Vehicle control method and device for collision scene, equipment and storage medium

Abstract

The application provides a vehicle control method and device for a collision scene, equipment and a storage medium. The method comprises the following steps: in response to detecting that a vehicle is in collision, a monocular camera arranged in the vehicle and having a visual direction towards a driver is used to capture a first video frame, and a current distance between the driver and a steering wheel is determined based on the first video frame; a safe distance under a current impact speed and a current impact acceleration is determined; in response to determining that the current distance is less than the safe distance, a deployment time point of an airbag is set according to the current distance; and the airbag is controlled to be deployed at the deployment time point. The application can significantly improve the accuracy of the airbag deployment timing, thereby providing more effective protection for the driver when the collision occurs.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, in particular to a vehicle control method and device for a collision scenario, equipment and storage medium. BACKGROUND

[0002] With the development of the automobile industry, the importance of vehicle safety systems is increasingly prominent. Airbags, as a key component of vehicle passive safety systems, can effectively reduce the risk of occupant injury in a collision accident. The traditional airbag point explosion strategy is mainly based on the acceleration generated by the vehicle body structure when it is hit, and the appropriate airbag point explosion time is calibrated through various algorithms. However, this strategy assumes that the driver's sitting posture is fixed, and if the driver's sitting posture or body shape is inconsistent with the conventional state, the airbag may not provide effective protection when it is point exploded, and even may cause more serious injuries.

[0003] Therefore, the present application provides a vehicle control method and device for a collision scenario to solve one of the above technical problems. SUMMARY

[0004] The purpose of the present application is to provide a vehicle control method and device for a collision scenario, which can solve at least one of the above technical problems. The specific scheme is as follows:

[0005] According to the specific embodiment of the present application, in a first aspect, the present application provides a vehicle control method for a collision scenario, comprising:

[0006] In response to detecting that the vehicle has collided, a monocular camera arranged in the vehicle and having a visual direction towards the driver is used to capture a first video frame, and the current distance between the driver and the steering wheel is determined based on the first video frame; the safe distance under the current impact speed and the current impact acceleration is determined; in response to determining that the current distance is less than the safe distance, the deployment time point of the safety airbag is set according to the current distance; and the safety airbag is controlled to be deployed at the deployment time point.

[0007] In an embodiment, the current distance between the driver and the steering wheel is determined based on the first video frame, comprising: obtaining the position of the face key feature point of the driver based on the first video frame; calculating the translational parameters and rotational parameters of the face key feature point relative to the monocular camera using a perspective point algorithm; and determining the relative distance between the driver's face and the steering wheel based on the pre-determined relative position relationship between the monocular camera and the steering wheel, and the position of the face key feature point relative to the monocular camera.

[0008] In one embodiment, before determining the current distance between the driver and the steering wheel based on the first video frame, the method further comprises: obtaining a second video frame based on the monocular camera; obtaining face information of the driver based on the second video frame, and identifying at least four key feature points; calibrating the monocular camera to obtain internal parameters of the monocular camera, the internal parameters including focal length, optical center position and distortion parameters.

[0009] In one embodiment, the determination of the safety distance under the current impact speed and the current impact acceleration comprises: determining the safety distance corresponding to the current impact speed and the current impact acceleration based on the correspondence between the impact speed, the impact acceleration and the safety distance.

[0010] In one embodiment, the correspondence between the impact speed, the impact acceleration and the safety distance is determined in the following manner: performing a collision test on the physical airbag control unit to obtain sensor data, the sensor data including acceleration, displacement, force and torque; establishing a virtual simulation model based on the sensor data, and calibrating the virtual simulation model; performing collision simulation according to different impact speeds based on the calibrated virtual simulation model to obtain acceleration waveforms under different impact speeds; performing safety distance analysis according to the acceleration waveforms to determine the safety distance under different impact speeds and impact accelerations, and constructing the correspondence between the impact speed, the impact acceleration and the safety distance.

[0011] In one embodiment, the method further comprises: in response to determining that the current distance is less than the safety distance, controlling the vehicle to perform an alarm prompt.

[0012] In one embodiment, the deployment control of the safety airbag according to the deployment time point comprises: in response to determining that the driver does not adjust the sitting posture within a specified time after the alarm prompt, deploying the safety airbag according to the deployment time point.

