Chassis collision state detection device and method, and vehicle

Abstract

The application provides a chassis collision state detection device and method and a vehicle. The chassis collision state detection device is applied to a vehicle. The detection device comprises a collision sensor, an image acquisition module and a controller. The collision sensor is arranged on the chassis of the vehicle and is used to send a collision signal when the chassis is collided. The image acquisition module is arranged on the chassis and is used to acquire a chassis image of the outside of the chassis. The controller is used to receive the collision signal sent by the collision sensor, control the image acquisition module to acquire the chassis image when the collision signal is received, and determine the collision state of the chassis according to at least the chassis image acquired by the image acquisition module. The chassis collision state detection device provided by the application can automatically detect the collision state of the chassis when the chassis is collided, so that the user can know the accurate chassis collision condition in time without needing to get off the vehicle and check, and the user operation is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, in particular to a chassis collision state detection device and method, and a vehicle. BACKGROUND

[0002] At present, when the chassis of a vehicle is collided, the user needs to get off the vehicle to determine the collision point and the severity of the collision, which is very inconvenient to operate, and the collision position may not be found by naked eye, which may cause vehicle damage and other problems, or even cause driving danger. SUMMARY

[0003] To solve the above technical problems, the present application provides a chassis collision state detection device and method, and a vehicle, which can automatically detect the collision state of the chassis when the chassis is collided, so that the user can know the accurate chassis collision situation in time without getting off the vehicle, and the operation is convenient.

[0004] The first aspect of the present application provides a chassis collision state detection device, which is applied to a vehicle. The detection device comprises a collision sensor, an image acquisition module, and a controller. The collision sensor is arranged on the chassis of the vehicle and is used to send a collision signal when the chassis is collided. The image acquisition module is arranged on the chassis and is used to acquire a chassis image of the outside of the chassis. The controller is used to receive the collision signal sent by the collision sensor, control the image acquisition module to acquire the chassis image when the collision signal is received, and determine the collision state of the chassis according to at least the chassis image acquired by the image acquisition module.

[0005] The chassis collision state detection device provided by the present application can automatically acquire the image of the chassis when the chassis is collided, analyze the acquired image to determine the collision state, thereby realizing automatic detection of the collision state of the chassis, saving time, and being convenient to operate. Moreover, the collision state is determined according to the acquired chassis image, which can avoid that some collision positions are not found in time, thereby avoiding safety problems.

[0006] The second aspect of the present application provides a chassis collision state detection method, which comprises sending a collision signal when the chassis of the vehicle is collided; controlling to acquire a chassis image of the outside of the chassis when the collision signal is received; and determining the collision state of the chassis according to at least the acquired chassis image.

[0007] The chassis collision state detection method provided in the application can automatically collect images of the chassis when the chassis is collided, analyze the collected images, and determine the collision state, so that the collision state of the chassis is automatically detected without the need for the user to get off the vehicle to check, time is saved, and the operation is convenient. In addition, the collision state is determined according to the collected chassis images, so that some collision positions can be avoided from being discovered in time, and safety problems can be avoided.

[0008] The third aspect of the application provides a vehicle, which comprises the chassis collision state detection device and a chassis.

[0009] The vehicle provided in the application can automatically collect images of the chassis when the chassis is collided, analyze the collected images, and determine the collision state, so that the collision state of the chassis is automatically detected without the need for the user to get off the vehicle to check, time is saved, and the operation is convenient. In addition, the collision state is determined according to the collected chassis images, so that some collision positions can be avoided from being discovered in time, and safety problems can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0011] Figure 1 The structural block diagram of the chassis collision state detection device provided in an embodiment of the application.

[0012] Figure 2 The flowchart of the chassis collision state detection method provided in an embodiment of the application.

[0013] Figure 3 The structural block diagram of the vehicle provided in an embodiment of the application.

