A vehicle collision object protection method, device, vehicle and storage medium

Abstract

The application relates to the technical field of vehicle collision processing, in particular to a vehicle collision object protection method and device, a vehicle and a storage medium. According to the relative distance between the vehicle head and a target object and the actual driving speed of the vehicle and the braking distance of the vehicle, whether the vehicle head will collide with the target object is predicted, and finally, according to the prediction result of whether the collision occurs, it is decided whether to start the collision protection device to protect the target object from being excessively collided, that is, whether the vehicle head and the target object will collide is predicted before the vehicle head contacts the target object, so that the collision protection device is timely controlled to reduce the damage of the collision to the target object to the maximum extent. From the above analysis, it can be known that the application predicts whether the collision will occur before the collision, and then starts the collision protection device according to the prediction result, that is, the protection of the target object is implemented before the collision, so that the protection degree is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle collision handling technology, specifically to a method, device, vehicle, and storage medium for protecting objects in a vehicle collision. Background Technology

[0002] Vehicles are highly susceptible to collisions with surrounding objects due to improper operation, leading to damage, especially to the front of the vehicle. Current technologies often involve modifying the front of the vehicle to reduce damage during a collision. Alternatively, they may determine whether to activate obstacle avoidance devices after the front of the vehicle contacts an object, based on the magnitude of the impact force, to prevent excessive crushing and thus protect the object. However, because these existing technologies only implement protective measures after the front of the vehicle has made contact with the object, the level of protection offered is reduced.

[0003] In summary, existing vehicle collision protection methods reduce the level of protection for objects.

[0004] Therefore, existing technologies still need to be improved and enhanced. Summary of the Invention

[0005] This application provides a method, apparatus, vehicle, and storage medium for protecting objects from vehicle collisions, in order to solve the technical problem that vehicle collision protection methods in related technologies reduce the level of protection for objects.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] The first aspect of this application provides a method for protecting a vehicle from a collision with an object, including the following steps:

[0008] Determine the vehicle's braking distance;

[0009] Based on the vehicle's actual speed, the relative distance between the vehicle's front and the target object, and the braking distance, a prediction result is obtained as to whether the front will collide with the target object.

[0010] Based on the prediction results, it is determined whether to protect the target object by means of a collision protection device installed on the vehicle.

[0011] Based on the aforementioned technical means, this application's embodiments predict whether the vehicle's front will collide with the target object based on the relative distance between the vehicle's front and the target object, the vehicle's actual speed, and its braking distance. Finally, based on the collision prediction result, it decides whether to activate the collision protection device to protect the target object from excessive impact. In other words, it predicts whether a collision will occur before the vehicle's front contacts the target object, allowing for timely control of the collision protection device to minimize damage to the target object. As can be seen from the above analysis, this application predicts whether a collision will occur beforehand and then activates the collision protection device based on the prediction result. This means that this application begins protecting the target object before the collision, thereby improving the level of protection.

[0012] Optionally, in one embodiment of this application, determining the vehicle's braking distance includes:

[0013] Based on the vehicle's training speed, the road surface training information, and the braking training distance corresponding to the training speed and the road surface training information, a braking model is trained to obtain the trained braking model.

[0014] The braking distance of the vehicle is obtained by applying the trained braking model to the actual driving speed of the vehicle and the actual road surface information on which the vehicle is located.

[0015] Based on the above technical means, the embodiments of this application train the braking model so that the braking model has the function of outputting braking distance according to the vehicle speed and road information. The braking model used in this application can accurately calculate the braking distance, and then accurately predict whether each area on the vehicle will collide with the target object.

[0016] Optionally, in one embodiment of this application, obtaining a prediction result of whether the head has collided with the target object based on the actual driving speed of the vehicle, the relative distance between the head of the vehicle and the target object, and the braking distance includes:

[0017] The relative distance is decomposed to obtain the lateral distance and the longitudinal distance. The longitudinal distance is the distance between the head and the target object in the direction of the actual driving speed, and the lateral distance is the distance between the head and the target object in the direction perpendicular to the actual driving speed.

[0018] When the actual driving speed is greater than the predetermined dangerous speed, determine whether the lateral distance is less than the preset distance and determine whether the longitudinal distance is less than the predetermined dangerous distance;

[0019] When the lateral distance is less than the preset distance and the longitudinal distance is less than the predetermined danger distance, the driver's concentration is collected;

[0020] The prediction result is obtained based on the braking distance, the actual driving speed, the level of concentration, and the moving speed of the target object located in front of the head.

