Vehicle crash mitigation system, method of mitigating a vehicle crash, and vehicle

Abstract

The application discloses a vehicle collision mitigation system, a method for mitigating vehicle collision and a vehicle, and belongs to the technical field of vehicles. The vehicle collision mitigation system comprises an environment perception component, a control decision module, an adhesion force improving system and an actuator, wherein the environment perception component is used to acquire target obstacle information of the vehicle; the control decision module is used to calculate a collision time of the vehicle based on the target obstacle information; when the collision time is less than or equal to a second preset time, the adhesion force improving system is controlled to spray a substance increasing the ground adhesion coefficient in the advancing direction of the vehicle wheel, and meanwhile, the actuator is controlled to brake the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle collision mitigation system, a method for mitigating vehicle collision and a vehicle. BACKGROUND

[0002] The vehicle collision mitigation system is usually arranged in a vehicle, and provides a pre-warning for an impending vehicle collision through the vehicle collision mitigation system, and / or automatically starts a braking system through the vehicle collision mitigation system to avoid the vehicle collision.

[0003] The existing vehicle collision mitigation system is usually applied to a road surface with a high adhesion coefficient. When the existing vehicle collision mitigation system is applied to a road surface with a poor adhesion coefficient, for example, there is snow on the road surface, the existing vehicle collision mitigation system cannot well control the vehicle speed, thereby easily leading to the vehicle collision. SUMMARY

[0004] The present application provides a vehicle collision mitigation system, a method for mitigating vehicle collision and a vehicle to solve or at least partially solve the problem in the prior art that when the vehicle collision mitigation system is applied to a road surface with a poor adhesion coefficient, the vehicle collision mitigation system cannot well control the vehicle speed, thereby easily leading to the vehicle collision.

[0005] In order to solve the above technical problems, the present application is implemented as follows:

[0006] In a first aspect, the present application provides a vehicle collision mitigation system, comprising: an environment perception component, a control decision module, an adhesion force enhancement system and an actuator, wherein the environment perception component is configured to obtain target obstacle information of a vehicle; the control decision module is configured to calculate a collision time of the vehicle based on the target obstacle information, and when the collision time is less than or equal to a second preset time, control the adhesion force enhancement system to spray a substance increasing the adhesion coefficient of the ground in the forward direction of the vehicle wheel, and simultaneously control the actuator to brake the vehicle.

[0007] Optionally, when the collision time is less than or equal to the second preset time, the control decision module controls the adhesion force enhancement system to spray the substance increasing the adhesion coefficient of the ground in the forward direction of the vehicle wheel at different frequencies according to the collision time.

[0008] Optionally, when the collision time is less than or equal to the second preset time and greater than a third preset time, the control decision module controls the adhesion force enhancement system to spray the substance increasing the adhesion coefficient of the ground in the forward direction of the vehicle wheel at a first frequency.

[0009] Optionally, when the collision time is less than or equal to the third preset time and greater than zero, the control decision module controls the adhesion enhancement system to spray the substance increasing the ground adhesion coefficient to the spray area in the advancing direction of the vehicle at a second frequency.

[0010] Optionally, when the speed of the vehicle is zero or the relative speed between the vehicle and the target obstacle is zero, the control decision module controls the adhesion enhancement system to stop spraying the substance increasing the ground adhesion coefficient and / or controls the actuator to stop braking the vehicle.

[0011] Optionally, the adhesion enhancement system comprises a control valve, a gas injection device and a spray gun, wherein when the collision time is less than or equal to the second preset time, the control decision module controls the control valve to open so that the gas injected by the gas injection device is transmitted to the spray gun, and the substance increasing the ground adhesion coefficient is sprayed to the spray area in the advancing direction of the vehicle by the spray gun.

[0012] Optionally, the adhesion enhancement system further comprises a storage device, wherein when the collision time is less than or equal to the second preset time, the spray gun sprays the substance increasing the ground adhesion coefficient in the storage device to the spray area in the advancing direction of the vehicle.

[0013] Optionally, the vehicle collision mitigation system has at least a first mode, and when the collision time is less than or equal to the second preset time, the control decision module controls the adhesion enhancement system to spray the substance increasing the ground adhesion coefficient to the spray area in the advancing direction of the vehicle in the first mode of the vehicle collision mitigation system.

[0014] Optionally, the vehicle collision mitigation system further comprises an alarm device, and when the collision time is less than or equal to the first preset time and greater than the second preset time, the control decision module controls the alarm device to issue an alarm.

[0015] Optionally, the alarm device comprises a sound alarm device and / or a light alarm device.