[0014] Explanation of reference signs:

[0015] 100-chassis collision state detection device; 10-collision sensor; 20-image collection module; 30-controller; 40-storage module; 50-operation state acquisition module; 60-display module; 11-sub collision sensor; 21-sub image collection module; 200-vehicle; 110-chassis. DETAILED DESCRIPTION

[0016] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative effort should fall into the scope of the present application.

[0017] In the description of the present application, the terms "first", "second", and the like are used to distinguish different objects, and are not used to describe a specific sequence, and in addition, the terms "upper", "lower", "inner", and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0018] In the description of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements; it can be communicatively connected; it can be electrically connected. For those of ordinary skill in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0019] Please refer to Figure 1 The structural block diagram of the chassis collision state detection device 100 provided by an embodiment of the present application is shown. The chassis collision state detection device 100 is applied to a vehicle, and the vehicle includes a chassis. As shown in the figure, Figure 1 The chassis collision state detection device 100 includes a collision sensor 10, an image acquisition module 20, and a controller 30. The collision sensor 10 is arranged on the chassis of the vehicle, and is used to send a collision signal when the chassis is collided. The image acquisition module 20 is arranged on the chassis, and is used to acquire a chassis image of the outside of the chassis. The controller 30 is used to receive the collision signal sent by the collision sensor 10, and control the image acquisition module 20 to acquire the chassis image when the collision signal is received, and determine the collision state of the chassis according to at least the chassis image acquired by the image acquisition module.

[0020] The chassis collision state detection device 100 provided by the embodiment of the present application is provided with a collision sensor 10 and an image acquisition module 20, so that when the chassis is collided, the image of the chassis is automatically acquired, and the acquired image is analyzed to determine the collision state, thereby realizing automatic detection of the collision state of the chassis, without the need for the user to get off the vehicle to check, saving time, and the operation is convenient. Moreover, the collision state is determined according to the acquired chassis image, which can avoid the fact that some collision positions are not discovered in time, thereby avoiding causing safety problems.

[0021] In some embodiments, the collision sensor 10 can include a pressure sensor, which converts a pressure signal into an electrical signal when colliding with an obstacle and sends the electrical signal as a collision signal. The collision sensor 10 can be arranged at a position of the chassis where collision is likely to occur, for example, a position on the chassis that is relatively close to the ground. The collision sensor 10 can also be arranged at a position of the chassis corresponding to a relatively important part of the vehicle, for example, a position of the chassis corresponding to an engine or an oil tank. In other embodiments, the collision sensor 10 can also be a distance sensor, which sends a collision signal when detecting that the distance between the chassis and an obstacle is 0, i.e., the chassis is collided with the obstacle. The distance sensor can be, for example, an ultrasonic distance sensor, a laser distance sensor, an infrared distance sensor, etc.

[0022] The chassis image acquired by the image acquisition module 20 can be an image of the side of the chassis close to the ground, and the acquired chassis image can be an image of the entire surface of the side of the chassis close to the ground.

[0023] In some embodiments, the image acquisition module 20 can include a camera, for example, an infrared wide-angle camera. Since the chassis is located at the bottom of the vehicle, the chassis image can be acquired by the infrared wide-angle camera, which can avoid the influence of insufficient visible light on the acquisition of the chassis image. Obviously, the image acquisition module 20 can also be other types of cameras, for example, a visible light camera, etc. The image acquired by the image acquisition module 20 can include the profile, roughness, flatness, size in the Z-axis direction, etc. of the side of the chassis close to the ground, and the Z-axis direction is perpendicular to the chassis.

[0024] The controller 30 can be a central processing unit (CPU), a microcontroller, a single-chip microcomputer, a digital signal processor, etc.

[0025] In some embodiments, the collision state includes a collision position and a collision degree, and the detection device 100 for the chassis collision state further includes a storage module 40 for storing a chassis image after the chassis is collided once, and the controller 30 is configured to determine the collision position and the collision degree of the chassis at present according to the chassis image after the chassis is collided once and the chassis image collected by the image collection module 20 at present.

