Vehicle side collision early warning method and system, vehicle-mounted controller and storage medium

Abstract

The invention provides a vehicle side collision early warning method and system, a vehicle-mounted controller and a computer storage medium. The method comprises the following steps: in a driving process of a vehicle, acquiring current vehicle motion data of the vehicle and a road adhesion coefficient of a road on which the vehicle is driven; acquiring first target motion data of a first target vehicle running on the road; calculating first motion data of the vehicle after a preset duration according to the vehicle motion data and the road adhesion coefficient; according to the first target motion data and the road adhesion coefficient, calculating second motion data of the first target vehicle after a preset duration; and based on the first motion data and the second motion data, predicting whether the vehicle and the first target vehicle are about to generate side collision. According to the invention, whether the vehicle is driven into the visual blind area of other vehicles can be detected, and the vehicle is pre-warned according to the detection result. Therefore, driving risks caused by the fact that the vehicle is located in the visual blind areas of other vehicles for a long time are avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle side collision warning method, system, vehicle-mounted controller and computer storage medium. Background Art

[0002] With the continuous development of vehicle intelligence and electrification, related control technologies are also constantly innovating and breaking through, and more and more safety-related functions are also proliferating.

[0003] At present, among many types of traffic accidents, the proportion of vehicle side collisions is increasing. How to timely warn of vehicle side collisions to remind drivers to take timely measures to reduce the damage caused by side collision accidents has become an urgent problem to be solved. Summary of the invention

[0004] In view of the above, the embodiments of the present application provide a vehicle side collision warning method, system, vehicle-mounted controller and computer storage medium, which can timely warn whether the vehicle is about to have a side collision, thereby reminding the driver to take timely measures to reduce the damage caused by the side collision accident.

[0005] An embodiment of the present application provides a vehicle side collision warning method, the method comprising: during the driving process of the vehicle, obtaining the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is driving; obtaining first target motion data of a first target vehicle driving on the road, wherein the first target vehicle is located on the side of the vehicle; based on the vehicle motion data and the road adhesion coefficient, calculating the first motion data of the vehicle after a preset time period; based on the first target motion data and the road adhesion coefficient, calculating the second motion data of the first target vehicle after the preset time period; based on the first target motion data and the road adhesion coefficient, predicting whether the vehicle and the first target vehicle are about to have a side collision.

[0006] Compared with the related art, the embodiment of the present application has at least the following advantages: by analyzing the vehicle motion data of the vehicle and the first target motion data of the first target vehicle, and considering the influence of the road adhesion coefficient of the vehicle and the first target vehicle on the motion of the first target vehicle and the vehicle, it is predicted whether the first target vehicle and the current object will have a side collision. Thus, the driver and passengers are reminded to take timely measures to reduce the losses caused by the side collision.

[0007] In some possible implementations, before obtaining the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, it includes: obtaining pressure data of the vehicle's seats; based on the pressure data, detecting whether there are passengers in the vehicle; obtaining the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling includes: if it is detected that there are passengers in the vehicle, obtaining the vehicle motion data and the road adhesion coefficient.

[0008] In some possible implementations, after acquiring the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, it also includes: acquiring second target motion data of a second target vehicle traveling on the road, wherein the second target vehicle is located on the side of the vehicle; after calculating the second motion data of the first target vehicle after the preset time period based on the first target motion data and the road adhesion coefficient, it also includes: calculating the third motion data of the second target vehicle after the preset time period based on the second target motion data and the road adhesion coefficient; and predicting whether a side collision is about to occur between the vehicle and the second target vehicle based on the first motion data and the third motion data.

[0009] In some possible implementations, the predicting whether the vehicle and the first target vehicle will have a side collision based on the first motion data and the second motion data includes: calculating the relative displacement and / or relative speed between the vehicle and the first target vehicle based on the first motion data and the second motion data; if the relative displacement between the vehicle and the first target vehicle is calculated, predicting whether the vehicle and the first target vehicle will have a side collision based on the relative displacement; or, if the relative speed between the vehicle and the first target vehicle is calculated, predicting whether the vehicle and the first target vehicle will have a side collision based on the relative speed; or, if the relative displacement and the relative speed between the vehicle and the first target vehicle are calculated, predicting whether the vehicle and the first target vehicle will have a side collision based on the relative displacement and the relative speed.