[0013] According to the specific embodiments of the present application, in a second aspect, the present application provides a vehicle control device for a collision scenario, comprising:

[0014] a processing unit configured to, in response to detecting that the vehicle has collided, capture a first video frame based on a monocular camera arranged in the vehicle and having a visual direction towards the driver, and determine a current distance between the driver and a steering wheel based on the first video frame; a determination unit configured to determine a safety distance under a current impact speed and a current impact acceleration; and in response to determining that the current distance is less than the safety distance, set a deployment time point of a safety airbag according to the current distance; and a control unit configured to deploy the safety airbag according to the deployment time point.

[0015] According to the specific embodiments of the present application, in a third aspect, the present application provides an electronic device, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the method of any one of the first aspect.

[0016] According to the specific embodiments of the present application, in a fourth aspect, the present application provides a computer readable storage medium, having stored thereon a computer program / instructions, wherein the computer program / instructions, when executed by a processor, implement the method of any one of the first aspect.

[0017] Compared with the prior art, the above-mentioned scheme of the embodiments of the present application has at least the following beneficial effects: the present application provides a vehicle control method for a collision scenario, which intelligently sets the deployment time point of the airbag according to the safe distance under the current impact speed and acceleration by detecting the distance between the driver and the steering wheel in real time. This method can significantly improve the accuracy of the airbag deployment timing, thereby providing more effective protection for the driver when a collision occurs and reducing secondary injuries caused by improper airbag deployment. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a vehicle control method for a collision scenario is shown;

[0019] Figure 2 A flowchart of a method for determining the current distance between the driver and the steering wheel based on the first video frame is shown;

[0020] Figure 3 A flowchart of a method for pre-preparation before vehicle control is shown;

[0021] Figure 4 A flowchart of another vehicle control method for a collision scenario is shown;

[0022] Figure 5 A flowchart of determining the correspondence between impact speed, impact acceleration and safe distance is shown;

[0023] Figure 6 A flowchart of another vehicle control method for a collision scenario is shown;

[0024] Figure 7 A flowchart of another vehicle control method for a collision scenario is shown, as

[0025] Figure 8 A schematic diagram of a plate-based processing logic is shown;

[0026] Figure 9A unit block diagram of a vehicle control device for a collision scenario according to an embodiment of the present application is shown.

[0027] Figure 10 An electronic device 1000 block diagram for vehicle control for a collision scenario according to an exemplary embodiment is shown. DETAILED DESCRIPTION

[0028] For the purposes of the present application, the technical solutions and advantages thereof are more clearly apparent, the present application will be described in further detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0029] The terms used in the embodiments of the present application are merely for the purpose of describing particular embodiments and are not intended to limit the present application. The singular forms "a," "an," and "the" used in the embodiments of the present application and the appended claims are intended to include plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0030] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0031] It should be understood that although the terms first, second, third, etc. can be used in the embodiments of the present application to describe, these descriptions should not be limited to these terms. These terms are only used to distinguish the description. For example, without departing from the scope of the embodiments of the present application, the first can also be referred to as the second, and similarly, the second can also be referred to as the first.

[0032] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if it is determined" or "if (a stated condition or event) is detected" can be interpreted as "when it is determined" or "in response to determining" or "when (a stated condition or event) is detected" or "in response to detecting (a stated condition or event)".

[0033] It is also important to note that the terms "comprises" and / or "comprising", or "includes" and / or "including" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

[0034] In particular, it is to be noted that the symbols and / or numbers present in the description, if not marked in the description of the figures, are not figure references.

[0035] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] The following shows the English abbreviations involved in the present application.

[0037] Airbag Control Unit (ACU);

[0038] Electronic Control Unit (ECU);

[0039] Perspective-n-Point (PnP);

[0040] The following is described in detail Figure 1 The embodiments of the present application are described in detail.

[0041] Figure 1 A flowchart of a vehicle control method for a collision scenario is shown, as shown in Figure 1 The following steps are included.

[0042] Step S101, in response to detecting that the vehicle has collided, a monocular camera arranged in the vehicle and having a visual direction towards the driver is used to capture a first video frame, and the current distance between the driver and the steering wheel is determined based on the first video frame.

