative position of the collision, a target airbag is selected as the protective device from the initial airbag group.

[0017] In the above embodiments, a target airbag that meets the activation time can also be determined as a protective device based on the collision time and the relative position of the collision. This allows the vehicle to effectively deploy the target airbag before a collision may occur, thereby better protecting the vehicle.

[0018] In an optional implementation, activating the protective device includes:

[0019] The activation time is determined based on the collision time and the activation duration of the protective device. The time difference between the activation time and the collision time is greater than or equal to the activation duration of the protective device, and the time difference between the activation time and the collision time is less than the sum of the activation duration of the protective device and the specified delay duration.

[0020] At the specified startup time, the protective device is activated.

[0021] In the above implementation, protective equipment that can meet time requirements can be determined by combining a specified delay duration.

[0022] In an optional implementation, the method further includes:

[0023] Based on the vehicle's driving data and environmental data, the event hazard coverage area corresponding to the target object is determined.

[0024] Activating the protective device based on the collision time and / or the relative position of the collision includes:

[0025] Based on the collision time, the relative position of the collision, and / or the area covered by the event hazard, the protective equipment of the vehicle is determined and the protective equipment is activated.

[0026] In the above embodiments, protective equipment can also be determined by combining the potential hazard coverage area, thereby better meeting the protective equipment requirements for the hazard coverage area.

[0027] In an optional implementation, the protective device includes: a target airbag; determining the vehicle's protective device based on the collision time, the relative collision position, and / or the hazard coverage area of ​​the event, and activating the protective device, includes:

[0028] Based on the area affected by the incident, determine the target number of safety protection devices required;

[0029] Based on the collision time and the relative position of the collision, the target number of target airbags is determined, and the target number of target airbags is activated.

[0030] In the above embodiments, a certain number of safety protection devices can be determined based on the possible hazard coverage area, so as to better match the hazard coverage area and achieve protection of the target object and vehicle.

[0031] In an optional implementation, determining the collision time and relative collision position between the vehicle and the target object based on the vehicle's driving data and environmental data includes:

[0032] Based on the vehicle's driving data, the vehicle's first trajectory is determined;

[0033] Based on the environmental data, the second trajectory of the target object is determined;

[0034] Based on the first and second motion trajectories, the collision time and relative collision position between the vehicle and the target are determined.

[0035] In the above embodiments, the collision time and relative collision position are determined based on the trajectories of the target object and the vehicle, which can better take into account the positional changes of the vehicle and the target object, thereby making the determined collision time and relative collision position more accurate.

[0036] Secondly, embodiments of this application provide a control device, including:

[0037] The first determining module is used to determine the collision time and relative collision position between the vehicle and the target object based on the vehicle's driving data and the vehicle's environmental data. The vehicle's environmental data includes one or more of the following: the target object's position, the target object's speed, and the target object's trajectory.

[0038] A startup module is used to activate the protective device based on the collision time and / or the relative position of the collision.

[0039] Thirdly, embodiments of this application provide a vehicle, including: a memory and an electronic control unit;

[0040] The memory stores machine-readable instructions executable by the electronic control unit. When the environment inside the vehicle is adjusted, the machine-readable instructions are executed by the electronic control unit to perform the steps of the method described in the first aspect above, or any possible implementation of the first aspect.

[0041] Compared with the prior art, the control method, device and vehicle of this application can predict the environment around the vehicle in advance. When there is potential danger around the vehicle, the location of the danger can be estimated in advance, thereby effectively activating the protective equipment to improve the safety of the vehicle and the safety of the people inside the vehicle.

[0042] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A block diagram of a vehicle provided in an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of the vehicle structure provided in an embodiment of this application;

[0046] Figure 3 A flowchart of the control method provided in the embodiments of this application;

[0047] Figure 4 A flowchart of a portion of the control method provided in the embodiments of this application;

[0048] Figure 5 This is a schematic diagram of a real-world scenario corresponding to the control method provided in the embodiments of this application;

[0049] Figure 6 This is a schematic diagram of another actual scenario corresponding to the control method provided in the embodiments of this application;

[0050] Figure 7A schematic diagram of the control device provided in the embodiments of this application.

[0051] Icons: 100 - Vehicle; 110 - Electronic control unit; 120 - Data acquisition equipment; 130 - Radar; 140 - Protective equipment; 150 - Battery. Detailed Implementation

[0052] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0053] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] The inventors of this application have noted that research on vehicle safety primarily focuses on the safety of occupants. For example, vehicles are equipped with airbags that deploy when the vehicle is subjected to force to improve the safety of the driver or passengers. However, when force is applied, danger may already be imminent, and the airbags may deploy relatively late.