[0016] Optionally, the environment perception component comprises an environment perception sensor.

[0017] In a second aspect, the present application provides a method for mitigating vehicle collision, the method comprising: obtaining target obstacle information of a vehicle; calculating collision time of the vehicle based on the target obstacle information; when the collision time is less than or equal to a second preset time, spraying a substance increasing the ground adhesion coefficient to the advancing direction of the vehicle, and simultaneously braking the vehicle.

[0018] Optionally, the method further comprises: when the collision time is less than or equal to the second preset time, spraying the substance increasing the ground adhesion coefficient in the direction of the wheel advancement at different frequencies according to the collision time while braking the vehicle.

[0019] Optionally, the method further comprises: when the collision time is less than or equal to the second preset time, spraying the substance increasing the ground adhesion coefficient in the direction of the wheel advancement at different frequencies according to the collision time while braking the vehicle.

[0020] In a third aspect, the present application provides a vehicle, comprising a vehicle body and the vehicle collision mitigation system of the first aspect, wherein the vehicle collision mitigation system is arranged in the vehicle body.

[0021] The present application provides a vehicle collision mitigation system, a method for mitigating vehicle collision and a vehicle. The vehicle collision mitigation system comprises an environment perception component, a control decision module, an adhesion force improvement system and an actuator. The environment perception component is configured to acquire target obstacle information of the vehicle. The control decision module is configured to calculate a collision time of the vehicle based on the target obstacle information. When the collision time is less than or equal to a second preset time, the control decision module controls the adhesion force improvement system to spray a substance increasing the ground adhesion coefficient in the direction of the wheel advancement, and controls the actuator to brake the vehicle. The vehicle collision mitigation system disclosed in the present application embodiment acquires the target obstacle information of the vehicle through the environment perception component, and calculates the collision time of the vehicle based on the target obstacle information through the control decision module. When the collision time is less than or equal to the second preset time, the control decision module controls the adhesion force improvement system to spray the substance increasing the ground adhesion coefficient in the direction of the wheel advancement, and controls the actuator to brake the vehicle. In the case that the adhesion coefficient of the road surface is poor, the substance increasing the ground adhesion coefficient is sprayed in the direction of the wheel advancement, so as to increase the friction between the wheel and the road surface. At the same time, the control decision module controls the actuator to brake the vehicle, so as to reduce the speed of the vehicle. Thus, the vehicle can reduce the speed quickly, and the collision of the vehicle can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Schematic diagram of the substance for spraying the vehicle to increase the ground adhesion coefficient in the embodiment of the present application Figure 1

[0023] Figure 2 Schematic diagram of the substance for spraying the vehicle to increase the ground adhesion coefficient in the embodiment of the present application Figure 2

[0024] Figure 3 Schematic diagram of the structure of the vehicle collision mitigation system in the embodiment of the present application

[0025] Figure 4 Flow chart of the method for mitigating vehicle collision in the embodiment of the present application

[0026] Figure 5 Schematic diagram of the structure of the adhesion force enhancement system in the embodiment of the present application

[0027] Figure 6 Schematic diagram of the application scenario of the vehicle collision mitigation system in the embodiment of the present application

[0028] Reference signs:

[0029] 10: Spraying area

[0030] 20: Environment perception component

[0031] 30: Control decision module

[0032] 40: Adhesion force enhancement system; 41: Control valve; 42: Air jet device; 43: Spray gun; 44: Storage device

[0033] 50: Actuator

[0034] 60: Alarm device DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] ​​It should be understood that every feature, structure, or characteristic described in relation to an embodiment is within the scope of at least one embodiment of the present application. Thus, appearances of the language "in one embodiment" or "in an embodiment" in various places in the specification are not necessarily referring to the same embodiment. Furthermore, the features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0037] Referring to Figure 1 , a schematic diagram of the vehicle spraying the substance for increasing the ground adhesion coefficient in the embodiment of the present application is shown Figure 1 ; referring to Figure 2 , a schematic diagram of the vehicle spraying the substance for increasing the ground adhesion coefficient in the embodiment of the present application is shown Figure 2 ; referring to Figure 3 , a structural schematic diagram of the vehicle collision mitigation system in the embodiment of the present application is shown; referring to Figure 4 , a flow chart of the method for mitigating vehicle collision in the embodiment of the present application is shown; referring to Figure 5 , a structural schematic diagram of the adhesion force improving system in the embodiment of the present application is shown; referring to Figure 6 , a schematic diagram of the application scenario of the vehicle collision mitigation system in the embodiment of the present application is shown.