[0043] Step S102, determine the safe distance under the current impact speed and the current impact acceleration.

[0044] Step S103, in response to determining that the current distance is less than the safe distance, set the deployment time point of the airbag according to the current distance.

[0045] Step S104, control the deployment of the airbag according to the deployment time point.

[0046] The application provides a vehicle control method for a collision scene, which detects the distance between the driver and the steering wheel in real time, and intelligently sets the airbag release time point according to the safety distance under the current impact speed and acceleration. This method can significantly improve the accuracy of airbag deployment timing, thereby providing more effective protection for the driver when a collision occurs and reducing secondary injuries caused by improper airbag deployment.

[0047] Figure 2 A method flowchart for determining the current distance between the driver and the steering wheel based on the first video frame is shown as Figure 2 The method comprises the following steps.

[0048] Step S201, obtaining the position of the face key feature points of the driver based on the first video frame.

[0049] Step S202, calculating the translation parameters and rotation parameters of the face key feature points relative to the monocular camera by using the perspective point algorithm.

[0050] Step S203, determining the relative distance between the driver's face and the steering wheel based on the pre-determined relative position relationship between the monocular camera and the steering wheel, and the position of the face key feature points relative to the monocular camera.

[0051] In the embodiment of the application, the method for determining the distance between the driver and the steering wheel based on the monocular camera video frame is described in detail. By obtaining the position of the face key feature points and calculating the translation and rotation parameters thereof relative to the camera by using the perspective point algorithm, the spatial position of the driver's head can be accurately measured. This process ensures the accuracy and reliability of distance measurement, which helps to develop a more accurate airbag point explosion strategy.

[0052] Figure 3 A method flowchart for pre-preparation before vehicle control is shown as Figure 3 The method comprises the following steps.

[0053] Step S301, obtaining a second video frame by shooting with a monocular camera.

[0054] Step S302, obtaining the face information of the driver based on the second video frame, and identifying at least four key feature points.

[0055] The second video frame is a video frame obtained in the pre-preparation process.

[0056] Step S303, calibrating the monocular camera to obtain the internal parameters of the monocular camera, including focal length, optical center position and distortion parameters.

[0057] In the embodiments of the present application, the steps of calibrating the monocular camera and identifying the driver's face information are added. By calibrating the internal parameters of the camera (such as focal length, optical center position and distortion parameters), the accuracy of subsequent distance measurement is improved; at the same time, by identifying the driver's face information, it is ensured that the system can correctly track and measure the position of the driver, and the stability and practicality of the system are enhanced.

[0058] Figure 4 A flowchart of another vehicle control method for a collision scenario is shown, as shown in Figure 4 The method comprises the following steps.

[0059] In step S401, in response to detecting that the vehicle has collided, a monocular camera arranged in the vehicle and having a visual direction towards the driver is used to capture a first video frame, and the current distance between the driver and the steering wheel is determined based on the first video frame.

[0060] In step S402, the safe distance corresponding to the current impact speed and the current impact acceleration is determined based on the corresponding relationship between the impact speed, the impact acceleration and the safe distance.

[0061] In step S403, in response to determining that the current distance is less than the safe distance, the deployment time point of the airbag is set according to the current distance.

[0062] In step S404, the airbag is deployed according to the deployment time point.

[0063] In the embodiments of the present application, how to determine the safe distance under the current impact speed and acceleration is specified. Through the pre-established corresponding relationship between the speed, acceleration and safe distance, the safe distance can be quickly and accurately determined in actual collision, and the point explosion strategy of the airbag is optimized, thereby effectively improving the safety of the occupant.

[0064] For example, the corresponding relationship between the impact speed, the impact acceleration and the safe distance can be pre-determined in the following manner.

[0065] Figure 5 A flowchart of determining the corresponding relationship between the impact speed, the impact acceleration and the safe distance is shown, as shown in Figure 5 The method comprises the following steps.

[0066] In step S501, a collision test is performed on the physical airbag control unit to obtain sensor data, and the sensor data includes acceleration, displacement, force and torque.