[0010] In some possible implementations, predicting whether the vehicle and the first target vehicle are about to have a side collision based on the relative displacement includes: detecting whether the relative displacement is less than a preset displacement threshold; if it is detected that the relative displacement is less than the preset displacement threshold, determining that the vehicle and the first target vehicle are about to have a side collision.

[0011] In some possible implementations, predicting whether the vehicle and the first target vehicle are about to have a side collision based on the relative speed includes: detecting whether the relative speed is less than a preset speed threshold; if it is detected that the relative speed is greater than the preset speed threshold, determining that the vehicle and the first target vehicle are about to have a side collision.

[0012] In some possible implementations, predicting whether a side collision will occur between the vehicle and the first target vehicle based on the relative displacement and the relative speed includes: calculating an expected collision duration based on the relative displacement and the relative speed; detecting whether the expected collision duration is less than a preset collision duration threshold; and determining that a side collision will occur between the vehicle and the first target vehicle if it is detected that the expected collision duration is less than the preset collision duration threshold.

[0013] The second aspect of the present application discloses a vehicle side collision warning system, including a vehicle-mounted controller, a data acquisition device and a data calculation device, wherein the vehicle-mounted controller is communicatively connected to the data acquisition device and the data calculation device, and the data acquisition device is used to obtain the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, as well as obtain the first target motion data of a first target vehicle traveling on the road during the driving of the vehicle, and send the vehicle motion data, the first target motion data and the road adhesion coefficient to the data calculation device, wherein the first target vehicle is located on the side of the vehicle, and the data calculation device is used to calculate the first motion data of the vehicle after a preset time period according to the vehicle motion data and the road adhesion coefficient, and calculate the second motion data of the first target vehicle after the preset time period according to the first target motion data and the road adhesion coefficient, and send the first motion data and the second motion data to the vehicle-mounted controller, and the vehicle-mounted controller is used to predict whether the vehicle and the first target vehicle are about to have a side collision based on the first motion data and the second motion data.

[0014] The third aspect of the present application discloses a vehicle-mounted controller, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle-mounted controller executes the vehicle side collision warning method as described above.

[0015] The fourth aspect of the present application discloses a computer storage medium, including computer instructions. When the computer instructions are executed on the vehicle-mounted controller, the vehicle-mounted controller executes the above-mentioned vehicle side collision warning method.

[0016] It can be understood that the vehicle side collision warning system of the second aspect provided above, the vehicle-mounted controller of the third aspect and the computer storage medium of the fourth aspect all correspond to the method of the first aspect mentioned above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of a vehicle side collision warning method according to an embodiment of the present application.

[0018] Figure 2 It is another flow chart of a vehicle side collision warning method according to an embodiment of the present application.

[0019] Figure 3 It is a structural schematic diagram of a vehicle side collision warning system according to an embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the hardware structure of a vehicle-mounted controller according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that the implementations of the present application and the features in the implementations can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0024] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0025] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0026] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0027] Please refer to Figure 1 , is a flow chart of a vehicle side collision warning method provided in an embodiment of the present application. The vehicle side collision warning method comprises the following steps: Step 101: During the driving process of the vehicle, obtain the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is driving.

[0028] In some embodiments, the vehicle may be a passenger car, an engineering vehicle, etc. This application does not limit the type of vehicle. Before obtaining the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, the pressure data of the vehicle's seat may be obtained first. Based on the pressure data, detect whether there are passengers in the vehicle. If it is detected that there are passengers in the vehicle, the vehicle motion data and the road adhesion coefficient of the vehicle are obtained. In this embodiment, there are multiple seats in the vehicle, and the vehicle motion data and the road adhesion coefficient are obtained as long as it is detected that there are passengers in any one or more seats. Among them, the pressure data of the seat can be collected by a seat pressure sensor.

[0029] In other embodiments, it is also possible to directly obtain the vehicle motion data and the road adhesion coefficient without detecting whether there are passengers on the vehicle seats.

[0030] In some embodiments, the internal cameras or other devices may also collect images or video streams of the interior of the vehicle, and based on the collected images or video streams, detect whether there are passengers in the vehicle.