[0038] The vehicle collision mitigation system provided by the embodiment of the present application will be described in detail below with reference to the accompanying drawings, specific embodiments and application scenarios thereof.

[0039] The existing vehicle collision mitigation system is usually applied to a road surface with a high adhesion coefficient, for example, a dry and good asphalt road surface or a concrete road surface. However, when the existing vehicle collision mitigation system is applied to a road surface with a poor adhesion coefficient, for example, an icy road surface, the vehicle collision mitigation system cannot well control the vehicle speed, which leads to the vehicle collision. Therefore, the embodiment of the present application discloses a vehicle collision mitigation system to enable the vehicle to quickly reduce its own speed on a road surface with a poor adhesion coefficient, thereby avoiding the vehicle collision.

[0040] As shown in Figure 3 , the embodiment of the present application provides a vehicle collision mitigation system, which comprises an environment perception component 20, a control decision module 30, an adhesion force improving system 40 and an actuator 50, wherein the environment perception component 20 is configured to acquire target obstacle information of the vehicle; the control decision module 30 is configured to calculate a collision time of the vehicle based on the target obstacle information, and when the collision time is less than or equal to a second preset time, the adhesion force improving system 40 is controlled to spray a substance for increasing the ground adhesion coefficient in the forward direction of the vehicle wheel, and the actuator 50 is controlled to brake the vehicle.

[0041] The vehicle collision mitigation system disclosed in the embodiments of the present application is used for a vehicle. The vehicle can be a passenger vehicle or a commercial vehicle. In the embodiments of the present application, the specific type of the vehicle is not limited, and any vehicle can be used. As shown in Figure 1 In the embodiments of the present application, the vehicle collision mitigation system is used for a commercial vehicle as an example.

[0042] As shown in Figure 3 The vehicle collision mitigation system includes an environment perception component 20, which is arranged on the vehicle. For example, the environment perception component 20 can be installed on the side of the front license plate of the vehicle, or the environment perception component 20 can be installed on the side of the rear license plate of the vehicle. Of course, in the embodiments of the present application, the specific installation position of the environment perception component 20 is not limited, and in actual use, the skilled person can install the environment perception component 20 at any position of the vehicle according to the needs.

[0043] In the embodiments of the present application, the target obstacle information of the vehicle is obtained by the environment perception component 20. It should be noted that the target obstacle in the embodiments of the present application can refer to a front vehicle or a rear vehicle, or other objects in front of or behind the vehicle. For example, animals, people, etc. in front of or behind the vehicle. This is not specifically limited. In the embodiments of the present application, the target obstacle is taken as a front vehicle or a rear vehicle as an example.

[0044] The target obstacle information includes but is not limited to the distance information between the vehicle and the target vehicle, the relative speed information between the vehicle and the target vehicle, etc.

[0045] The environment perception component 20 includes an environment perception sensor, wherein the environment perception sensor can be one or more of a camera and a radar. That is, the environment perception sensor can include a camera, or can include a radar. Of course, the environment perception sensor can include both a camera and a radar. In the embodiments of the present application, the specific type and quantity of the environment perception sensor are not limited, and in actual use, the skilled person can set them according to the needs.

[0046] As shown in Figure 3As shown, the vehicle collision mitigation system also includes a control decision module 30, an adhesion enhancement system 40, and an actuator 50. The control decision module 30 is electrically connected to the environmental perception component 20 to acquire target obstacle information of the vehicle and calculate the vehicle's collision time based on this information. The time-to-collision (TTC) refers to the time required for a collision if the vehicle and the target vehicle continue traveling along the same path at their current speeds. In traffic conflict research, collision time is an effective means of measuring the severity of traffic conflicts and distinguishing between critical and normal behaviors.

[0047] The control decision module 30 is electrically connected to the adhesion enhancement system 40 and the actuator 50. When the collision time is less than or equal to a second preset time, the control decision module 30 controls the adhesion enhancement system 40 to spray a substance that increases the ground adhesion coefficient in the direction of wheel travel, thereby increasing the friction between the wheel and the ground. At the same time, the control decision module 30 also controls the actuator 50 to brake the vehicle to reduce its speed.

[0048] For example, such as Figure 6 As shown, the second preset time in this embodiment of the invention can be set to 3.8s. When the collision time is less than or equal to 3.8s, the control decision module 30 controls the adhesion enhancement system 40 to spray a substance that increases the ground adhesion coefficient in the direction of wheel travel, and at the same time, controls the actuator 50 to decelerate the vehicle.