[0067] In step S502, a virtual simulation model is established based on the sensor data, and the virtual simulation model is calibrated.

[0068] At step S503, based on the calibrated virtual simulation model, collision simulation is respectively performed according to different impact speeds to obtain acceleration waveforms under different impact speeds.

[0069] At step S504, safety distance analysis is performed according to the acceleration waveforms to determine the safety distance under different impact speeds and impact accelerations, and a corresponding relationship among the impact speed, the impact acceleration, and the safety distance is constructed.

[0070] In the embodiments of the present application, how to pre-determine the corresponding relationship among the impact speed, the acceleration, and the safety distance is described in detail. Through the method combining the actual collision test and the virtual simulation, safety distance data under different conditions can be obtained, which provides a scientific basis for dynamically adjusting the airbag point explosion strategy, thereby improving the adaptability and safety of the system.

[0071] Figure 6 Another flowchart of a vehicle control method for a collision scenario is shown, as shown in Figure 6 includes the following steps.

[0072] At step S601, in response to detecting that the vehicle has collided, a monocular camera arranged in the vehicle and having a visual direction towards the driver is used to capture a first video frame, and a current distance between the driver and the steering wheel is determined based on the first video frame.

[0073] At step S602, a safety distance corresponding to the current impact speed and the current impact acceleration is determined.

[0074] At step S603, in response to determining that the current distance is less than the safety distance, the vehicle is controlled to perform an alarm prompt, and an airbag deployment time point is set according to the current distance.

[0075] At step S604, the airbag is controlled to be deployed at the deployment time point.

[0076] In the embodiments of the present application, an alarm prompt mechanism is introduced. When the system detects that the distance between the driver and the steering wheel is less than the safety distance, an alarm is issued to remind the driver to adjust the sitting posture. This instant feedback mechanism can help the driver to take action in time to avoid potential risks, and also improves the safety awareness of the driver.

[0077] Figure 7 Another flowchart of a vehicle control method for a collision scenario is shown, as shown in Figure 7 includes the following steps.

[0078] At step S701, in response to detecting that the vehicle has collided, a monocular camera arranged in the vehicle and having a visual direction towards the driver is used to capture a first video frame, and a current distance between the driver and the steering wheel is determined based on the first video frame.

[0079] Step S702, determine the safety distance corresponding to the current impact speed and the current impact acceleration.

[0080] Step S703, in response to determining that the current distance is less than the safety distance, control the vehicle to perform an alarm prompt, and set a deployment time point of the airbag according to the current distance.

[0081] Step S704, in response to determining that the driver does not adjust the sitting posture within a specified time after the alarm prompt, perform deployment control on the airbag according to the deployment time point.

[0082] In the embodiments of the present application, the conditions of airbag deployment control are further refined. If the driver fails to adjust the sitting posture within a specified time after receiving the alarm, the airbag is triggered according to the set time point. Such design not only takes into account the situation that the driver may not be able to react immediately, but also ensures that the safety of the driver can be maximized even in an emergency.

[0083] Figure 8 A schematic diagram of a plate-based processing logic is shown.

[0084] In the present application, as shown in Figure 8 In the vehicle safety system, first, data correction and input of driver face information are performed to obtain key feature points and mathematical relationships. Then, monocular camera calibration is completed to obtain its internal parameters (including focal length, optical center position and distortion parameters). Based on the video frames, key feature points (such as eyes) of the driver's face are obtained, and the PNP algorithm is used to calculate the translation parameters and rotation parameters between the face and the camera. The relative distance from the driver's face to the steering wheel is calculated using the pre-determined relative position relationship between the camera and the steering wheel and the relative position between the camera and the face. In addition, collision sensor data (including acceleration, displacement, force and torque) are obtained through traditional ACU crash tests, and the virtual simulation model is calibrated based on these data. By simulating the collision under different impact speeds through virtual simulation, the acceleration waveform is obtained, and the safety distance from the face to the steering wheel under different impact speeds is analyzed. After the algorithms of the above two plates are fused, the system can realize the following functions: when it is detected that the distance of the driver from the steering wheel reaches a predetermined dangerous distance, the ECU considers it as a dangerous area, and an alarm sound "ding ding ding" is released through the instrument to remind the driver to adjust the sitting posture. Once the driver adjusts the posture, the alarm sound will automatically disappear. If the driver does not adjust the posture and a collision accident occurs, the airbag point explosion strategy will determine the best point explosion time of the airbag according to the distance from the face to the steering wheel perceived by the ECU at the time of collision, so as to minimize the damage to the driver.