[0031] In some embodiments, please combine Figure 3, the vehicle is provided with a data acquisition device. Among them, the data acquisition device may include a positioning device, a collection component and a detection component. In the present embodiment, the positioning device is used to collect vehicle motion data of the vehicle, the collection component includes a radar and / or a camera, and the detection component includes a rain sensor, a temperature sensor and a seat pressure sensor. The radar and / or the camera are arranged on the side of the vehicle to detect whether there is a first target vehicle approaching the side of the vehicle and to collect the first target motion data of the first target vehicle. The rain sensor is used to identify whether the road surface where the vehicle is located has features such as rain, ice and snow, asphalt, sand and gravel. The temperature sensor is used to collect the ambient temperature data of the vehicle. In the present embodiment, the road adhesion coefficient is obtained by calculating the data collected by the rain sensor and the ambient temperature data collected by the temperature sensor.

[0032] In other embodiments, the road adhesion coefficient may also be obtained based on the road image collected by a camera or other collecting element and the analysis result of the road image. The present application does not limit the process of obtaining the road adhesion coefficient.

[0033] Step 102: Acquire first target motion data of a first target vehicle traveling on the road.

[0034] In some embodiments, the first target vehicle is located at the side of the vehicle. The first target vehicle can be a fuel vehicle, a new energy vehicle, a bicycle or an electric vehicle, etc. The present application does not limit the type of the first target vehicle. In the present embodiment, the vehicle motion data includes the vehicle's driving speed, driving direction and location. The first target operation data includes the driving speed, driving direction and location of the first target vehicle. In other embodiments, if it is necessary to use other operation data of the vehicle and the first target vehicle to predict whether a collision will occur between the vehicle and the first target vehicle, the vehicle motion data and the first target motion data may also include other values ​​in addition to the driving speed, driving direction and location.

[0035] It should be noted that if the vehicle uses radar and camera at the same time to detect whether there is a first target vehicle approaching the side of the vehicle and collect the first target motion data of the first target vehicle, the data collected by the radar is compared with the data collected by the camera. If the data collected by the radar is different from the data collected by the camera, the data collected by the radar can be used as the first target motion data of the first target vehicle to ensure the accuracy of the acquired first target motion data.

[0036] Step 103: Calculate the first motion data of the vehicle after a preset time period according to the vehicle motion data and the road adhesion coefficient.

[0037] In some embodiments, the preset time length may be 0.5s, 1s or 2s. The specific value of the preset time length may be set according to actual conditions.

[0038] It should be noted that the size of the road adhesion coefficient will affect the running state of the vehicle. For example, when the road adhesion coefficient is large, the speed of the vehicle decreases more quickly. On the contrary, when the road adhesion coefficient is small, the speed of the vehicle decreases more slowly. Therefore, the larger the road adhesion coefficient, the smaller the speed of the vehicle in the first motion data obtained according to the vehicle motion data and the road adhesion coefficient.

[0039] Step 104: Calculate second motion data of the first target vehicle after a preset time period based on the first target motion data and the road adhesion coefficient.

[0040] In some embodiments, the magnitude of the road adhesion coefficient also affects the operating state of the first target vehicle.

[0041] Step 105: predict whether a side collision will occur between the vehicle and the first target vehicle based on the first motion data and the second motion data.

[0042] In some embodiments, the relative displacement and / or relative speed between the vehicle and the first target vehicle is calculated based on the first motion data and the second motion data. If the relative displacement between the vehicle and the first target vehicle is calculated, based on the relative displacement, it is predicted whether the vehicle and the first target vehicle will have a side collision. Or, if the relative speed between the vehicle and the first target vehicle is calculated, based on the relative speed, it is predicted whether the vehicle and the first target vehicle will have a side collision. Or, if the relative displacement and the relative speed between the vehicle and the first target vehicle are calculated, based on the relative displacement and the relative speed, it is predicted whether the vehicle and the first target vehicle will have a side collision.

[0043] When calculating the relative displacement and / or relative speed between the vehicle and the first target vehicle, the influence of the road adhesion coefficient on the movement of the first target vehicle and the vehicle is considered, so that more accurate values ​​of the relative displacement and relative speed between the first target vehicle and the vehicle can be obtained.

[0044] In this embodiment, there are three ways to predict whether a side collision will occur between the vehicle and the first target vehicle.

[0045] Method 1: Based on the relative displacement, predict whether a side collision will occur between the vehicle and the first target vehicle.