[0026] The storage module 40 can be a memory, for example, a solid-state memory, a memory card, etc.

[0027] In some embodiments, the controller 30 is configured to compare the chassis image after the chassis is collided once and the chassis image collected by the image collection module 20 at present to determine the collision position of the chassis at present and the collision depth of the collision position, and determine the collision degree according to at least the collision depth.

[0028] By comparing the chassis image collected at present and the chassis image after the chassis is collided once, the collision position of the chassis at present and the collision depth of the collision position can be determined. The collision depth of the collision position can be determined according to the size of the collision position in the Z-axis direction in the chassis image collected at present and the size of the collision position in the Z-axis direction in the chassis image after the chassis is collided once.

[0029] In some embodiments, after the collision state of the chassis is determined, the controller 30 is further configured to control the chassis image collected by the image collection module 20 at present to replace the chassis image after the chassis is collided once in the storage module 40, so as to update the chassis image, thereby facilitating the determination of the collision position and the collision degree by image comparison when the chassis is collided next time.

[0030] In some embodiments, the chassis image collected by the image collection module 20 is an image of the entire surface of the side of the chassis close to the ground, and the controller 30 controls the chassis image collected by the image collection module 20 at present to directly replace the chassis image collected after the chassis is collided once after the collision state of the chassis is determined.

[0031] In some embodiments, the controller 30 is further configured to control the image acquisition module 20 to acquire a chassis image of the outer side of the chassis after the chassis is repaired, and control the acquired chassis image to be stored in the storage module 40 to replace the chassis image stored in the storage module 40, so as to update the chassis image. The chassis image to be replaced can be the chassis image acquired after the chassis is collided once or the chassis image acquired after the chassis is repaired once, i.e., the chassis image stored in the storage module 40 is the image of the latest state of the chassis. After each collision or repair, the acquired chassis image is stored in the storage module 40 to replace the previously stored chassis image, so that the chassis image stored in the storage module 40 can reflect the latest state of the chassis.

[0032] In some embodiments, the controller 30 is further configured to control the image acquisition module 20 to acquire a chassis image of the outer side of the chassis after the chassis is repaired, and control the acquired chassis image to be stored in the storage module 40 to replace the chassis image stored in the storage module 40, so as to update the chassis image. The chassis image to be replaced can be the chassis image acquired after the chassis is collided once or the chassis image acquired after the chassis is repaired once, i.e., the chassis image stored in the storage module 40 is the image of the latest state of the chassis. After each collision or repair, the acquired chassis image is stored in the storage module 40 to replace the previously stored chassis image, so that the chassis image stored in the storage module 40 can reflect the latest state of the chassis.

[0033] In some embodiments, the controller 30 is further configured to control the image acquisition module 20 to acquire a chassis image of the outer side of the chassis after the chassis is repaired, and control the acquired chassis image to be stored in the storage module 40 to replace the chassis image stored in the storage module 40, so as to update the chassis image. The chassis image to be replaced can be the chassis image acquired after the chassis is collided once or the chassis image acquired after the chassis is repaired once, i.e., the chassis image stored in the storage module 40 is the image of the latest state of the chassis. After each collision or repair, the acquired chassis image is stored in the storage module 40 to replace the previously stored chassis image, so that the chassis image stored in the storage module 40 can reflect the latest state of the chassis.

[0034] In some embodiments, the chassis collision state detection device 100 further comprises a running state acquisition module 50 configured to acquire the running state of the vehicle, and the controller 30 is configured to determine the collision degree according to the collision depth and the running state acquired by the running state acquisition module 50. The running state at least includes whether the brake of the vehicle is normal and / or whether the oil tank of the vehicle is leaking.

[0035] The collision degree is determined according to the collision depth and the running state, and the influence of the collision depth and the collision on the running of the vehicle is considered, so that the collision degree of the chassis can be more accurately reflected.

[0036] The running state acquisition module 50 sends the acquired running state to the controller 30, and the controller 30 determines the collision degree according to the collision depth and the running state when receiving the running state.