[0055] The inventors of this application also noted that vehicle safety issues are not limited to the safety of the driver or passengers inside the vehicle; vehicle hazards may also concern the safety of the vehicle structure and surrounding objects. Especially in the field of electric vehicles, the power battery is integrated into the chassis, achieving an integrated design of chassis and battery. This integrated design allows for the placement of more power batteries in the vehicle, extending the driving range and reinforcing the chassis structure. However, compared to traditional gasoline vehicles, the crumple zone in the chassis area is smaller. This results in a greater impact acceleration when a collision occurs, making occupants more susceptible to stretching injuries from the impact acceleration, rather than just simple impact injuries. Furthermore, for special-purpose vehicles with Level 4 autonomous driving operating on semi-open roads, passenger seating may be circular due to different riding needs, making the placement of airbags within the vehicle relatively more challenging.

[0056] To improve vehicle safety, the inventors of this application have discovered that the effectiveness of a vehicle's protective equipment—both its features and its ability to activate promptly when a potential hazard exists—directly impacts the vehicle's safety outcome. Based on this, improvements can be made to the arrangement of the vehicle's protective equipment, such as installing external airbags to protect the vehicle structure and surrounding objects. Furthermore, potential hazards can be predicted in advance to activate the protective equipment more effectively.

[0057] To facilitate understanding, the professional terms used in this application will be explained first:

[0058] Electronic Control Unit (ECU), also known as vehicle computer;

[0059] CAN bus: Controller Area Network.

[0060] The following describes, through several embodiments, the control method, control device, and vehicle provided in this application that can improve vehicle safety.

[0061] To facilitate understanding of this embodiment, the vehicle implementing the control method disclosed in this application embodiment will first be described in detail.

[0062] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a vehicle 100 provided in some embodiments of this application. The vehicle 100 can be a gasoline-powered vehicle, a natural gas-powered vehicle, or a new energy vehicle. The new energy vehicle can be a pure electric vehicle, a hybrid electric vehicle, or a range-extended electric vehicle, etc.

[0063] The vehicle 100 may include multiple electronic control units 110, which communicate with each other via a CAN bus.

[0064] The electronic control unit may include a microprocessor, memory, input / output interface, analog-to-digital converter, and large-scale integrated circuits for shaping and driving.

[0065] The memory can be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable read-only memory (EPROM), electrically erasable read-only memory (EEPROM), etc. The memory stores the program, and the microprocessor executes the program after receiving the execution instruction. The steps performed by the vehicle 100 as defined in any embodiment of this invention can be applied to the microprocessor or implemented by the microprocessor.

[0066] A microprocessor is likely an integrated circuit chip that has the ability to process signals.

[0067] Each electronic control unit on vehicle 100 can be used to handle a type of problem on the vehicle. For example, vehicle 100 may include an electronic control unit for responding to commands sent by the vehicle key. As another example, vehicle 100 may include another electronic control unit for executing commands required for parking operations. Yet another example, vehicle 100 may include yet another electronic control unit for executing commands to activate safety devices on the vehicle.

[0068] In an alternative embodiment, vehicle 100 may further include acquisition device 120 and radar 130.

[0069] The acquisition device 120 can be a camera used to acquire image or video data around the vehicle 100. The acquisition device 120 can also be a microphone used to acquire sound data around the vehicle 100.

[0070] The radar 130 may include a front lidar 130, an ultrasonic radar 130, or a millimeter-wave radar 130.

[0071] The lidar 130 can generate laser beams to detect the position, speed, and other information of objects around the vehicle 100.

[0072] The ultrasonic radar 130 can emit ultrasonic signals. When the ultrasonic signals encounter obstacles, they generate echo signals. After receiving the echo signals, the ultrasonic radar 130 can determine the position, speed, and other information of objects around the vehicle 100 based on the ultrasonic signals and the echo signals.

[0073] Optionally, the radar 130 can be installed on the hood of the vehicle 100, on the rear bumper of the vehicle 100, or on the side of the vehicle 100. Of course, the radar 130 can also be installed on the hood, rear bumper, and sides of the vehicle 100 to detect relevant information about objects in different directions of the vehicle 100.

[0074] The vehicle 100 in this embodiment may also include protective equipment 140.

[0075] The protective device 140 can be an airbag.

[0076] Optionally, one or more airbags may be installed inside the vehicle 100. For example, an airbag may be installed in front of each seat.

[0077] Optionally, one or more airbags may also be installed on the exterior of the vehicle 100. The external airbags of the vehicle 100 may be installed on the chassis of the vehicle 100.