[0049] Of course, in actual use, technicians can also adjust the second preset time as needed to ensure that the second preset time meets the relevant regulations, and at the same time, the vehicle can brake better.

[0050] It should be noted that the substance increasing the ground adhesion coefficient in this application embodiment can be sand, gravel, wood chips, or other substances that can increase the ground adhesion coefficient. In this application embodiment, the specific type of the substance increasing the ground adhesion coefficient is not limited; in actual use, technicians can select a suitable substance as needed.

[0051] The actuator 50 in this embodiment can be a vehicle's braking system, a vehicle's drive motor, or a vehicle's auxiliary deceleration device. Of course, the actuator 50 can also be other devices or means that can decelerate the vehicle. In this embodiment, no particular restrictions are placed on the specific type of actuator 50. In actual use, those skilled in the art can select a suitable actuator 50 according to their needs.

[0052] The vehicle collision mitigation system disclosed by the embodiments of the present application obtains target obstacle information of the vehicle through the environment perception component 20, and the control decision module 30 calculates the collision time of the vehicle based on the target obstacle information. When the collision time is less than or equal to the second preset time, the control decision module 30 can control the adhesion enhancement system 40 to spray the material that increases the ground adhesion coefficient in the advancing direction of the wheel, and at the same time, control the actuator 50 to brake the vehicle. In the case that the adhesion coefficient of the road surface is poor, the material that increases the ground adhesion coefficient is sprayed in the advancing direction of the wheel, and the friction between the wheel and the road surface is increased. At the same time, the control decision module 30 controls the actuator 50 to brake the vehicle to reduce the speed of the vehicle. Thus, the vehicle can quickly reduce the speed of the vehicle, and the collision of the vehicle can be avoided.

[0053] As an optional implementation, the vehicle collision mitigation system has at least a first mode. When the vehicle collision mitigation system is in the first mode, when the collision time is less than or equal to the second preset time, the control decision module 30 controls the adhesion enhancement system 40 to spray the material that increases the ground adhesion coefficient in the spraying area 10 in the advancing direction of the wheel.

[0054] The vehicle collision mitigation system in the embodiments of the present application has at least a first mode. Exemplarily, the vehicle collision mitigation system has a first mode and a second mode. The first mode can be referred to as a snow mode, and the second mode can be referred to as a normal mode. It can be understood that in the case that the adhesion coefficient of the road surface is poor, the vehicle collision mitigation system can be switched to the first mode, and in the case that the adhesion coefficient of the road surface is good, the vehicle collision mitigation system can be switched to the second mode. Exemplarily, in the case that it is raining and snowing and the road surface has snow, the vehicle collision mitigation system can be switched to the first mode. When the snow on the road surface melts, the vehicle collision mitigation system can be switched to the second mode.

[0055] When the vehicle collision mitigation system is switched to the first mode, when the collision time is less than or equal to the second preset time, the control decision module 30 controls the adhesion enhancement system 40 to spray the material that increases the ground adhesion coefficient in the spraying area 10 in the advancing direction of the wheel, so as to increase the adhesion coefficient of the road surface in the advancing direction of the wheel and increase the friction between the wheel and the road surface. At the same time, the control decision module 30 controls the actuator 50 to brake the vehicle to reduce the speed of the vehicle. Thus, the vehicle can quickly reduce the speed of the vehicle, and the collision of the vehicle can be avoided.

[0056] When the vehicle collision mitigation system is switched to the second mode, when the collision time is less than or equal to the second preset time, the control decision module 30 only controls the actuator 50 to brake the vehicle. Because the adhesion coefficient of the road surface is good, the vehicle can normally reduce the speed and will not collide.

[0057] It should be noted that in the embodiment of the present application, the road surface environment information can be perceived by the environment perception component 20, the control decision module 30 obtains the road surface environment information, and the vehicle collision mitigation system is switched between the first mode and the second mode. According to the road surface environment, the vehicle collision mitigation system can also be manually switched from the first mode to the second mode, or from the second mode to the first mode by the user. In the embodiment of the present application, the specific switching mode between the first mode and the second mode is not limited too much. In actual use, the skilled person can select a suitable switching mode according to the needs.

[0058] As an optional implementation, as shown in Figure 3 and Figure 6 The vehicle collision mitigation system further comprises an alarm device 60, and when the collision time is less than or equal to the first preset time and greater than the second preset time, the control decision module 30 controls the alarm device 60 to issue an alarm.