[0037] The running state acquisition module 50 can be a CAN (Controller Area Network) communication module, which can be in communication connection with an engine controller, a body controller, a central controller and the like of the vehicle, and can also be in communication connection with the controller 30. The CAN communication module is used to acquire the running state of the vehicle.

[0038] The storage module 40 can prestore a plurality of collision levels and a preset corresponding relationship between the collision depth and the running state. Each collision level corresponds to a collision depth range and a running state. The earlier the collision level is, the more serious the collision degree is. For example, the plurality of collision levels include a first collision level, a second collision level, a third collision level and a fourth collision level. The first collision level corresponds to a first depth range, and the corresponding running state includes brake abnormality and oil tank leakage. The second collision level corresponds to a second depth range, and the upper limit value of the second depth range can be less than the lower limit value of the first depth range, or the second depth range partially overlaps with the first depth range. The corresponding running state includes brake abnormality and no oil tank leakage. The third collision level corresponds to a third depth range, and the upper limit value of the third depth range can be less than the lower limit value of the second depth range, or the third depth range partially overlaps with the second depth range. The corresponding running state includes normal brake and no oil tank leakage. The fourth collision level corresponds to a fourth depth range, and the upper limit value of the fourth depth range is less than the lower limit value of the third depth range. The corresponding running state includes normal brake and no oil tank leakage. The corresponding running states of different collision levels can be the same or different.

[0039] The controller 30 can determine the collision level, i.e. the collision degree, according to the determined collision depth, the acquired running state and the preset corresponding relationship.

[0040] When there are a plurality of collision positions, the current collision level can be determined according to the collision depth corresponding to the collision position with the largest collision depth and the current running state of the vehicle.

[0041] Obviously, the collision levels can also be divided in other ways, for example, the entire surface area of the side of the chassis close to the ground is divided into a plurality of sub-areas, and each sub-area is provided with a plurality of collision levels corresponding to a collision depth and an operating state.

[0042] In the embodiments of the present application, the collision depth range corresponding to each collision level can be set according to actual needs. The division of collision levels can also be set according to actual needs. Here, no limitation is made.

[0043] In other embodiments, the operating state can also include whether the accelerator of the vehicle is normal, whether the clutch is normal, whether the tire is deflated, etc. Obviously, it can also include the state of other functional components of the vehicle or parameters related to driving, etc.

[0044] In some embodiments, the collision state includes a collision position and a collision degree, and the chassis collision state detection device 100 further includes a display module 60, and the controller 30 is further configured to generate a collision state picture according to the chassis image after determining the collision position and the collision degree, the collision state picture being marked with the collision position and the collision degree, and the controller 30 is configured to control the display module 60 to display the collision state picture, so that the user can clearly know the collision position and the collision state of the chassis through the display module 60.

[0045] The display module 60 can be a display screen, for example, a touch display screen or a mechanical key display screen, etc.

[0046] The controller 30 can mark the collision position and the collision degree on the chassis image currently collected by the image collection module 20 to generate the collision state picture after determining the collision position and the collision degree. In some embodiments, the controller 30 can also mark the collision depth of each collision position on the chassis image to generate the collision state picture.

[0047] In some embodiments, the controller 30 can also control the display module 60 to display the operating state obtained by the operating state acquisition module 50, so that the user can more clearly know the operating state of the vehicle after the current collision.

[0048] In some embodiments, the collision sensor 10 comprises a plurality of sub-collision sensors 11, which are respectively arranged at different positions of the chassis, each of the sub-collision sensors 11 is configured to send the collision signal when the sub-collision sensor 11 is collided. The controller 30 is configured to receive the collision signals sent by the plurality of sub-collision sensors 11, and when the collision signals sent by the plurality of sub-collision sensors 11 are received, control the image acquisition module 20 to acquire the chassis image, and determine the collision state of the chassis according to at least the chassis image acquired by the image acquisition module 20.

[0049] In some embodiments, the sub-collision sensor 11 can be a pressure sensor or a distance sensor.