[0021] Based on the aforementioned technical means, this application first determines whether the vehicle is likely to collide with the target object based on its driving speed. If a collision is likely, it further determines whether a collision will occur based on the lateral and longitudinal distances between the vehicle and the target object. Finally, it further confirms whether a collision will occur from the perspective of the driver's concentration. As can be seen from the above analysis, this application predicts whether a vehicle will collide with a target object in three steps, thereby improving the accuracy of the prediction results.

[0022] Optionally, in one embodiment of this application, obtaining the prediction result based on the braking distance, the actual driving speed, the concentration level, and the moving speed of the target object located in front of the head includes:

[0023] Determine the forward speed within the moving speed, wherein the direction of the forward speed is the same as the direction of the actual driving speed;

[0024] Determine the speed difference between the actual driving speed and the forward speed;

[0025] The prediction result is obtained based on the speed difference, the focus, and the braking distance.

[0026] Based on the above technical means, the present application's embodiments comprehensively consider the driver's concentration, the target object's moving speed, the vehicle's speed, relative distance, and braking distance during the analysis and prediction process. All five factors mentioned above affect the accuracy of the prediction result regarding whether a collision will occur. The present application comprehensively considers these five factors, thus further improving the accuracy of the prediction result.

[0027] Optionally, in one embodiment of this application, obtaining a prediction result of whether the head has collided with the target object based on the actual driving speed of the vehicle, the relative distance between the head of the vehicle and the target object, and the braking distance includes:

[0028] Identify the through light located at the front of the vehicle in the head section;

[0029] The through light is divided into various areas;

[0030] Based on the vehicle's actual speed, the relative distances between each region and the target object, and the braking distance, prediction results are obtained regarding whether each region will collide with the target object.

[0031] Based on the aforementioned technical means, this application divides the vehicle's front end into various regions. Based on the relative distance between each region and the target object, as well as the vehicle's actual speed and braking distance, it predicts whether each region will collide with the target object. As can be seen from the above analysis, this application predicts whether each region on the vehicle will collide with the target object. Therefore, the multiple prediction results of this application can pinpoint which specific regions or areas are likely to collide with the target object, thereby improving the accuracy of collision prediction.

[0032] Optionally, in one embodiment of this application, determining whether to protect the target object by means of a collision protection device installed on the vehicle based on the prediction result includes:

[0033] Based on the prediction results of each region, regions whose prediction results indicate a collision with the target object are selected from each region and denoted as collision regions.

[0034] The impact intensity between the target object and the collision area is reduced by a collision protection device installed on the vehicle targeting the collision area, thereby protecting the target object.

[0035] Based on the aforementioned technical means, this application implements measures to protect the target object only in the predicted collision area, thereby achieving the purpose of precise positioning and protection.

[0036] Optionally, in one embodiment of this application, the step of reducing the impact intensity between the target object and the collision area by means of a collision protection device disposed on the vehicle for the collision area, thereby protecting the target object, includes:

[0037] Each drive device in the collision protection device installed on the vehicle for the collision area is identified, and each bracket is driven by each drive device, wherein each bracket is connected to a point on the collision area.

[0038] Control each of the driving devices to drive each of the supports to move, thereby moving the position of each of the points;

[0039] By moving the positions of each of the points, the impact intensity between the target object and the collision area is reduced, thereby protecting the target object.

[0040] According to the above-mentioned technical means, this application changes the shape of the penetrating light in the collision area by moving the position of each point on the collision area. This shape makes the penetrating light in the collision area in a broken state. As long as it slightly hits the target object, the penetrating light will break inward, thereby preventing excessive impact between the target object and the penetrating light.

[0041] A second aspect of this application provides a vehicle collision object protection device, comprising:

[0042] The distance calculation module is used to determine the vehicle's braking distance;

[0043] The prediction module is used to obtain a prediction result of whether the head will collide with the target object based on the actual driving speed of the vehicle, the relative distance between the head of the vehicle and the target object, and the braking distance.

[0044] The protection module is used to determine, based on the prediction results, whether to protect the target object by means of a collision protection device installed on the vehicle.