[0078] like Figure 2 As shown, the external airbags of vehicle 100 can be positioned at various locations within vehicle 100. Figure 2 In the example shown, the vehicle 100 can be equipped with three airbags at the front, two airbags at the front, and four airbags on each side.

[0079] The protective device 140 can also be an alarm. For example, the alarm can be an audible and visual alarm, or a microphone for outputting alarm prompts.

[0080] In some optional embodiments, the vehicle 100 may also be equipped with devices such as a vehicle speed sensor and an inertial navigation sensor. The vehicle speed sensor and the inertial navigation sensor can detect the vehicle's driving data.

[0081] Furthermore, a battery 150 may be installed inside the vehicle 100, and the battery 150 may be located at the bottom, front, or rear of the vehicle 100. The battery 150 can be used to power the vehicle; for example, the battery 150 can serve as the operating power source for the vehicle 100. The vehicle 100 may also include a motor, and the electronic control unit included on the vehicle 100 can also be used to control the battery 150 to supply power to the motor, for example, to meet the power needs of starting, navigation, and driving the vehicle.

[0082] In some embodiments of this application, the battery 150 can not only serve as the operating power source for the vehicle 100, but also as the driving power source for the vehicle 100, replacing or partially replacing fuel or natural gas to provide driving power for the vehicle.

[0083] The vehicle 100 in this embodiment can be used to execute various steps in the various methods provided in the embodiments of this application. The implementation process of the control method is described in detail below through several embodiments.

[0084] This embodiment provides a control method that can be applied to vehicles. Please refer to [link / reference]. Figure 3 This is a flowchart of the control method provided in the embodiments of this application. The following will describe... Figure 3 The specific process shown will be explained.

[0085] Step 210: Based on the vehicle's driving data and environmental data, determine the collision time and relative position between the vehicle and the target object.

[0086] Vehicle driving data can include one or more of the following: speed, direction, acceleration, turning angle, steering, and rotational speed. When the vehicle is stationary, its speed and acceleration are both zero. When the vehicle is in motion, its speed is a non-zero value. Based on the vehicle's driving data, its trajectory can be determined.

[0087] For example, the vehicle's speed, direction of travel, acceleration, turning angle, steering, and rotational speed can be calculated by the vehicle's electronic control unit.

[0088] Optionally, the electronic control unit on the vehicle used to calculate the vehicle's status can calculate various driving data of the vehicle at preset time intervals. The preset time interval can be half a second, one second, three seconds, five seconds, etc.

[0089] The vehicle's environmental data is used to characterize the distribution of objects in the vehicle's surrounding environment and the speed of movement of each object.

[0090] The vehicle's environmental data includes one or more of the following: the target's position, the target's speed, and the target's trajectory. The vehicle's environmental data can also be image data, video data, etc.

[0091] The attribute of the target object can be a dynamic object such as a person, animal, or other vehicle, or a static object such as a tree or utility pole. For example, deep learning algorithms can be used to identify objects in the vehicle's environment to determine their attributes.

[0092] In this embodiment, the vehicle's driving data and environmental data can be used to calculate whether there are any objects in the vehicle's environment that may collide with the vehicle, so as to further determine the possible collision time and the relative position of the collision.

[0093] In one alternative implementation, the collision time and relative position of the target object can be determined based on the vehicle's position at each time point and the positions of various objects in the vehicle's environment at each time point.

[0094] When the vehicle is stationary, the location of each object in the vehicle's environment at different points in time can be determined based on the vehicle's environmental data. Then, it can be determined whether the position of each object in the vehicle's environment at each point in time is the same as the position of the stationary vehicle.

[0095] When a vehicle is in motion, the positions of various objects in the vehicle's environment at different points in time can be determined based on the vehicle's environmental data; the vehicle's position at different points in time can be determined based on the vehicle's driving data. Then, it can be determined whether the positions of objects in the vehicle's environment are the same as the vehicle's position at each point in time.

[0096] When the vehicle is in motion and the objects in its environment are static, the vehicle's position at different points in time is determined based on its driving data. Then, it is determined whether the vehicle's position at each point in time is the same as the position of the static objects.

[0097] If the vehicle's position is the same as the target's position at the first time point, it means that a collision will occur between the vehicle and the target at that first time point. This first time point can then be determined as the collision time, and the location where the collision occurs can be determined as the relative collision position.

[0098] For example, the duration between two adjacent time points can be set as needed. For instance, two adjacent time points can be two seconds, three seconds, etc.; or, for another example, two adjacent time points can be half a second, one second, etc.