[0050] In some embodiments, the plurality of sub-collision sensors 11 can be arranged on the side of the chassis close to the ground, and can also be arranged on the side of the chassis away from the ground.

[0051] In some embodiments, the controller 30 is configured to control the image acquisition module 20 to acquire the chassis image when any one or more of the plurality of sub-collision sensors 11 sends the collision signal.

[0052] In some embodiments, by arranging a plurality of sub-collision sensors 11 at different positions on the chassis, the accuracy of detecting the collision state of the chassis when the chassis is collided can be improved.

[0053] In some embodiments, the image acquisition module 20 comprises a plurality of sub-image acquisition modules 21, which are respectively arranged at different positions of the chassis, each of the sub-image acquisition modules 21 is configured to acquire the image of the region where the corresponding position is located, and the image formed by splicing the images acquired by the plurality of sub-image acquisition modules 21 comprises all regions on the outside of the chassis, i.e. the entire surface region on the side of the chassis close to the ground, so that some collision positions can be prevented from being missed.

[0054] In some embodiments, the plurality of sub-image acquisition modules 21 can be arranged on the side of the chassis close to the ground, or embedded in the chassis.

[0055] In some embodiments, the images acquired by the plurality of sub-image acquisition modules 21 can be partially overlapped, and the controller 30 can obtain the chassis image by aligning and splicing the overlapping parts in the images acquired by the plurality of sub-image acquisition modules 21.

[0056] In other embodiments, the images acquired by the plurality of sub-image acquisition modules 21 can also just abut each other.

[0057] The controller 30 controls the image acquisition module 20 to acquire the chassis image upon receiving the collision signal from the plurality of sub-collision sensors 11, including: controlling the plurality of sub-image acquisition modules 21 to acquire images of the region where the corresponding sub-collision sensor 11 is located upon receiving the collision signal from the plurality of sub-collision sensors 11, and splicing the images acquired by the plurality of sub-image acquisition modules 21 to form the chassis image.

[0058] In some embodiments, the image acquisition module 20 includes a plurality of sub-image acquisition modules 21, which are respectively arranged at different positions of the chassis and correspond to the plurality of sub-collision sensors 11 one-to-one. Each sub-image acquisition module 21 is configured to acquire an image of the region where the corresponding sub-collision sensor 11 is located. The controller 30 is configured to determine the position of the sub-collision sensor 11 upon receiving the collision signal from the sub-collision sensor 11, and control the sub-image acquisition module 21 corresponding to the sub-collision sensor 11 that sends the collision signal to acquire an image of the region where the sub-collision sensor 11 is located, thereby obtaining the chassis image.

[0059] The controller 30 is further configured to compare the image of the region where the sub-collision sensor 11 is located acquired by the sub-image acquisition module 21 with the chassis image stored in the storage module 40 after the chassis is last collided to determine the collision position and the collision depth of the collision position, or compare the image of the region where the sub-collision sensor 11 is located acquired by the sub-image acquisition module 21 with the chassis image stored in the storage module 40 after the chassis is last repaired to determine the collision position and the collision depth of the collision position. That is, the controller 30 is configured to compare the image of the region where the sub-collision sensor 11 is located acquired by the sub-image acquisition module 21 with the image of the latest state of the chassis stored in the storage module 40 to determine the collision position and the collision depth of the collision position.

[0060] The controller 30 is further configured to compare the image of the region where the sub-collision sensor 11 is located acquired by the sub-image acquisition module 21 with the image of the corresponding region in the image of the latest state of the chassis to determine the specific orientation and collision depth of the collision position in the corresponding region.

[0061] By collecting the image of the region where the sub-collision sensor 11 is located collided by the obstacle and comparing the image with the image of the corresponding region in the image of the latest state of the chassis, the computational load can be reduced, so that the collision position and the collision degree can be determined faster, and the user can obtain the collision position and the collision degree faster.