[0085] This method combines real-time monitoring and intelligent judgment, improving the accuracy and safety of the airbag point explosion strategy, and providing more personalized protection for drivers.

[0086] The application also provides a device embodiment for implementing the method steps of the above embodiments, based on the same name meaning explanation as the above embodiments, with the same technical effects as the above embodiments, which will not be repeated here.

[0087] As Figure 9 shown, the application provides a vehicle control device 900 for a collision scene, comprising:

[0088] The processing unit 901, in response to detecting that the vehicle has a collision, based on the monocular camera arranged in the vehicle and the visual direction towards the driver, captures the first video frame, and determines the current distance between the driver and the steering wheel based on the first video frame.

[0089] The determination unit 902 is used to determine the safe distance under the current impact speed and the current impact acceleration, and in response to determining that the current distance is less than the safe distance, set the time point of the airbag according to the current distance.

[0090] The control unit 903 is used to control the airbag according to the time point of the airbag.

[0091] Regarding the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0092] Figure 10 is a block diagram of an electronic device 1000 for vehicle control for a collision scene according to an exemplary embodiment.

[0093] As Figure 10As shown, one embodiment of the present application provides an electronic device 1000. Wherein the electronic device 1000 includes a memory 1001, a processor 1002, an input / output (I / O) interface 1003. Wherein the memory 1001 is configured to store instructions. The processor 1002 is configured to invoke the instructions stored in the memory 1001 to execute the vehicle control method for collision scenarios in the embodiments of the present application. Wherein the processor 1002 is connected with the memory 1001 and the I / O interface 1003 respectively, for example, can be connected through a bus system and / or other forms of connection mechanism (not shown). The memory 1001 can be used to store programs and data, including the programs of the vehicle control method for collision scenarios involved in the embodiments of the present application, and the processor 1002 executes various functional applications and data processing of the electronic device 1000 by running the programs stored in the memory 1001.

[0094] The processor 1002 in the embodiments of the present application can be implemented in at least one of a hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic array (PLA), the processor 1002 can be a central processing unit (CPU) or a combination of one or several of other forms of processing units with data processing and / or instruction execution capabilities.

[0095] The memory 1001 in the embodiments of the present application can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may, for example, include read only memory (ROM), flash memory, hard disk (HDD) or solid state disk (SSD), etc.

[0096] In the embodiments of the present application, the I / O interface 1003 can be used to receive input instructions (such as digital or character information, and generate key signal inputs related to user settings and function control of the electronic device 1000, etc.), and can also output various information to the outside (such as images or sounds, etc.). In the embodiments of the present application, the I / O interface 1003 can include one or more of a physical keyboard, function keys (such as volume control keys, on-off keys, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel, etc.

[0097] In some embodiments, the present application provides a computer readable storage medium storing computer executable instructions that, when executed by a processor, perform any of the methods described above.

[0098] In some embodiments, the present application provides a computer program product comprising a computer program that, when executed by a processor, performs any of the methods described above.

[0099] Although the operations are described in a particular, sequential order, it should be understood that the order described is not the only manner in which the operations can be carried out, and that the embodiments can generally be completed in any order, or some operations can be performed simultaneously, that the order or

[0100] The methods and apparatus of the present application can be implemented using standard programming techniques, with rules-based logic or other logic that is executed by a computer processor. It should be noted that the words "component" and "module," as used herein and in the claims, are intended to encompass a tangible part that is implemented using one or more lines of software code, and / or hardware implementations, and / or devices that receive input.

[0101] Any of the steps, operations, or procedures described herein can be performed or implemented using one or more hardware or software modules, alone or in combination with other devices. In one embodiment, a software module is implemented using a computer program product comprising a computer readable medium containing computer program code, which can be executed by a computer processor for performing any or all of the steps, operations, or procedures described.