[0045] A third aspect of this application provides a vehicle, the vehicle including a memory, a processor, and a vehicle collision object protection program stored in the memory and executable on the processor, wherein when the processor executes the vehicle collision object protection program, it implements the steps of the vehicle collision object protection method described above.

[0046] A fourth aspect of this application provides a computer-readable storage medium storing a vehicle collision object protection program, which, when executed by a processor, implements the steps of the vehicle collision object protection method described above.

[0047] The beneficial effects of this application are:

[0048] This application's embodiments predict whether the vehicle's front will collide with the target object based on the relative distance between the vehicle's front and the target object, the vehicle's actual speed, and its braking distance. Finally, based on the collision prediction, it decides whether to activate the collision protection device to protect the target object from excessive impact. In other words, it predicts whether a collision will occur before the vehicle's front contacts the target object, allowing for timely control of the collision protection device to minimize damage to the target object. As the above analysis shows, this application predicts whether a collision will occur beforehand and then activates the collision protection device based on the prediction result. This means that protection of the target object begins before the collision, thereby improving the level of protection.

[0049] This application divides the vehicle into various regions. Based on the relative distance between each region and the target object, as well as the vehicle's actual speed and braking distance, it predicts whether each region will collide with the target object. As can be seen from the above analysis, this application predicts whether each region on the vehicle will collide with the target object. Therefore, the multiple prediction results of this application can pinpoint which specific regions or areas are likely to collide with the target object, thereby improving the accuracy of collision prediction.

[0050] This application embodiment, based on collision prediction results for each region, selects collision regions from these regions and then activates a collision protection device designed for each collision region. The device adjusts the deformation of the collision region to a predetermined deformation. Under this predetermined deformation, the collision region will not break if the target object does not come into contact with it; however, it will break if the target object makes even slight contact with the collision region, causing compression. By adjusting the deformation of the collision region, this application ensures that the collision region breaks upon contact with the target object, preventing further compression and thus protecting the target object.

[0051] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0052] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0053] Figure 1 This is the overall flowchart of this application;

[0054] Figure 2 This is a schematic diagram of the structure of the front through-beam lamp in this application that avoids pedestrians;

[0055] Figure 3 This is a structural diagram of the front through-light of this application;

[0056] Figure 4 This is a schematic diagram of the first region of this application;

[0057] Figure 5 This is a schematic diagram of the second region of this application;

[0058] Figure 6 This is a schematic diagram of the third region of this application;

[0059] Figure 7 This is a schematic diagram of the collision protection device of this application;

[0060] Figure 8This is a flowchart illustrating the obstacle avoidance process in this application;

[0061] Figure 9 A flowchart illustrating the pedestrian avoidance mechanism of the front through-beam lamp in this application;

[0062] Figure 10 This is a schematic diagram of the structure of the vehicle collision object protection device according to an embodiment of this application;

[0063] Figure 11 This is a block diagram illustrating the internal structure of a vehicle as provided in an embodiment of this application.

[0064] Among them, 1-front through light; 11-housing; 12-light distribution lens; 13-weakening groove; 21-first mounting bracket; 22-second mounting bracket; 23-third mounting bracket; 24-fourth mounting bracket; 25-fifth mounting bracket; 3-pull arm; 4-motor; 5-controller; 100-distance calculation module; 200-prediction module; 300-protection module; 501-memory; 502-processor; 503-communication interface. Detailed Implementation

[0065] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0066] The following description, with reference to the accompanying drawings, illustrates a vehicle collision object protection method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the low accuracy of vehicle collision object protection results in the prior art mentioned in the background section, this application provides a vehicle collision object protection method. In this method, the braking distance of the vehicle is determined; based on the vehicle's actual speed, the relative distance between the vehicle's front end and the target object, and the braking distance, a prediction result regarding whether the front end will collide with the target object is obtained.

[0067] Based on the prediction results, determine whether to protect the target object by installing collision protection devices on the vehicle.