[0062] After the collision state of the chassis is determined according to at least the image of the region where the sub-collision sensor 11 is located collected by the sub-image collection module 21, the controller 30 is configured to store the image of the region where the sub-collision sensor 11 is located collected by the sub-image collection module 21 in the storage module 40, to replace the part of the corresponding region in the image of the latest state of the chassis stored in the storage module 40, so as to update the image of the chassis.

[0063] In some embodiments, the plurality of sub-collision sensors 11 can be arranged at positions corresponding to specific functional components of the vehicle, i.e., the plurality of sub-collision sensors 11 can be arranged at positions of the chassis directly opposite to the specific functional components, and the orthographic projection of the plurality of sub-collision sensors 11 on the specific functional components is located in the specific functional components.

[0064] The specific functional components can be functional components of the vehicle with a higher importance level, for example, the specific functional components can be an engine, a fuel tank, a brake, etc. Thus, when the relatively important functional components are collided, the user can be informed in time, so as to avoid causing a larger safety problem.

[0065] Please refer to Figure 2 The flowchart of the chassis collision state detection method provided by an embodiment of the present application. The chassis collision state detection method can be applied to the chassis collision state detection device 100 provided by any of the foregoing embodiments. As shown in Figure 2 The chassis collision state detection method comprises the following steps:

[0066] S10: A collision signal is sent when the chassis of the vehicle is collided.

[0067] S20: The chassis image of the outside of the chassis is controlled to be collected when the collision signal is received.

[0068] S30: The collision state of the chassis is determined according to at least the collected chassis image.

[0069] The chassis collision state detection method provided by the embodiment of the present application can automatically collect the chassis image when the chassis is collided, analyze the collected image, and determine the collision state, so that the collision state of the chassis is automatically detected, the user does not need to get off the vehicle to check, time is saved, the operation is convenient, and the collision state is determined according to the collected chassis image, so that some collision positions can be found in time, and safety problems can be avoided.

[0070] In some embodiments, the collision state includes a collision position and a collision degree, and the chassis collision state detection method further includes: determining the collision position and the collision degree of the chassis at present according to at least the chassis image after the chassis is collided last time and the chassis image collected by the image collection module at present.

[0071] In some embodiments, the determination of the collision position and the collision degree of the chassis at present according to at least the chassis image after the chassis is collided last time and the chassis image collected by the image collection module at present includes: comparing the chassis image after the chassis is collided last time and the chassis image collected by the image collection module at present to determine the collision position of the chassis at present and the collision depth of the collision position, and determining the collision degree according to at least the collision depth.

[0072] In some embodiments, the chassis collision state detection method further includes: obtaining the running state of the vehicle; and determining the collision degree according to the collision depth and the obtained running state, wherein the running state at least includes whether the brake of the vehicle is normal and / or whether the oil tank of the vehicle leaks oil.

[0073] In some embodiments, the collision state includes a collision position and a collision degree, and the chassis collision state detection method further includes: after the collision position and the collision degree are determined, generating a collision state picture according to the chassis image, wherein the collision state picture is marked with the collision position and the collision degree; and controlling the collision state picture to be displayed.

[0074] In some embodiments, the chassis collision state detection device 100 includes the aforementioned plurality of sub-collision sensors 11, and the plurality of sub-collision sensors 11 are respectively arranged at different positions of the chassis, and each sub-collision sensor 11 is used to send the collision signal when the sub-collision sensor 11 is collided. The chassis collision state detection method further includes: receiving the collision signals sent by the plurality of sub-collision sensors 11, and when the collision signals sent by the plurality of sub-collision sensors 11 are received, controlling the chassis image to be collected, and determining the collision state of the chassis according to at least the collected chassis image.