[0059] In the embodiment of the present application, as shown in Figure 3 The alarm device 60 is electrically connected to the control decision module 30, and when the collision time is less than or equal to the first preset time and greater than the second preset time, the control decision module 30 can control the alarm device 60 to issue an alarm to remind the driver that there are obstacles around the vehicle.

[0060] Exemplarily, as shown in Figure 6 The first preset time in the embodiment of the present application can be set to 4.4s, and the second preset time therein can be set to 3.8s. That is, when the collision time is less than or equal to 4.4s and greater than 3.8s, the control decision module 30 controls the alarm device 60 to issue an alarm to remind the driver that there are obstacles around the vehicle.

[0061] Of course, in actual use, the skilled person can also adjust the first preset time and the second preset time according to the needs, so that the first preset time and the second preset time meet the relevant regulations, and at the same time, the vehicle can be well braked.

[0062] It should be noted that in the embodiment of the present application, the alarm device 60 can be installed in the cab to facilitate the driver to timely know the warning issued by the alarm device 60. The alarm device 60 in the embodiment of the present application can be a sound alarm device, or a light alarm device. Of course, the alarm device 60 can include both a sound alarm device and a light alarm device. For this, the embodiment of the present application does not make too many limitations, and in actual use, the skilled person can select a suitable alarm device 60 according to the needs.

[0063] As an optional implementation, when the collision time is less than or equal to the second preset time, the control decision module controls the adhesion force improving system to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a different frequency.

[0064] As shown in Figure 6 when the collision time is less than or equal to the second preset time and greater than the third preset time, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a first frequency.

[0065] As shown in Figure 6 the third preset time in the embodiment of the present application can be set as 3s, and the second preset time therein can be set as 3.8s. That is, when the collision time is less than or equal to 3.8s and greater than 3s, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a first frequency.

[0066] Of course, in actual use, the technician can also adjust the second preset time and the third preset time according to the need, so that the second preset time and the third preset time meet the relevant provisions, and at the same time, the vehicle can be better braked.

[0067] As shown in Figure 6 when the collision time is less than or equal to the third preset time and greater than zero, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a second frequency.

[0068] As shown in Figure 6 the third preset time in the embodiment of the present application can be set as 3s. That is, when the collision time is less than or equal to 3s and greater than 0s, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a second frequency.

[0069] It should be noted that the second frequency in the embodiment of the present application is greater than the first frequency in the above embodiment. That is, when the collision time is less than or equal to 3.8s and greater than 3s, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a first frequency. When the collision time is less than or equal to 3s and greater than 0s, the control decision module 30 controls the adhesion force improving system 40 to spray the substance increasing the ground adhesion coefficient to the wheel advancing direction at a second frequency. The second frequency is greater than the first frequency.

[0070] As an optional implementation, as shown inFigure 6 As shown in the figure, when the speed of the vehicle is zero, or the relative speed between the vehicle and the target obstacle is zero, the control decision module 30 controls the adhesion enhancement system 40 to stop spraying the substance that increases the ground adhesion coefficient, and / or, the control execution mechanism 50 stops braking the vehicle.

[0071] Exemplarily, as Figure 5 As shown in the figure, when the speed of the vehicle is zero, or the relative speed between the vehicle and the target obstacle is zero, the control decision module 30 controls the adhesion enhancement system 40 to stop spraying the substance that increases the ground adhesion coefficient, and / or, the control execution mechanism 50 stops braking the vehicle.

[0072] As an optional implementation, as Figure 5 As shown in the figure, the adhesion enhancement system 40 includes a control valve 41, a gas injection device 42 and a spray gun 43. When the collision time is less than or equal to the second preset time, the control decision module 30 controls the control valve 41 to open, so that the gas injected by the gas injection device 42 is transmitted to the spray gun 43, and the substance that increases the ground adhesion coefficient is sprayed to the spraying area 10 in the advancing direction of the vehicle wheel through the spray gun 43.

[0073] In the embodiment of the present application, as Figure 5 As shown in the figure, the adhesion enhancement system 40 includes a control valve 41, a gas injection device 42 and a spray gun 43. Wherein, the control valve 41 is electrically connected to the control decision module 30, and one end of the control valve 41 is connected to the gas injection device 42, and the other end is connected to the spray gun 43. When the collision time is less than or equal to the second preset time, the control decision module 30 can control the control valve 41 to open, so that the gas injection device 42 and the spray gun 43 are turned on, the gas injected by the gas injection device 42 can be transmitted to the spray gun 43, and the substance that increases the ground adhesion coefficient is sprayed to the spraying area 10 in the advancing direction of the vehicle wheel through the spray gun 43.