[0099] In another alternative implementation, a first positional relationship can be constructed to characterize the relationship between the vehicle's time and location; and a second positional relationship can be constructed to characterize the positional relationships of various objects in the vehicle's environment. When there are multiple objects in the vehicle's environment, each object can correspond to one second positional relationship.

[0100] If there is an intersection between the first positional relationship and the second positional relationship of the target object, it indicates that the vehicle and the target object may collide, and the time corresponding to the intersection is the collision time, and the position corresponding to the intersection is the collision relative position.

[0101] In another alternative implementation, the first trajectory of the vehicle can be determined based on the vehicle's driving data, the second trajectory of the target can be determined based on the environmental data, and the collision time and relative position of the vehicle and the target can be determined based on the first trajectory and the second trajectory.

[0102] For example, if the first motion trajectory and the second motion trajectory coincide at the second time point, and if the second time point is determined as the collision time, the position where the first motion trajectory and the second motion trajectory coincide is determined as the relative collision position.

[0103] Optionally, the relative velocity between the vehicle and the target object can be determined based on the vehicle's speed and the target object's speed. For example, the relative velocity between the vehicle and the target object can be decomposed according to a first direction and a second direction to determine the relative velocity perpendicular to the collision position of the vehicle. The first direction can be perpendicular to the collision position of the vehicle, and the second direction can be perpendicular to the first direction.

[0104] Step 220: Activate the protective equipment based on the collision time and / or the relative position of the collision.

[0105] Alternatively, protective equipment that can be activated in a timely manner can be determined based on the collision time.

[0106] For example, if the target object is located in front of the vehicle, an airbag that can deploy before the time of collision can be selected from multiple airbags installed in front of the vehicle. For instance, the deployment times of the first, second, and third airbags in the front of the vehicle are t1, t2, and t3, respectively, where t1 > t2 > t3. If the collision time is after time t4, and t1 > t4 > t2, then the second and third airbags can successfully deploy before the collision occurs, and either the second or third airbag can be selected as the protective device.

[0107] Furthermore, the largest airbag that can deploy before the collision can be selected. Taking the example above, the larger of the second and third airbags could be chosen as the protective device.

[0108] Optionally, based on the relative positions of the collision, the part of the vehicle that the target object will impact during the collision can be determined. Therefore, the airbag closest to this impact point can be used as the protective device. For example, if the impact point is the first side of the vehicle, then the airbag acting on the first side can be used as the protective device. Figure 2 The example shown illustrates that both sides include four airbags. Figure 2 In the example shown, the left side is the first side, so any one or more of the four airbags on the left side can be used as protective equipment.

[0109] The above-described method enables early detection before a collision occurs, effectively predicting the time and location of a potential collision. Based on the predicted collision time and relative position, protective equipment can be provided to reduce or avoid danger, thereby improving the safety of occupants, the vehicle, and the surrounding environment.

[0110] According to some embodiments of this application, optionally, the protective device described above for the airbags installed on the vehicle can be a target airbag selected from multiple airbags installed on the vehicle. For example... Figure 4 As shown, step 220 may include steps 221 and 222.

[0111] Step 221: Determine the predicted collision location on the vehicle based on the relative position of the collision.

[0112] For example, if the relative position of the collision is located directly in front of the vehicle and the vehicle is traveling in a forward direction, then the predicted collision position on the vehicle is determined to be at the front of the vehicle.

[0113] For example, if the relative position of the collision is located at the left front of the vehicle, and the vehicle is traveling in a forward direction, and the target object is moving perpendicular to the vehicle's travel direction, then the predicted collision position on the vehicle is determined to be on the left side of the vehicle.

[0114] For example, the vehicle's position at the time of collision can be determined based on the vehicle's driving data. Then, the position of the target at the time of collision is determined based on one or more of the target's position, speed, and trajectory from the vehicle's environmental data. This determines the relative position of the vehicle and the target at the time of collision, and the predicted collision location is determined based on this relative position.

[0115] Step 222: Based on the predicted collision location, identify the target airbag from multiple airbags installed at multiple locations on the exterior of the vehicle, and deploy the target airbag.

[0116] Optionally, if the predicted collision location on the vehicle is the front of the vehicle, the target airbag can be selected from the airbags located at the front of the vehicle.

[0117] If the target object is relatively large, and the area of ​​impact when the target object collides with the vehicle exceeds the protection area of ​​a single airbag, then multiple airbags can be selected as the target airbags.