[0102] The foregoing description of the present application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form disclosed, and various modifications and variations are possible in light of the above teachings or can be acquired from practice of the application. One skilled in the art will appreciate that the choice of these embodiments is a result of

[0103] As to the apparatus in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0104] It can be further understood that, unless otherwise specified, "connection" includes both direct connection and indirect connection through other elements between two elements.

[0105] It can be further understood that, although the operations in the embodiments of the present application are described in a specific order in the accompanying drawings, it should not be understood as requiring the operations to be performed in the specific order or in a serial order, or requiring all of the operations to be performed to obtain the desired result. In a specific environment, multitasking and parallel processing can be advantageous.

[0106] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0107] It should be understood that the application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application should be limited only by the appended claims.

[0108] The above embodiments are only used to illustrate the technical solutions of the present application, not limit the present application; even though the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that modifications to the technical solutions described in the foregoing embodiments, or equivalent replacements to some of the technical features, can still be made; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle control method for collision scenarios, characterized in that, include: In response to the detection of a vehicle collision, a first video frame is captured using a monocular camera installed inside the vehicle with its visual direction facing the driver, and the current distance between the driver and the steering wheel is determined based on the first video frame. Determine the current impact velocity and the safe distance under the current impact acceleration; In response to determining that the current distance is less than the safe distance, the airbag deployment time is set according to the current distance; The airbag is deployed according to the specified deployment time point; The method further includes: In response to determining that the current distance is less than the safe distance, the vehicle is controlled to issue an alarm. In response to determining that the driver has not adjusted his / her seating position within a specified time after the alarm is issued, the airbag is deployed according to the deployment time point.

2. The method according to claim 1, characterized in that, Determining the current distance between the driver and the steering wheel based on the first video frame includes: The location of the driver's key facial feature points is obtained based on the first video frame; The translational and rotational parameters of the key facial feature points relative to the monocular camera are calculated using a perspective point algorithm. Based on the predetermined relative positional relationship between the monocular camera and the steering wheel, and the position of the key facial feature points relative to the monocular camera, the relative distance between the driver's face and the steering wheel is determined.

3. The method according to claim 1 or 2, characterized in that, Before determining the current distance between the driver and the steering wheel based on the first video frame, the method further includes: The second video frame is obtained based on the image captured by the monocular camera; The driver's facial information was obtained based on the second video frame, and at least four key feature points were identified. The monocular camera is calibrated to obtain its internal parameters, which include focal length, optical center position, and distortion parameters.

4. The method according to claim 1, characterized in that, Determining the current impact velocity and the safe distance under the current impact acceleration includes: Based on the correspondence between impact speed, impact acceleration, and safe distance, a safe distance corresponding to the current impact speed and the current impact acceleration is determined.

5. The method according to claim 4, characterized in that, The correspondence between the impact velocity, impact acceleration, and safe distance is predetermined in the following manner: A crash test was conducted on the physical airbag control unit to obtain sensor data, which included acceleration, displacement, force, and torque. A virtual simulation model is established based on the sensor data, and the virtual simulation model is calibrated. Based on the calibrated virtual simulation model, collision simulations were performed at different impact velocities to obtain acceleration waveforms at different impact velocities. The safety distance is analyzed based on the acceleration waveform to determine the safety distance under different impact velocities and impact accelerations, and to establish the correspondence between impact velocity, impact acceleration, and safety distance.

6. A vehicle control device for collision scenarios, characterized in that, include: The processing unit, in response to detecting a vehicle collision, captures a first video frame based on a monocular camera installed inside the vehicle with its visual direction facing the driver, and determines the current distance between the driver and the steering wheel based on the first video frame. The determination unit is used to determine the current impact velocity and the safe distance under the current impact acceleration. And in response to determining that the current distance is less than the safe distance, the airbag deployment time is set according to the current distance; A control unit is used to control the deployment of the airbag according to the deployment time point; The control unit is also configured to: in response to determining that the current distance is less than the safe distance, control the vehicle to issue an alarm; In response to determining that the driver has not adjusted his / her seating position within a specified time after the alarm is issued, the airbag is deployed according to the deployment time point.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method described in any one of claims 1-5.

8. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the method described in any one of claims 1-5.

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