[0074] It should be noted that, in the embodiment of the present application, the substance that increases the ground adhesion coefficient sprayed by the spray gun 43 can be sand, or coal cinder, of course, it can also be wood chips. In the embodiment of the present application, the specific type of the substance that increases the ground adhesion coefficient is not limited too much, any substance that can improve the friction between the vehicle wheel and the road surface can be used. In actual use, the skilled person can select the appropriate substance according to the needs.

[0075] In the embodiment of the present application, asFigure 5 As shown in the figure, one sub-control valve and at least one spray gun 43 can be respectively arranged around each wheel of the vehicle, and the sub-control valve is electrically connected to the control valve 41. One end of the sub-control valve is connected to the gas injection device 42, and the other end is connected to the corresponding spray gun 43. When the collision time is less than or equal to the second preset time, the control decision module 30 controls the control valve 41 and one or more sub-control valves to be opened, so that the gas sprayed by the gas injection device 42 is transmitted to the spray gun 43 corresponding to the sub-control valve, and the substance for increasing the ground adhesion coefficient is sprayed to the spraying area 10 in the advancing direction of the corresponding wheel by the spray gun 43.

[0076] In the embodiment of the present application, by opening the control valve 41, the gas injection device 42 and the spray gun 43 can be connected, so that the gas sprayed by the gas injection device 42 can be transmitted to the spray gun 43, and the substance for increasing the ground adhesion coefficient can be sprayed to the spraying area 10 in the advancing direction of the wheel by the spray gun 43. By closing the control valve 41, the gas injection device 42 and the spray gun 43 can be disconnected, so that the gas sprayed by the gas injection device 42 cannot be transmitted to the spray gun 43, and the spray gun 43 cannot spray the substance for increasing the ground adhesion coefficient to the spraying area 10 in the advancing direction of the wheel.

[0077] It should be noted that the control valve 41 in the embodiment of the present application can be an electromagnetic valve, a servo motor, a hand control valve, or a foot control valve. In the embodiment of the present application, the specific type of the control valve 41 is not limited. In actual use, the type and number of the control valve 41 can be set by the technician as needed.

[0078] As an optional implementation, as shown in the figure, Figure 5 As shown in the figure, the adhesion force improving system 40 further comprises a storage device 44, and the spray gun 43 is connected to the storage device 44. When the collision time is less than or equal to the second preset time, the spray gun 43 can spray the substance for increasing the ground adhesion coefficient in the storage device 44 to the spraying area 10 in the advancing direction of the wheel.

[0079] As shown in the figure, Figure 4 As shown in the figure, the adhesion force improving system 40 in the embodiment of the present application further comprises a storage device 44, and the substance for increasing the ground adhesion coefficient is stored in the storage device 44. The spray gun 43 is connected to the storage device 44. When the collision time is less than or equal to the second preset time, the spray gun 43 sprays the substance for increasing the ground adhesion coefficient in the storage device 44 to the spraying area 10 in the advancing direction of the wheel.

[0080] The embodiment of the present application provides a vehicle collision mitigation system, the vehicle collision mitigation system comprises an environment perception component, a control decision module, an adhesion force enhancement system and an actuator, wherein the environment perception component is used to acquire target obstacle information of a vehicle; the control decision module is used to calculate a collision time of the vehicle based on the target obstacle information, when the collision time is less than or equal to a second preset time, the adhesion force enhancement system is controlled to spray a substance increasing the ground adhesion coefficient in the advancing direction of the wheel, and the actuator is controlled to brake the vehicle. The vehicle collision mitigation system disclosed by the embodiment of the present application acquires the target obstacle information of the vehicle through the environment perception component, the control decision module can calculate the collision time of the vehicle based on the target obstacle information. When the collision time is less than or equal to the second preset time, the control decision module controls the adhesion force enhancement system to spray the substance increasing the ground adhesion coefficient in the advancing direction of the wheel, and controls the actuator to brake the vehicle. In the case that the adhesion coefficient of the road is poor, the substance increasing the ground adhesion coefficient is sprayed in the advancing direction of the wheel, and the friction between the wheel and the road is increased. At the same time, the control decision module controls the actuator to brake the vehicle, so as to reduce the speed of the vehicle. Therefore, the vehicle can reduce the speed quickly, and the collision of the vehicle can be avoided.

[0081] The method for mitigating vehicle collision provided by the embodiment of the present application will be described in detail in combination with the drawings and specific embodiments.