[0118] By identifying the target airbag based on the predicted collision location, the identified airbag can more accurately protect the vehicle and the target object. Furthermore, the airbag can provide a buffer when the vehicle collides with the target object, and can also reduce the impact on the occupants of the vehicle, thereby improving the safety of the occupants.

[0119] According to some embodiments of this application, considering that different airbags may have different deployment times and different emergency times give the vehicle different response times, effective protection requires that the airbags be fully deployed before a collision occurs. Based on this consideration, step 220 may include: determining a target airbag based on the collision time, the relative position of the collision, and the deployment times of multiple airbags installed at multiple locations on the exterior of the vehicle, and deploying the target airbag.

[0120] Optionally, determining the target airbag based on the collision time, the relative collision position, and the activation time of multiple airbags installed at multiple locations on the exterior of the vehicle includes: selecting an initial airbag group from the multiple airbags installed at multiple locations on the exterior of the vehicle whose activation time is less than the time difference between the collision time and the current time; and selecting the target airbag as a protective device from the initial airbag group based on the relative collision position.

[0121] The deployment time of the airbag can be the time required for the airbag to reach its maximum volume after the detonation command is issued.

[0122] For example, if the time difference between the collision time and the current time is T, and the airbag detonation command needs to wait for td seconds before it can be triggered to reach the maximum volume of the airbag, then the following condition must be met: td≤T for the airbag to reach its maximum volume.

[0123] Therefore, airbags whose detonation time to maximum volume is less than or equal to time T can be selected as the initial airbag group. Then, airbags capable of blocking the target object are selected from this initial airbag group as the target airbags.

[0124] By considering the airbag deployment time, the airbags can be fully deployed before a collision occurs, thus maximizing their effectiveness and providing protection for the vehicle and its occupants.

[0125] Considering that airbags may begin to deform and leak over time after deploying to their maximum volume, to better maintain their effectiveness, the collision time can be set before the leakage begins. This specified delay duration can be F1, the time between the moment the airbag deploys to its maximum volume and the start of leakage. Therefore, airbags with a deployment time satisfying td ≤ T < (td + F1) can be selected as the initial airbag group.

[0126] Considering that the airbag control system on the vehicle may be set with a collision delay duration F2, the collision delay duration F2 can represent the delay time between issuing the command and executing the command when the airbag needs to be activated. The airbags whose activation duration satisfies: td≤T<(td+F2) are selected as the initial airbag group.

[0127] Optionally, the initial airbag group selected can also satisfy: td≤T<(td+F), where F=min(F1,F2).

[0128] By setting the collision delay duration F2 as described above, the time difference between the airbag reaching its maximum volume and the collision time can be reduced.

[0129] Optionally, activating the protective device as described above includes: determining an activation time based on the collision time and the activation duration of the protective device, wherein the time difference between the activation time and the collision time is greater than or equal to the activation duration of the protective device, and the time difference between the activation time and the collision time is less than the sum of the activation duration of the protective device and a specified delay duration; and activating the protective device at the activation time.

[0130] If the time difference between the current time and the collision time is T, and it is impossible to avoid the collision at this time, then it is necessary to consider activating the protective equipment. However, if the current time T does not satisfy the condition td≤T<(td+F), but satisfies T>(td+F), then the activation time ts can be determined. The time difference between ts and the collision time is T1, and this T1 satisfies the condition td≤T1<(td+F).

[0131] By selecting airbags that meet the requirements through the above methods, the airbags can be deployed to their maximum area before a collision, prevent leakage, and maintain their maximum volume during a collision, thus better fulfilling their function.

[0132] According to some embodiments of this application, the impact area of ​​a collision between a different target object and a vehicle is different. Based on this, the control method may further include: determining the event hazard coverage area corresponding to the target object based on the vehicle's driving data and the vehicle's environmental data.

[0133] For example, the attributes of a target object can be determined based on the vehicle's environmental data, and the size of the target object determines the hazard coverage area of ​​the event. Specifically, the larger the target object, the larger the hazard coverage area; the smaller the target object, the smaller the hazard coverage area.

[0134] Optionally, the relative speed between the vehicle and the target can be determined based on the vehicle's speed and acceleration in the vehicle's driving data, and the speed and trajectory of the target in the vehicle's environmental data.

[0135] The hazard coverage area of ​​the event is determined by combining the size of the target object and the relative speed between the vehicle and the target object. The faster the relative speed between the vehicle and the target object, the larger the hazard coverage area of ​​the event; the slower the relative speed between the vehicle and the target object, the smaller the hazard coverage area of ​​the event.

[0136] Based on this, step 220 may include: determining the vehicle's protective equipment based on the collision time, the relative position of the collision, and / or the hazard coverage area of ​​the event, and activating the protective equipment.