[0068] For example, in this embodiment, the vehicle front includes a first region, a second region, and a third region arranged sequentially along the vehicle width direction. The first relative distance between the first region and a target object in front of the vehicle, the second relative distance between the second region and the target object in front of the vehicle, and the third relative distance between the third region and the target object in front of the vehicle are calculated. If the vehicle's actual speed is very low, once the vehicle initiates braking, the above three regions will not collide with the target object. If the vehicle's actual speed is very high, even if the driver notices an object in front and brakes suddenly, the above three regions may still collide with the target object. Therefore, it is necessary to predict whether a collision will occur for each region. The specific process is as follows:

[0069] For example, when predicting whether the first region will collide with the target object, the relative distance in this embodiment includes the distance x between the target object and the first region along the X-axis and the distance y between them along the Y-axis. The Y-axis is parallel to the direction of the actual driving speed, and the X-axis is perpendicular to the direction of the actual driving speed. If the distance x is greater than a preset distance, it means that the first region is deviated from the target object, and therefore there is no possibility of the first region colliding with the target object. For example, if the first region is located on the left side of the front of the vehicle, and the target object is located on the right side of the front of the vehicle, then the distance x between the first region and the target object must be greater than the preset distance, meaning that the first region cannot collide with the target object. Conversely, if the distance x is less than the preset distance, the first area is likely to collide with the target object. Based on the vehicle's actual speed and braking distance (the distance the vehicle travels from the start of braking to a stop) and the corresponding distance y of the first area, it is further determined whether the first area will collide with the target object. For example, if the distance y is very small, the actual speed is very high, but the braking distance is very large, then the vehicle cannot stop within distance y, and therefore the first area will collide with the target object. When it is predicted that the first area will collide with the target object, this prediction result is displayed on the in-vehicle display screen so that the driver can take measures to avoid a collision between the first area and the target object. The same prediction operation is performed on the second and third areas as on the first area to determine whether these two areas will collide with the target area.

[0070] Specifically, Figure 1 This is a schematic flowchart of a vehicle collision object protection method provided in an embodiment of this application.

[0071] like Figure 1 As shown, the vehicle collision object protection method includes the following steps:

[0072] S100 determines the vehicle's braking distance.

[0073] S200 predicts whether the vehicle's head will collide with the target object based on the vehicle's actual speed, the relative distance between the vehicle's head and the target object, and the braking distance.

[0074] S300 determines, based on the prediction results, whether to protect the target object using collision protection devices installed on the vehicle.

[0075] In one embodiment, the braking distance in step S100 This refers to the distance the vehicle travels from the start of braking until it comes to a complete stop. This embodiment uses a braking model to calculate the braking distance for each vehicle, and the specific process is as follows:

[0076] Based on the vehicle's training speed, the road surface training information, and the braking training distance corresponding to the training speed and road surface training information, a braking model is trained to obtain the trained braking model.

[0077] Using the vehicle's actual speed and the actual road surface information, a trained braking model is applied to obtain the vehicle's braking distance.

[0078] This involves first collecting training data for the braking model, including the vehicle's speed before braking, the coefficient of friction, the road surface pitch angle, and the actual braking distance. The actual braking distance is collected using a sensor (model XC144-KL-JCS1501), while the coefficient of friction and road surface pitch angle (both road surface information) are collected using a camera. The vehicle speed, coefficient of friction, and road surface pitch angle from the training data are then input into the braking model (a neural network model). The model outputs a braking distance, which is compared to the actual braking distance. Based on the comparison result, the parameters of the braking model are adjusted to complete the training.

[0079] When a vehicle is actually in motion and the real-time braking distance is required, simply input the real-time road surface information and driving speed of the vehicle into the pre-trained braking model. The braking model will then output the braking distance corresponding to the actual driving speed and road surface information.

[0080] In one embodiment, step S200 includes the following specific steps S201a to S206a:

[0081] S201a, decompose the relative distance to obtain the lateral distance and the longitudinal distance. The longitudinal distance is the distance between the head and the target object in the direction of the actual driving speed, and the lateral distance is the distance between the head and the target object in the direction perpendicular to the actual driving speed.

[0082] S202a, when the actual driving speed is greater than the predetermined dangerous speed, determine whether the lateral distance is less than the preset distance and whether the longitudinal distance is less than the predetermined dangerous distance.

[0083] If the lateral distance between the front of the vehicle and the target object is too large, that is, if the target object is significantly deviated from the front of the vehicle, then the vehicle will not collide with the object. Conversely, if the target object is not significantly deviated from the front of the vehicle, then the vehicle may collide with the target object.

[0084] S203a: When the lateral distance is less than the preset distance and the longitudinal distance is less than the predetermined danger distance, the driver's attention level is collected.