[0075] In some embodiments, the chassis collision state detection device 100 comprises the aforementioned plurality of sub-image acquisition modules 21, which are respectively arranged at different positions of the chassis, each sub-image acquisition module 21 is used to acquire the image of the region at the corresponding position, and the image formed by splicing the images acquired by the plurality of sub-image acquisition modules 21 comprises the entire region of the outer side of the chassis. The chassis image acquisition control method comprises: when the collision signal is received from the plurality of sub-collision sensors 11, controlling the plurality of sub-image acquisition modules 21 to acquire the image of the region at the corresponding position, and splicing the images acquired by the plurality of sub-image acquisition modules 21 to form the chassis image.

[0076] In some embodiments, the plurality of sub-image acquisition modules 21 correspond to the plurality of sub-collision sensors 11 one by one, each sub-image acquisition module 21 is used to acquire the image of the region at the corresponding sub-collision sensor 11, and the chassis image acquisition control method comprises: when the collision signal is received from the sub-collision sensor 11, determining the position of the sub-collision sensor 11, and controlling the sub-image acquisition module 21 corresponding to the sub-collision sensor 11 that sends the collision signal to acquire the image of the region at the sub-collision sensor 11, thereby obtaining the chassis image.

[0077] In some embodiments, the chassis collision state detection device 100 comprises the aforementioned storage module 40, and the chassis collision state detection method further comprises: controlling the chassis image currently acquired to replace the chassis image after the chassis is last collided in the storage module 40, thereby updating the chassis image.

[0078] In some embodiments, the chassis collision state detection method further comprises: after the chassis is repaired, controlling the chassis image of the outer side of the chassis to be acquired, and controlling the acquired chassis image to be stored in the storage module 40 to replace the chassis image stored in the storage module 40, thereby updating the chassis image.

[0079] The chassis collision state detection method corresponds to the aforementioned chassis collision state detection device 100, and more detailed descriptions can be referred to the contents of the aforementioned various embodiments of the chassis collision state detection device 100. The chassis collision state detection method and the contents of the aforementioned chassis collision state detection device 100 can also be mutually referred.

[0080] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily necessary for the present application.

[0081] Please refer to Figure 3 , the structural block diagram of the vehicle 200 provided by an embodiment of the present application is shown. As shown in the figure, the vehicle 200 comprises a chassis 110 and the detection device 100 of the chassis collision state provided by any of the foregoing embodiments. Figure 3

[0082] The vehicle 200 provided by the embodiment of the present application automatically collects the image of the chassis when the chassis is collided, analyzes the collected image, and determines the collision state, so as to realize the automatic detection of the collision state of the chassis, without the need for the user to get off the vehicle to check, saving time, convenient operation, and according to the collected chassis image to determine the collision state, which can avoid that some collision positions are not discovered in time, thereby avoiding causing safety problems.

[0083] Among them, the vehicle 200 can be a fuel vehicle, an electric vehicle, a hybrid vehicle, etc.

[0084] The embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is called by a processor to be executed, so as to realize the detection method of the chassis collision state provided by any of the foregoing embodiments.

[0085] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0086] The above is the implementation manner of the embodiment of the present application. It should be noted that, for those skilled in the art, without departing from the principle of the embodiment of the present application, a number of improvements and refinements can be made, which are also regarded as the protection scope of the present application.​

Claims

1. A chassis collision state detection device, applied to a vehicle, characterized in that, The detection device includes: A collision sensor, mounted on the chassis of the vehicle, is used to emit a collision signal when the chassis is hit. An image acquisition module, mounted on the chassis, is used to acquire images of the chassis from its outer side; and The controller is configured to receive a collision signal emitted by the collision sensor, and upon receiving the collision signal, control the image acquisition module to acquire an image of the chassis, and determine the collision state of the chassis based at least on the chassis image acquired by the image acquisition module. The collision state includes the collision location and the collision degree. The detection device also includes a storage module for storing the chassis image after the chassis was collided with the previous time. The controller is used to determine the current collision location and collision degree of the chassis based at least on the chassis image after the chassis was collided with the previous time and the chassis image currently acquired by the image acquisition module. The controller is also used to control the replacement of the chassis image in the storage module with the chassis image currently acquired by the image acquisition module after the last collision, thereby updating the chassis image.