[0137] For example, the protective equipment includes: a target airbag; determining the protective equipment of the vehicle based on the collision time, the relative position of the collision and / or the hazard coverage area of ​​the event, and activating the protective equipment includes: determining a target number of required safety protective equipment based on the hazard coverage area of ​​the event; determining the target number of target airbags based on the collision time and the relative position of the collision, and activating the target number of target airbags.

[0138] For example, when the area covered by the hazard of an incident is larger than the area of ​​one airbag, multiple airbags can be selected as protective devices.

[0139] For example, when the hazard coverage area involves multiple locations on the vehicle, airbags at multiple locations can be selected as protective devices. For instance, if the hazard coverage area involves the front and sides of the vehicle, then airbags at the front and sides of the vehicle can be used as protective devices.

[0140] Optionally, based on the maximum radius R of each airbag on the vehicle and the hazard coverage area of ​​the incident, the airbag whose sum of the areas covered by the multiple airbags when deployed to their maximum volume is greater than the hazard coverage area of ​​the incident can be identified as the target airbag.

[0141] For example, the target quantity N can satisfy: N≥S / π*R 2 S represents the area covered by the hazard caused by the event.

[0142] For example, if the hazard coverage area of ​​the incident involves the front of the vehicle and the relatively weak sides of the vehicle between the A, B, and C pillars, then the number of targets N can also satisfy: N≥(C front width + Dac*2) / (R*2), where Cw represents the front width of the vehicle and Dac represents the distance from the A pillar to the C pillar.

[0143] By selecting an appropriate number of airbags, the airbags can better cover the area affected by the incident, thereby improving the protection of the vehicle and reducing the damage to the target object.

[0144] Considering that different collision events may have different levels of harm, different protective measures can be provided based on different levels of harm.

[0145] The control method in this embodiment may further include: determining the event hazard level corresponding to the target object based on the attributes of the target object in the environmental data from multiple directions and the relative speed between the target object and the vehicle.

[0146] For example, when there is someone in the vehicle who is not wearing a seat belt, and the relative speed between the target and the vehicle is greater than a first specified speed, the hazard level of the event can be a high hazard value.

[0147] When there are people inside the vehicle wearing seat belts, and the relative speed between the target object and the vehicle is greater than the second specified speed, the hazard level of the event can be a high hazard value.

[0148] When the target is a person and the relative speed between the target and the vehicle is greater than the third specified speed, the hazard level of the event can be a high hazard value.

[0149] When the target object is a vehicle or other high-rigidity non-human object, and there are no people inside the vehicle, the incident hazard level can be a medium hazard value.

[0150] When the target object is a flexible non-human object such as a dog or sheep, and there are no people inside the vehicle, the incident hazard level can be classified as moderate hazard.

[0151] The first, second, and third specified speeds mentioned above can be values ​​set according to requirements. For example, the second specified speed can be greater than the first specified speed, and the third specified speed can be less than the first specified speed.

[0152] For example, if the hazard level of the event is low, one or more airbags can be selected as protective devices based on the collision time and the relative position of the collision.

[0153] For example, if the hazard level of the event is high, the target airbag and alarm are determined to be protective devices based on the collision time and the relative position of the collision.

[0154] By pre-setting the hazard level, more suitable protective equipment can be matched. This not only improves safety but also allows for the rational selection of the type and quantity of protective equipment, reducing the wasteful use of such equipment.

[0155] The control method provided in the embodiments of this application is described below through several examples.

[0156] In one instance, such as Figure 5 As shown, the control method is applied to vehicle 100, and the target is another vehicle 100' traveling from north to south. Vehicle 100 travels from south to north at a speed of V1, the width of vehicle 100 is b1 meters, and the angle between the speed of vehicle 100 and the east-west direction is α1°.

[0157] The vehicle 100 is equipped with a radar 130 at the front, which can be used to detect the distance to other vehicles. The vehicle 100 is also equipped with an airbag at the front.

[0158] exist Figure 5 In the example shown, vehicle 100 detects that a collision with vehicle 100' will occur, and it takes t4 seconds from the issuance of the airbag command to the deployment of the airbag to its maximum volume.

[0159] Vehicle 100' has a speed of V2 and a width of b2 meters. It travels from north to south, and the angle between its speed and the east-west direction is θ1°. The distance between vehicle 100' and vehicle 100 is A meters.

[0160] Based on the driving data of vehicle 100 and vehicle 100', the collision time between vehicle 100 and vehicle 100' can be calculated as: T2=(A / (V1*Sinα1+V2*Sinθ1)).