[0046] In some embodiments, it is detected whether the relative displacement is less than a preset displacement threshold. If it is detected that the relative displacement is less than the preset displacement threshold, it proves that the distance between the first target vehicle and the vehicle is relatively close at this time, and the first target vehicle has evasive measures such as controlling its own movement speed or changing the direction of movement, and it is also very likely to crash into the vehicle. Therefore, it is predicted that a side collision will occur between the vehicle and the first target vehicle at this time. On the contrary, if it is detected that the relative displacement is greater than or equal to the preset displacement threshold, it proves that there is a certain distance between the first target vehicle and the vehicle at this time, and the first target vehicle has evasive measures such as controlling its own movement speed or changing the direction of movement to avoid the first target vehicle from crashing into the vehicle. Therefore, it is predicted that no side collision will occur between the vehicle and the first target vehicle at this time.

[0047] Method 2: Based on the relative speed, predict whether the vehicle and the first target vehicle will have a side collision.

[0048] In some embodiments, it is detected whether the relative speed is less than a preset speed threshold. If it is detected that the relative speed is less than or equal to the preset speed threshold, it is proved that the speed at which the first target vehicle moves to the vehicle closer is relatively slow at this time, and the first target vehicle has evasive measures such as controlling its own movement speed to continue to decrease or changing the direction of movement to avoid hitting the vehicle. Therefore, it is predicted that there will be no side collision between the vehicle and the first target vehicle at this time. On the contrary, if it is detected that the relative speed is greater than the preset speed threshold, it is proved that the speed at which the first target vehicle moves to the vehicle closer is relatively fast at this time, and the first target vehicle has evasive measures such as controlling its own movement speed or changing the direction of movement, and it is also very likely to hit the vehicle. Therefore, it is predicted that a side collision will occur between the vehicle and the first target vehicle at this time.

[0049] Method three: Based on the relative displacement and relative speed, predict whether the vehicle and the first target vehicle will have a side collision.

[0050] Specifically, based on the relative displacement and relative speed, the expected collision time is calculated. It is detected whether the expected collision time is less than the preset collision time threshold. Among them, the preset collision time threshold is set according to the actual detection requirements. If it is detected that the expected collision time is less than the preset collision time threshold, it proves that the distance between the first target vehicle and the vehicle is relatively close at this time, and it is determined that a side collision will occur between the vehicle and the first target vehicle. On the contrary, if it is detected that the expected collision time is greater than or equal to the preset collision time threshold, it proves that there is still a certain distance between the first target vehicle and the vehicle at this time, and the speed of the first target vehicle itself may be controlled by itself so that the first target vehicle stops before colliding with the vehicle. Alternatively, when the vehicle finds that the first target vehicle is approaching, the vehicle is controlled by the driver or automatic driving technology to take evasive measures in time to avoid a side collision between the vehicle and the first target vehicle. At this time, it is determined that no side collision occurs between the vehicle and the first target vehicle.

[0051] It should be noted that both Method 1 and Method 2 are based on the influence of the road adhesion coefficient on the movement of the vehicle and the first target vehicle, and calculate the relative displacement and relative speed between the vehicle and the first target vehicle after a preset time. Method 1 uses relative displacement to predict whether a side collision will occur between the vehicle and the first target vehicle, and Method 2 uses relative speed to predict whether a side collision will occur between the vehicle and the first target vehicle. Compared with Method 3, Methods 1 and 2 do not take into account the situation that as the target vehicle continues to move in the direction of the approaching vehicle, the first target vehicle controls its own speed to continuously reduce or adjusts the driving direction to avoid colliding with the vehicle. Therefore, Method 3 uses relative displacement and relative speed at the same time to predict whether a side collision will occur between the vehicle and the first target vehicle, which is more accurate.

[0052] In some embodiments, if a side collision is predicted between the vehicle and the first target vehicle, in order to reduce the damage to the vehicle occupants caused by the side collision, the target component of the vehicle is controlled to work to achieve side protection of the vehicle. Figure 3 ,The target components include active suspension controller, window controller, seat belt pretensioner controller, airbag controller, sound and light controller, brake controller, drive controller and door controller.