[0085] S204a, determine the forward speed in the moving speed, the direction of the forward speed is the same as the direction of the actual driving speed.

[0086] S205a, determine the speed difference between the actual driving speed and the forward speed.

[0087] S206a, based on the speed difference, focus, and braking distance, obtains the prediction result.

[0088] In another embodiment, step S200 includes the following specific steps S201b, S202b, and S203b:

[0089] S201b, Identify the through light located at the front of the vehicle in the head section.

[0090] S202b divides the through light into various zones.

[0091] S203b, based on the vehicle's actual driving speed, the relative distances between each area and the target object, and the braking distance, obtains various prediction results on whether each area will collide with the target object.

[0092] In this embodiment, the specific process for calculating the relative distance between each region and the target object is as follows:

[0093] The system controls each radar located in each area to emit electromagnetic waves towards the target object, and collects the time of electromagnetic wave emission from each radar in each area, recording it as the emission time for each area. .

[0094] The times when each radar in each area receives reflected electromagnetic waves are collected and recorded as the respective reception times for each area. Reflected electromagnetic waves are electromagnetic waves reflected by the target object.

[0095] Based on the launch and reception times of each region, the relative distances between each region on the vehicle and the target object are determined.

[0096] That is, For the first The time it takes for the radar in a given area to send electromagnetic waves toward the target object, and the time it takes for the radar to send electromagnetic waves toward the target object, means that the radar collects the relative distance between each area and the target object on a straight line. This relative distance is decomposed along the vehicle's direction of travel and perpendicular to the vehicle's direction of travel to obtain the longitudinal distance and the lateral distance. The lateral distance corresponding to each area is used to characterize whether the area is within the potential collision zone, and the longitudinal distance corresponding to each area is used to characterize whether the area within the collision zone will eventually collide with the target object. For the first The time it takes for a radar within a given area to receive electromagnetic waves reflected from a target object. Relative distance is... minus Then multiply by the speed of electromagnetic wave propagation.

[0097] In this embodiment, the calculation of each prediction result for each region in step S203b includes the following specific steps S2031 to S2037:

[0098] S2031, decompose the relative distances corresponding to each region to obtain the lateral distances. ( For the first The relative distances between each region and the target object in the direction perpendicular to the vehicle's travel direction, and each longitudinal distance. ( For the first The relative distances between each region and the target object along the vehicle's driving direction are: each longitudinal distance is the distance between each region and the target object in the direction of the actual driving speed, and each lateral distance is the distance between each region and the target object in the direction perpendicular to the actual driving speed.

[0099] S2032, when the actual driving speed Exceeding the predetermined dangerous speed Select a pre-selected region from each region, and the horizontal distance of the pre-selected region is... The distance is less than the preset distance (0.1m) and the longitudinal distance corresponding to the pre-selected area is less than the predetermined danger distance (50m).

[0100] The predetermined dangerous speed is 90 km / h. When the vehicle speed is much lower than the predetermined dangerous speed, meaning it's traveling at a very low speed, even if it needs to brake suddenly to avoid an object, it can stop before impact. Therefore, the prerequisite for a collision is not met. Conversely, when the vehicle's actual speed exceeds the predetermined dangerous speed, and it needs to brake suddenly to avoid an object, the high-speed vehicle may not stop before impact. Therefore, a higher speed provides the prerequisite for a collision. When the vehicle speed exceeds the predetermined dangerous speed, it's necessary to further determine which area of ​​the vehicle is most likely to impact the target object. The lateral distance between a certain area of ​​the vehicle and the target object... If the distance is less than the preset distance, it means that the area is facing the target object, or at least the area is not far from the target object. Combined with the fact that the longitudinal distance between the area and the target object is less than the predetermined danger distance, it means that the area has the prerequisite for hitting the target object. The subsequent steps S2033 to S2037 will further determine whether the area will hit the target object.

[0101] S2033, Determine the actual driving speed and movement speed The speed difference between them (Actual driving speed) and movement speed Both are velocities with direction, and the directions of these two velocities are parallel to the direction of the vehicle's travel.

[0102] S2034, collecting the driver's attention in the vehicle. (in The level of concentration a driver needs when they are focused. This refers to the level of concentration a driver has when they are not focused, compared to the level of concentration they have when driving. A value of 0 indicates a lack of concentration. The larger the value, the better.