[0161] If Max(b1 / 2,b2 / 2) / (V1*Cosα1+V2*Cosθ1)>T2, and T2≤(t4+F), then the electronic control unit of the airbags of vehicle 100 can activate the front airbags of vehicle 100 at time (T2–t4). Figure 5 As shown, the airbags at points P1 and P2 can be deployed.

[0162] In one instance, such as Figure 6 As shown, in the short time before the collision, vehicle 100 is traveling from south to north at a speed of V3. Vehicle 100 is a3 meters long and b3 meters wide. The target is vehicle 100” approaching from the side. Vehicle 100” is a4 meters long and b4 meters wide. Vehicle 100” is traveling from southeast to northwest at a speed of V4, with an angle of θ2° with the east-west direction. Its velocity component perpendicular to the north-south axis is V42, and its velocity component parallel to the north-south axis is V41. The distance between point Pa on the left front side of vehicle 100” and the center point of vehicle 100 is S2 meters, and the angle between this distance and the north-south direction is α2°.

[0163] It takes t5 seconds from the issuance of the vehicle's 100 airbag command to the full deployment of the airbags.

[0164] If we define the center point of vehicle 100 as the origin (0, 0), according to geometric principles, the coordinates of the left front side Pa point of vehicle 100” can be calculated as (S2*Sinα2, S2*Cosα2).

[0165] Therefore, the collision time can be calculated as: T3=(S2*Sinα2–b3 / 2) / V42;

[0166] The distance the vehicle would have traveled from south to north from point 100 to the time of the collision is S1 = V3 * T3;

[0167] The coordinates of the collision point B in the relative collision position are (b3 / 2, (S2*Cosα2+V41*T3));

[0168] The distance from collision point B to the right center of the vehicle is 100 = (S1 - (S2 * Cosα2 + V41 * T3));

[0169] Based on the above scenario, the relative positions of the collision can be calculated as follows: Figure 6 The location of vehicle 100 is shown by the dashed line.

[0170] The collision time needs to meet the condition: T3≤(t5+F);

[0171] The electronic control unit controlling the side airbags of vehicle 100 can activate the side airbags of vehicle 100 at time (T3–t5). Figure 6 As shown, the airbags at points P3, P4, and P5 can be deployed.

[0172] Based on the same application concept, this application also provides a control device corresponding to the control method. Since the principle of the device in this application is similar to that of the aforementioned control method embodiment, the implementation of the device in this application can refer to the description in the above method embodiment, and the repeated parts will not be repeated.

[0173] Please see Figure 7 This is a functional module diagram of the control device provided in this application embodiment. Each module in the control device of this embodiment is used to execute the steps in the above method embodiments. The control device includes: a first determining module 310 and a starting module 320; wherein,

[0174] The first determining module 310 is used to determine the collision time and relative collision position of the vehicle and the target object based on the vehicle's driving data and the vehicle's environmental data. The vehicle's environmental data includes one or more of the following: the target object's position, the target object's speed, and the target object's trajectory.

[0175] The activation module 320 is used to activate the protective device based on the collision time and / or the relative position of the collision.

[0176] In one possible implementation, the protective device includes: a target airbag; and an activation module 320 for:

[0177] Based on the relative position of the collision, the predicted collision location on the vehicle is determined;

[0178] Based on the predicted collision location, the target airbag is identified from multiple airbags installed at multiple locations on the exterior of the vehicle, and the target airbag is deployed.

[0179] In one possible implementation, the startup module 320 is used for:

[0180] Based on the collision time, the relative location of the collision, and the deployment time of multiple airbags installed at multiple locations on the exterior of the vehicle, the target airbag is determined, and the target airbag is the protective device.

[0181] Deploy the target airbag.

[0182] In one possible implementation, the startup module 320 is further configured to:

[0183] From multiple airbags installed at multiple locations on the exterior of the vehicle, select an initial airbag group whose activation time is less than the time difference between the collision time and the current time.

[0184] Based on the relative position of the collision, the target airbag is selected as the protective device from the initial airbag group.

[0185] In one possible implementation, the startup module 320 is further configured to:

[0186] The activation time is determined based on the collision time and the activation duration of the protective device. The time difference between the activation time and the collision time is greater than or equal to the activation duration of the protective device, and the time difference between the activation time and the collision time is less than the sum of the activation duration of the protective device and the specified delay duration.

[0187] At the designated startup time, activate the protective device.

[0188] In one possible implementation, the control device may further include:

[0189] The second determining module is used to determine the event hazard coverage area corresponding to the target object based on the vehicle's driving data and the vehicle's environmental data.