[0082] As shown in the figure, Figure 6 The embodiment of the present application discloses a method for mitigating vehicle collision, the method comprises:

[0083] Step 101, acquiring target obstacle information of a vehicle;

[0084] It should be noted that the target obstacle in the embodiment of the present application can refer to a front vehicle or a rear vehicle, or other objects in front of the vehicle or behind the vehicle. For example, animals, people and the like in front of the vehicle or behind the vehicle. In this regard, no specific limitation is made. In the embodiment of the present application, the target obstacle is taken as a front vehicle or a rear vehicle for example.

[0085] The target obstacle information includes but is not limited to distance information between the vehicle and the target vehicle, relative speed information between the vehicle and the target vehicle and the like.

[0086] Step 102, calculating a collision time of the vehicle based on the target obstacle information;

[0087] Calculate a time-to-collision (TTC) of the vehicle based on the target obstacle information. The time-to-collision is the time needed for the ego vehicle to collide with the target vehicle if both vehicles continue on their current paths at their current speeds. In traffic conflict studies, the time-to-collision is an effective measure of the severity of a traffic conflict and a way to distinguish between critical and normal behavior.

[0088] When the time-to-collision is less than or equal to a second preset time, spray the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement, and brake the vehicle.

[0089] When the time-to-collision is less than or equal to a second preset time, spray the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement to increase the friction between the wheel and the ground. At the same time, control the actuator 50 to brake the vehicle to reduce the speed of the ego vehicle and avoid a collision.

[0090] For example, as shown in FIG. 2, the second preset time in the embodiment of the present application can be set to 3.8 s. When the time-to-collision is less than or equal to 3.8 s, spray the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement, and brake the vehicle. Figure 6

[0091] The method of spraying the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement when the time-to-collision is less than or equal to a second preset time, and braking the vehicle, further includes:

[0092] When the time-to-collision is less than or equal to a second preset time, spray the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement at different frequencies according to the time-to-collision, and brake the vehicle. That is, when the time-to-collision is small, the substance that increases the ground adhesion coefficient can be sprayed in the direction of the wheel's forward movement at a large frequency to make the ego vehicle slow down faster and avoid a collision. When the time-to-collision is large, the substance that increases the ground adhesion coefficient can be sprayed in the direction of the wheel's forward movement at a small frequency to make the ego vehicle stop before a collision to avoid a collision.

[0093] The method of spraying the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement when the time-to-collision is less than or equal to a second preset time, and braking the vehicle, further includes:

[0094] When the time-to-collision is less than or equal to the second preset time and greater than a third preset time, spray the substance that increases the ground adhesion coefficient in the direction of the wheel's forward movement at a first frequency, and brake the vehicle. ​

[0095] Exemplarily, as shown in Figure 6 the third preset time in the embodiment of the present application can be set as 3s, and the second preset time therein can be set as 3.8s. That is to say, when the collision time is less than or equal to 3.8s and greater than 3s, the substance increasing the ground adhesion coefficient is sprayed to the advancing direction of the wheel at the first frequency.

[0096] when the collision time is less than or equal to the third preset time and greater than zero, the substance increasing the ground adhesion coefficient is sprayed to the advancing direction of the wheel at the second frequency, and the vehicle is braked.

[0097] Exemplarily, as shown in ​ the third preset time in the embodiment of the present application can be set as 3s. That is to say, when the collision time is less than or equal to 3s and greater than 0s, the substance increasing the ground adhesion coefficient is sprayed to the advancing direction of the wheel at the second frequency.

[0098] The present application also discloses a vehicle, which comprises a vehicle body and the vehicle collision alleviating system as described in the above embodiment, and the vehicle collision alleviating system is arranged in the vehicle body.

[0099] It should be noted that, in the embodiment of the present application, the vehicle collision alleviating system comprised by the vehicle has the same structure as the vehicle collision alleviating system as described in the above embodiment, and has similar advantages, which will not be repeated here.

[0100] It should be noted that, each of the embodiments in the present application is described in a progressive way, and each embodiment mainly describes the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0101] Although the alternative embodiments of the embodiments of the present application have been described, those skilled in the art can make other changes and modifications to the embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the alternative embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0102] Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be intended to distinguish one entity from another entity, without necessarily requiring or implying any actual such relationship or order between such entities. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process or method. An element proceeded by "comprises a... " does not, without more constraints, exclude the presence of additional identical elements in the process or method including the element.