[0103] S2035, Determining Focus and the difference in speed The product result .

[0104] S2036, Determine the pre-selected area The corresponding longitudinal distance Subtract the product result The difference obtained .

[0105] S2037, when the difference Braking distance greater than or equal to The predicted result is the pre-selected area. It will collide with the target object; when the difference Less than braking distance The prediction result is that the pre-selected area did not collide with the target object.

[0106] In this embodiment, based on S201b to S203b, step S300 includes the following specific steps S301, S302, S303, and S304:

[0107] S301, based on the prediction results of each region, select the regions that are predicted to collide with the target object from each region, and record them as the collision regions.

[0108] S302, determine each drive device in the collision protection device installed on the vehicle for the collision area, and each bracket driven by each drive device, wherein each bracket is connected to a point on the collision area.

[0109] S303 controls each drive device to drive each bracket to move, thereby moving the position of each point.

[0110] S304 reduces the impact intensity between the target object and the collision area by moving the positions of various points, thereby protecting the target object.

[0111] Before the target object comes into contact with the collision area, the drive device set for the collision area is activated to change the deformation of the collision area to the set deformation in order to protect the target object. The set deformation is matched to the deformation required to cause the collision area to break when the target object comes into contact with the collision area.

[0112] In this embodiment, the material used for the area divided on the penetrating light is deformable plastic. Before the collision area of ​​the penetrating light comes into contact with the target object, the deformation of the target object is changed to a set deformation (the critical deformation required when the target object breaks). Once the target object comes into contact with the collision area, the penetrating light in the collision area will break to avoid excessive compression with the target object, thereby achieving the function of protecting the target object.

[0113] In another embodiment, a region that meets the following conditions will collide with the target object:

[0114] Condition 1) The vehicle's speed V is satisfied. v The speed must be no less than the predetermined dangerous speed V0, and the distance S between the object in front and the vehicle must be no greater than the predetermined dangerous distance S0.

[0115] When one of the regions meets condition one), the following formula is calculated in real time based on the data collected and processed by the sensors:

[0116] ,

[0117] In the formula, S is the straight-line distance between the region and the target object.

[0118] Condition 2) If one of the regions satisfies the above formula, then the region is judged to meet the collision protection conditions.

[0119] If the vehicle's speed is V v The absolute velocity V of the object in front p Both are functions of time t, so the determination is based on whether the region will collide with the target object:

[0120] ,

[0121] Taking the front continuous light 1 (mounted on the front of the vehicle and connecting the headlights on both sides of the front of the vehicle) as an example, this illustrates how to prevent the front continuous light 1 from hitting pedestrians:

[0122] like Figure 2 As shown, the front through-light 1 includes a housing 11, a lens 12, a weakening groove 13, and a lamp body. The housing 11 and the lens 12 are combined to form the outer shell of the front through-light, and the lamp body is located inside the outer shell. Figure 3 As shown, the weakening grooves 13 are evenly distributed on the surface of the housing 11, and the weakening grooves 13 are located on the outer side of the housing 11 away from the pedestrian. The pedestrian is located in front of the front through light 1. The so-called weakening grooves 13 are grooves opened on the outer side of the housing 11, so that the housing 11 can break or fracture (that is, facilitate the collision protection device to reduce or even break the strength of the area where the collision is about to occur when the collision protection condition is triggered or when the conditions of condition one and condition two are met). The outer side of the housing 11 is also provided with a first mounting bracket 21, a second mounting bracket 22, a third mounting bracket 23, a fourth mounting bracket 24, and a fifth mounting bracket 25 in sequence. The front through light 1 is divided into three areas along its length: the first area, the second area, and the third area, as shown. Figure 4 As shown, the first area is located between the first mounting bracket 21 and the third mounting bracket 23 (where the pedestrian is located in front of the front through light 1), as... Figure 5 As shown, the second region is located between the second mounting bracket 22 and the fourth mounting bracket 24, as... Figure 6 As shown, the third region is located between the third mounting bracket 23 and the fifth mounting bracket 25. That is, three adjacent mounting brackets form one region, and each mounting bracket can appear repeatedly in different regions, playing different roles in different regions. For example... Figure 7 As shown, each mounting bracket is hinged with a pull arm 3, and the motor 4 serves as the power source for each pull arm 3.