[0190] The aforementioned startup module 320 is also used for:

[0191] Based on the collision time, the relative position of the collision, and / or the area covered by the hazard of the event, determine the protective equipment of the vehicle and activate the protective equipment.

[0192] In one possible implementation, the protective device includes: a target airbag; the aforementioned activation module 320 is further configured to:

[0193] Based on the area affected by the incident, determine the target number of safety protection equipment required;

[0194] Based on the collision time and the relative position of the collision, determine the target number of target airbags and deploy the target number of target airbags.

[0195] In one possible implementation, the first determining module 310 is configured to:

[0196] Based on the vehicle's driving data, the vehicle's first trajectory is determined.

[0197] Based on the environmental data, the second trajectory of the target object was determined;

[0198] Based on the first and second motion trajectories, the collision time and relative position between the vehicle and the target object are determined.

[0199] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control method described in the above method embodiments.

[0200] The computer program product of the control method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the control method in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0201] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0202] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0203] If this function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0204] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0205] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A control method applied to a vehicle, characterized by, The method comprises: determining a collision time and a collision relative position between the vehicle and a target object according to driving data of the vehicle and environmental data of the vehicle, the environmental data of the vehicle comprising one or more of the following: a position of the target object, a speed of the target object, a motion trajectory of the target object; activating a protection device according to the collision time and the collision relative position; The method further comprises: determining an event hazard coverage area corresponding to the target object according to the driving data of the vehicle and the environmental data of the vehicle; the protection device comprises a target airbag; the activating the protection device according to the collision time and the collision relative position comprises: determining a target number of required safety protection devices according to the event hazard coverage area; determining the target number of target airbags according to the collision time and the collision relative position, and activating the target number of target airbags.

2. The method of claim 1, wherein, the protection device comprises a target airbag; the activating the protection device according to the collision time and the collision relative position comprises: determining a predicted collision position on the vehicle according to the collision relative position; determining a target airbag from a plurality of airbags installed at a plurality of positions outside the vehicle according to the predicted collision position, and activating the target airbag.

3. The method of claim 1, wherein, the activating the protection device according to the collision time and the collision relative position comprises: determining a target airbag according to the collision time, the collision relative position, and activation times of a plurality of airbags installed at a plurality of positions outside the vehicle, the target airbag being a protection device; activating the target airbag.

4. The method of claim 3, wherein, the determining the target airbag according to the collision time, the collision relative position, and activation times of a plurality of airbags installed at a plurality of positions outside the vehicle comprises: screening an initial airbag group from the plurality of airbags installed at the plurality of positions outside the vehicle, the initial airbag group having activation durations less than a time difference between the collision time and a current time; determining the target airbag from the initial airbag group according to the collision relative position, the target airbag being a protection device.

5. The method of claim 1, wherein, the activating the protection device comprises: determining an activation time according to the collision time and an activation duration of the protection device, the time difference between the activation time and the collision time being greater than or equal to the activation duration of the protection device, and the time difference between the activation time and the collision time being less than a sum of the activation duration of the protection device and a specified delay duration; activating the protection device at the activation time.

6. The method of claim 1, wherein, the determining the collision time and the collision relative position between the vehicle and the target object according to the driving data of the vehicle and the environmental data of the vehicle comprises: determining a first motion trajectory of the vehicle according to the driving data of the vehicle; determining a second motion trajectory of the target object according to the environmental data; determining the collision time and the collision relative position between the vehicle and the target object according to the first motion trajectory and the second motion trajectory.

7. A control device applied to a vehicle, characterized by, The method comprises: The first determining module is configured to determine a collision time and a collision relative position of the vehicle and the target object according to driving data of the vehicle and environment data of the vehicle, the environment data of the vehicle including one or more of the following: a position of the target object, a speed of the target object, and a motion trajectory of the target object; The starting module is configured to start the protection device according to the collision time and the collision relative position. The control device further includes a second determining module configured to determine an event hazard coverage area corresponding to the target object according to the driving data of the vehicle and the environment data of the vehicle; the protection device includes a target airbag; the starting module is further configured to determine a target number of required safety protection devices according to the event hazard coverage area, determine the target number of target airbags according to the collision time and the collision relative position, and start the target number of target airbags.

8. A vehicle characterized by comprising: The control device comprises: a memory and an electronic control unit; The memory stores machine readable instructions executable by the electronic control unit, and when the machine readable instructions are executed by the electronic control unit, the steps of the method according to any one of claims 1 to 6 are performed when adjusting the environment in the vehicle.

Images