2. The chassis collision state detection device according to claim 1, characterized in that, The controller is used to compare the chassis image after the previous collision with the chassis image currently acquired by the image acquisition module to determine the current collision position of the chassis and the collision depth at the collision position, and to determine the degree of collision based at least on the collision depth.

3. The chassis collision state detection device according to claim 2, characterized in that, The detection device further includes an operating status acquisition module for acquiring the operating status of the vehicle. The controller is used to determine the degree of collision based on the collision depth and the operating status acquired by the operating status acquisition module. The operating status includes at least whether the vehicle's brakes are functioning properly and / or whether the vehicle's fuel tank is leaking.

4. The chassis collision state detection device according to claim 1, characterized in that, The collision state includes the collision location and the collision degree. The detection device also includes a display module. The controller is further configured to generate a collision state image based on the chassis image after determining the collision location and the collision degree. The collision state image is marked with the collision location and the collision degree. The controller is also configured to control the display module to display the collision state image.

5. The chassis collision state detection device according to claim 1, characterized in that, The collision sensor includes multiple sub-collision sensors, which are respectively located at different positions on the chassis. Each sub-collision sensor is used to emit a collision signal when it is collided with another vehicle. The controller is used to receive the collision signals emitted by the multiple sub-collision sensors, and when it receives the collision signals emitted by the multiple sub-collision sensors, it controls the image acquisition module to acquire an image of the chassis, and determines the collision state of the chassis based at least on the chassis image acquired by the image acquisition module.

6. The chassis collision state detection device according to claim 5, characterized in that, The image acquisition module includes multiple sub-image acquisition modules, which are respectively located at different positions on the chassis. Each sub-image acquisition module is used to acquire an image of the area where it is located. The image formed by stitching together the images acquired by the multiple sub-image acquisition modules includes the entire area of ​​the outer side of the chassis. When the controller receives the collision signal emitted by the plurality of sub-collision sensors, it controls the image acquisition module to acquire the chassis image, including: when receiving the collision signal emitted by the plurality of sub-collision sensors, controlling the plurality of sub-image acquisition modules to acquire the image of the corresponding location area, and stitching the images acquired by the plurality of sub-image acquisition modules together to form the chassis image.

7. The chassis collision state detection device according to claim 5, characterized in that, The image acquisition module includes multiple sub-image acquisition modules, which are respectively located at different positions on the chassis and correspond one-to-one with the multiple sub-collision sensors. Each sub-image acquisition module is used to acquire an image of the area where the corresponding sub-collision sensor is located. When the controller receives a collision signal emitted by the sub-collision sensor, it determines the position of the sub-collision sensor and controls the sub-image acquisition module corresponding to the sub-collision sensor that emitted the collision signal to acquire an image of the area where the sub-collision sensor is located, thereby obtaining the chassis image.

8. The chassis collision state detection device according to claim 1, characterized in that, The controller is also used to control the image acquisition module to acquire a chassis image of the outside of the chassis after the chassis is repaired, and to control the acquisition of the chassis image to be stored in the storage module to replace the chassis image stored in the storage module, thereby updating the chassis image.

9. A method for detecting chassis collision conditions, applied to vehicles, characterized in that, The detection method includes: A collision signal is emitted when the chassis of the vehicle is hit; Upon receiving the collision signal, control the acquisition of an image of the chassis from the outer side of the chassis; and The collision state of the chassis can be determined at least based on the acquired chassis images; The collision state includes the collision location and the degree of collision, and the method further includes: Based at least on the chassis image after the last collision and the currently acquired chassis image, determine the current collision location and degree of collision of the chassis. The vehicle includes a storage module for storing chassis images after a previous collision, and the method further includes: The system controls the replacement of the previously captured chassis image in the storage module with the currently acquired chassis image, thereby updating the chassis image.

10. A vehicle, characterized in that, The vehicle includes a chassis collision state detection device as described in any one of claims 1-8 and a chassis.

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