[0123] Without affecting the shape of the front through light 1, in each section, the inner side of the housing 11 and the welding point between the far end of the housing 11 and the lens 12 are connected by a decorative ring. The connection method includes, but is not limited to, mechanical connection methods such as screw fastening, adhesive bonding, and snap-fit. The purpose is that when the collision protection condition is triggered, the pull arm 3 pulls the area where the collision is about to occur away from the object (pedestrian) and transmits the pulling force to the end of the front through light 1 near the object being collided through the decorative ring.

[0124] When it is necessary to predict which of the three regions (first, second, and third) is most likely to collide with a pedestrian, the following technical solution can be adopted:

[0125] like Figure 8 As shown, the system first acquires information about the environment in front of the vehicle, the vehicle's status, and the information inside the cockpit (driver's attention level); then, based on the information about the environment in front of the vehicle, the vehicle's status, and the information inside the cockpit, it determines whether the vehicle meets the collision protection conditions; finally, based on the collision protection condition determination result, it executes the corresponding avoidance strategy.

[0126] like Figure 9 As shown, the camera checks for pedestrians in front of the vehicle. If a pedestrian is present, it collects the vehicle's speed (vehicle status information), the pedestrian's absolute speed (environmental information in front of the vehicle), the time required for the driver to react in an emergency based on the driver's attention span, and the relative distance between the pedestrian and the vehicle (environmental information in front of the vehicle). If the following protection conditions are met, the collision protection device is activated. These protection conditions include Condition 1 and Condition 2. Condition 1: The vehicle speed is greater than a preset speed and the relative distance S is less than a preset danger distance. Condition 2 is the following relationship: Braking distance:

[0127] ,

[0128] For areas that meet the above protection conditions, activate the collision protection device (consisting of arm 3, motor 4, mounting bracket, and controller).

[0129] The system consists of 5 components, where controller 5 is model XCMCU XC602. For example, if the first region meets the above protection criteria, the collision protection device will perform the following operations:

[0130] The controller 5 sends a PWM signal to drive the motor 4, which in turn moves the pull arm 3 away from the pedestrian. This causes the pull arm 3 to pull the first mounting bracket 21, causing the connection point (left connection point) between the first area and the first mounting bracket 21 to move away from the pedestrian by a certain distance. Similarly, by pulling the third mounting bracket 23 via the pull arm 3, the connection point (right connection point) between the first area and the third mounting bracket 23 is moved away from the pedestrian. The middle connection point corresponding to the second mounting bracket 22 is moved a distance away from the pedestrian. ,in This causes the first area to deform. Upon contact with a pedestrian, this deformed area will collapse, releasing internal space within the light fixture. This released space provides a buffer zone for the pedestrian, preventing injury. For areas that will not collide with pedestrians, the movement distance between these areas and the connection points to the mounting brackets is controlled. It is zero.

[0131] In summary, this application divides the vehicle into various regions and predicts whether each region will collide with the target object based on the relative distance between each region and the target object, as well as the vehicle's actual speed and braking distance. As can be seen from the above analysis, this application predicts whether each region on the vehicle will collide with the target object. Therefore, the multiple prediction results of this application can pinpoint which specific regions or areas are likely to collide with the target object, thereby improving the accuracy of collision prediction.

[0132] Furthermore, this application, without affecting the lamp design, reducing the strength of the lamp mounting structure, and retaining the front continuous light, utilizes existing automotive-grade sensors to collect data such as the vehicle's frontal environment, vehicle status, and cabin information. This data, after processing, is used to determine collision protection conditions, which can reduce the injury to pedestrians caused by the front edge of the hood in the event of a collision between a car and a pedestrian.

[0133] Next, referring to the accompanying drawings, a vehicle collision object protection device according to an embodiment of this application is described.

[0134] like Figure 10 As shown, the vehicle collision object protection device 10 includes: a distance calculation module 100, a prediction module 200, and a protection module 300.

[0135] Specifically, the distance calculation module 100 is used to determine the vehicle's braking distance.

[0136] The prediction module 200 is used to obtain a prediction result of whether the head of the vehicle will collide with the target object based on the actual driving speed of the vehicle, the relative distance between the head of the vehicle and the target object, and the braking distance.

[0137] The protection module 300 is used to determine, based on the prediction result, whether to protect the target object by means of a collision protection device installed on the vehicle.