[0053] In some embodiments, the morphological data of the first target vehicle is obtained. Based on the morphological data, the target lifting position is determined. Then, the active suspension controller is controlled to drive the vehicle body to rise to the target lifting position. The morphological data of the first target vehicle can be collected by radar and / or camera. The morphological data is the shape and size of the first target vehicle.

[0054] By raising the vehicle body, the collision point is moved downward, and the impact is borne by the most solid chassis, avoiding the problem of body deformation causing the door to get stuck and unable to open, as well as the injury to the passengers caused by body deformation.

[0055] In some embodiments, target components of the vehicle are controlled to work to achieve side protection of the vehicle, including: controlling a window controller to drive the vehicle's windows to close, a seat belt pretensioner controller to drive the vehicle's seat belts to tighten, an airbag controller to drive the vehicle's airbags to be in an ignition state, an audio-visual controller to drive the vehicle's reminder device to issue a warning message, a brake controller to brake the vehicle, a drive controller to shut off the vehicle's power, and a door controller to unlock the vehicle's doors. One or more of the following.

[0056] Specifically, the window controller is controlled to drive the vehicle's window to close, so as to prevent flying objects outside the window from injuring the vehicle passengers when the vehicle is hit from the side. The seat belt pre-tensioning controller is controlled to drive the vehicle's seat belt to tighten, so as to fix the vehicle passengers on the seat and prevent secondary injuries caused by the collision. The airbag controller is controlled to drive the vehicle's airbag to be in the detonation state, and the airbag is detonated at the moment of the collision to protect the vehicle passengers. The sound and light controller is controlled to drive the vehicle's reminder device to send out early warning information, triggering the sound, light, vibration and / or instrument text prompt lights inside the vehicle to remind the vehicle passengers that a collision is about to occur and to make anti-collision preparations in advance. At the same time, the emergency lights outside the vehicle are lit to warn other people and vehicles around the vehicle. The brake controller is controlled to brake the vehicle, and at the moment of the vehicle collision, the vehicle's wheels generate sufficient braking force to prevent the vehicle from sliding unexpectedly on the ground, and also to prevent secondary collisions caused by the vehicle sliding and secondary collision injuries to the vehicle passengers. The drive controller is controlled to shut down the vehicle's power supply to prevent risks such as vehicle fire. Control the door controller to unlock the vehicle's doors to prevent them from being locked, thus providing an opportunity for the occupants to escape quickly and receive external rescue.

[0057] In other embodiments, after a collision occurs, a rescue mode may be activated to send the location of the vehicle to a rescue platform.

[0058] In some embodiments, when a side collision is predicted between the vehicle and the first target vehicle, a collision level can be obtained based on the vehicle motion data of the vehicle, the first target motion data and the road adhesion coefficient. The collision level is a plurality of levels of different risks. According to the specific registration of the collision level, one or more of the active suspension controller, the window controller, the seat belt pretension controller, the airbag controller, the sound and light controller, the brake controller, the drive controller and the door controller can be controlled.

[0059] Compared with the related art, the embodiment of the present application has at least the following advantages: when predicting whether a side collision occurs between a vehicle and a first target vehicle, by analyzing the vehicle motion data of the vehicle and the first target motion data of the first target vehicle, as well as the influence of the road adhesion coefficient of the vehicle and the first target vehicle on the operation of the first target vehicle, it is possible to accurately predict whether a side collision occurs between the first target vehicle and the current object. When it is predicted that a side collision will occur between the first target vehicle and the current object, the target component of the vehicle is controlled to work to achieve side protection of the vehicle, thereby ensuring the safety of the passengers in the vehicle.

[0060] Please refer to Figure 2 , is another step flow chart of the vehicle side collision warning method provided in the embodiment of the present application. The specific contents of the vehicle side collision warning method are as follows: Step 201: During the driving process of the vehicle, obtain the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is driving.

[0061] This step is the same as step 101 and will not be described again here to avoid repetition.

[0062] Step 202: Acquire first target motion data of a first target vehicle traveling on the road and second target motion data of a second target vehicle traveling on the road.

[0063] In some embodiments, the first target vehicle and the second target vehicle are both located at the side of the vehicle. The acquisition content of the first target motion data of the first target vehicle is the same as step 102, and will not be repeated. At the same time, the acquisition content of the second target motion data of the second target vehicle can refer to the acquisition content of the first target motion data of the first target vehicle in step 102.