[0103] The above detailed description of the technical solutions provided by the present application has been given, and in this document, specific examples are applied to explain the principles and implementation manners of the present application. Meanwhile, for the general skilled person in the art, the principles and implementation manners of the present application will have changes in specific implementation manners and application ranges, and in view of the above, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A vehicle collision mitigation system, characterized in that, The vehicle collision mitigation system includes: an environmental perception component (20), a control decision module (30), an adhesion enhancement system (40), and an actuator (50), wherein, The environmental perception component (20) is used to acquire target obstacle information of the vehicle; The control decision module (30) is used to calculate the collision time of the vehicle based on the target obstacle information. When the collision time is less than or equal to the second preset time, the adhesion enhancement system (40) is controlled to spray a substance that increases the ground adhesion coefficient in the direction of wheel movement at different frequencies according to the collision time. At the same time, the actuator (50) is controlled to brake the vehicle. When the collision time is less than or equal to the second preset time and greater than the third preset time, the control decision module (30) controls the adhesion enhancement system (40) to spray a substance that increases the ground adhesion coefficient in the direction of the wheel's movement at a first frequency.

2. The vehicle collision mitigation system according to claim 1, characterized in that, When the collision time is less than or equal to the third preset time and greater than zero, the control decision module (30) controls the adhesion enhancement system (40) to spray a substance that increases the ground adhesion coefficient in the direction of the wheel's movement at a second frequency.

3. The vehicle collision mitigation system according to claim 1, characterized in that, When the speed of the vehicle is zero, or the relative speed between the vehicle and the target obstacle is zero, the control decision module (30) controls the adhesion enhancement system (40) to stop spraying the substance that increases the ground adhesion coefficient, and / or controls the actuator (50) to stop braking the vehicle.

4. The vehicle collision mitigation system according to any one of claims 1-3, characterized in that, The adhesion enhancement system (40) includes: a control valve (41), an air jet device (42), and a spray gun (43), wherein, When the collision time is less than or equal to the second preset time, the control decision module (30) controls the control valve (41) to open so that the gas ejected by the jet device (42) is transmitted to the spray gun (43), and the material that increases the ground adhesion coefficient is sprayed to the spray area (10) in the direction of the wheel's forward movement through the spray gun (43).

5. The vehicle collision mitigation system according to claim 4, characterized in that, The adhesion enhancement system (40) further includes: a material storage device (44), wherein, When the collision time is less than or equal to the second preset time, the spray gun (43) sprays the material in the storage device (44) that increases the ground adhesion coefficient into the spray area (10) in the direction of the wheel's forward movement.

6. The vehicle collision mitigation system according to claim 1, characterized in that, The vehicle collision mitigation system has at least a first mode. When the vehicle collision mitigation system is in the first mode, and the collision time is less than or equal to the second preset time, the control decision module (30) controls the adhesion enhancement system (40) to spray a substance that increases the ground adhesion coefficient onto the spray area (10) in the direction of wheel movement.

7. The vehicle collision mitigation system according to claim 1, characterized in that, The vehicle collision mitigation system further includes an alarm device (60), which controls the alarm device (60) to issue an alarm when the collision time is less than or equal to a first preset time and greater than a second preset time.

8. The vehicle collision mitigation system according to claim 7, characterized in that, The alarm device (60) includes an audible alarm device and / or a visual alarm device.

9. A method for mitigating vehicle collisions, characterized in that, The method includes: Obtain information about the target obstacles to the vehicle; The collision time of the vehicle is calculated based on the target obstacle information; When the collision time is less than or equal to the second preset time, a substance that increases the ground adhesion coefficient is sprayed in the direction of wheel travel at different frequencies according to the collision time, and at the same time, the vehicle is braked. The method for applying pressure to the vehicle, wherein when the collision time is less than or equal to a second preset time, a substance that increases the coefficient of friction on the ground is sprayed at different frequencies in the direction of wheel travel according to the collision time, and the method for braking the vehicle further includes: When the collision time is less than or equal to the second preset time and greater than the third preset time, a substance that increases the ground adhesion coefficient is sprayed in the direction of the wheel's movement at a first frequency, and the vehicle is braked at the same time.

10. The method for mitigating vehicle collisions according to claim 9, characterized in that, The method of spraying a substance that increases the ground adhesion coefficient in the direction of wheel travel at different frequencies according to the collision time when the collision time is less than or equal to a second preset time, while simultaneously braking the vehicle, further includes: When the collision time is less than or equal to the third preset time and greater than zero, a substance that increases the ground adhesion coefficient is sprayed in the direction of the wheel's movement at a second frequency, and the vehicle is braked at the same time.

11. A vehicle, characterized in that, The vehicle includes a vehicle body and a vehicle collision mitigation system as described in any one of claims 1-8, wherein the vehicle collision mitigation system is disposed within the vehicle body.

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