[0138] It should be noted that the foregoing explanation of the vehicle collision object protection method embodiment also applies to the vehicle collision object protection device of this embodiment, and will not be repeated here.

[0139] Figure 11 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0140] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0141] When the processor 502 executes the program, it implements the vehicle collision object protection method provided in the above embodiments.

[0142] Furthermore, the vehicle also includes:

[0143] Communication interface 503 is used for communication between memory 501 and processor 502.

[0144] The memory 501 is used to store computer programs that can run on the processor 502.

[0145] The memory 50 1 may include high-speed memory, and may also include non-volatile memory, such as at least one disk storage device.

[0146] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0147] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0148] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0149] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle collision object protection program described above.

[0150] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0151] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0152] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0153] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can read and execute instructions from or in conjunction with such an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). In addition, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically by optically scanning paper or other media, then editing, interpreting or otherwise processing them as necessary, and then storing them in computer memory.

[0154] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0155] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0156] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0157] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for protecting against vehicle collisions, characterized in that, Includes the following steps: Determine the vehicle's braking distance; Based on the vehicle's actual speed, the relative distance between the vehicle's front and the target object, and the braking distance, a prediction result is obtained as to whether the front will collide with the target object. Based on the prediction results, determine whether to protect the target object by means of a collision protection device installed on the vehicle; Based on the vehicle's actual speed, the relative distance between the vehicle's front and the target object, and the braking distance, a prediction result is obtained regarding whether the front will collide with the target object, including: Identify the continuous light located at the front of the vehicle; Divide the continuous light into different zones; Based on the vehicle's actual speed, the relative distances between each area and the target object, and the braking distance, various prediction results are obtained regarding whether each area will collide with the target object. Based on the prediction results, determining whether to protect the target object using a collision protection device installed on the vehicle includes: Based on the prediction results of each region, the regions predicted to collide with the target object are selected from each region and recorded as the collision regions. Identify each drive device in the collision protection device installed on the vehicle for the collision area, and each bracket driven by each drive device, wherein each bracket is connected to a point on the collision area. Control each drive device to drive each bracket to move, thereby moving the position of each point; By moving the positions of various points, the impact intensity between the target object and the collision area is reduced, thereby protecting the target object.

2. The vehicle collision object protection method as described in claim 1, characterized in that, Determining the vehicle's braking distance includes: Based on the vehicle's training speed, the road surface training information, and the braking training distance corresponding to the training speed and the road surface training information, a braking model is trained to obtain the trained braking model. The braking distance of the vehicle is obtained by applying the trained braking model to the actual driving speed of the vehicle and the actual road surface information on which the vehicle is located.

3. A vehicle collision object protection device, characterized in that, include: The distance calculation module is used to determine the vehicle's braking distance; The prediction module is used to obtain a prediction result of whether the head will collide with the target object based on the actual driving speed of the vehicle, the relative distance between the head of the vehicle and the target object, and the braking distance. A protection module is used to determine, based on the prediction results, whether to protect the target object by means of a collision protection device installed on the vehicle; Based on the vehicle's actual speed, the relative distance between the vehicle's front and the target object, and the braking distance, a prediction result is obtained regarding whether the front will collide with the target object, including: Identify the continuous light located at the front of the vehicle; Divide the continuous light into different zones; Based on the vehicle's actual speed, the relative distances between each area and the target object, and the braking distance, various prediction results are obtained regarding whether each area will collide with the target object. Based on the prediction results, determining whether to protect the target object using a collision protection device installed on the vehicle includes: Based on the prediction results of each region, the regions predicted to collide with the target object are selected from each region and recorded as the collision regions. Identify each drive device in the collision protection device installed on the vehicle for the collision area, and each bracket driven by each drive device, wherein each bracket is connected to a point on the collision area. Control each drive device to drive each bracket to move, thereby moving the position of each point; By moving the positions of various points, the impact intensity between the target object and the collision area is reduced, thereby protecting the target object.

4. A vehicle, characterized in that, The vehicle includes a memory, a processor, and a vehicle collision object protection program stored in the memory and executable on the processor. When the processor executes the vehicle collision object protection program, it implements the steps of the vehicle collision object protection method as described in any one of claims 1-2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle collision object protection program, which, when executed by a processor, implements the steps of the vehicle collision object protection method as described in any one of claims 1-2.

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