[0064] Step 203: Calculate the first motion data of the vehicle after a preset time period according to the vehicle motion data and the road adhesion coefficient.

[0065] Step 204: Calculate second motion data of the first target vehicle after a preset time period based on the first target motion data and the road adhesion coefficient.

[0066] Step 203 and step 204 are the same as step 103 and step 104, and will not be described again here to avoid repetition.

[0067] Step 205: Calculate the third motion data of the second target vehicle after a preset time period according to the second target motion data and the road adhesion coefficient.

[0068] The calculation process of the third motion data of the second target vehicle after the preset time period can refer to the calculation process of the second motion data of the first target vehicle after the preset time period in step 103, and will not be repeated here to avoid repetition.

[0069] Step 206: predict whether a side collision will occur between the vehicle and the first target vehicle based on the first motion data and the second motion data, and predict whether a side collision will occur between the vehicle and the second target vehicle based on the first motion data and the third motion data.

[0070] Based on the first motion data and the second motion data, the content of predicting whether the vehicle and the first target vehicle will have a side collision is the same as step 105. At the same time, based on the first motion data and the third motion data, the content of predicting whether the vehicle and the second target vehicle will have a side collision can refer to the content in step 105, and to avoid repetition, it will not be repeated here.

[0071] Compared with the related art, this embodiment has at least the following advantages: when there are two or more target vehicles on the side of the vehicle at the same time, it is necessary to obtain the motion data of each target vehicle. Then, based on the motion data of each target vehicle, the motion data after a preset time under the influence of the road adhesion coefficient is calculated. In this way, it is possible to predict whether a side collision will occur between each target vehicle and the vehicle, so as to adapt to the accuracy of the early warning of side collisions between vehicles when there are many vehicles on the road.

[0072] Please refer to Figure 3 , is a structural schematic diagram of a vehicle side collision warning system provided in an embodiment of the present application. The vehicle side collision warning system includes a vehicle-mounted controller, a data acquisition device and a data calculation device. The vehicle-mounted controller is communicatively connected to the data acquisition device and the data calculation device. The data acquisition device is used to obtain the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, as well as the first target motion data of the first target vehicle traveling on the road during the driving process of the vehicle, and send the vehicle motion data, the first target motion data and the road adhesion coefficient to the data calculation device. The data calculation device is used to calculate the first motion data of the vehicle after a preset time length according to the vehicle motion data and the road adhesion coefficient, and calculate the second motion data of the first target vehicle after a preset time length according to the first target motion data and the road adhesion coefficient, and send the first motion data and the second motion data to the vehicle-mounted controller. The vehicle-mounted controller is used to predict whether the vehicle and the first target vehicle are about to have a side collision based on the first motion data and the second motion data. Among them, the vehicle-mounted controller will be described in detail later and will not be repeated here.

[0073] Specifically, when the onboard controller predicts that a side collision will occur between the vehicle and the first target vehicle, the target component is controlled to work to achieve side protection of the vehicle. The steps of controlling the target component to work to achieve side protection of the vehicle are described in detail in the above embodiment, and will not be repeated here to avoid repetition.

[0074] Please refer to Figure 4 , is a schematic diagram of the hardware structure of the vehicle controller 1000 provided in the embodiment of the present application. Figure 4 As shown, the vehicle controller 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above vehicle side collision warning method in the vehicle controller 1000.

[0075] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the vehicle controller 1000. In other embodiments, the vehicle controller 1000 may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0076] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0077] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or circulated. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0078] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0079] In some embodiments, processor 1001 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0080] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0081] This embodiment also provides a computer storage medium, in which computer instructions are stored. When the instructions are executed on the vehicle controller, the vehicle controller executes the above-mentioned related method steps to implement the vehicle side collision warning method in the above-mentioned embodiment.

[0082] Among them, the vehicle-mounted controller and computer storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0083] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0084] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0085] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0086] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0087] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0088] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A vehicle side collision warning method, characterized in that: The method comprises: During the driving of the vehicle, obtaining current vehicle motion data of the vehicle and a road adhesion coefficient of the road on which the vehicle is driving; Acquire first target motion data of a first target vehicle traveling on the road, wherein the first target vehicle is located on a side of the vehicle; Calculating first motion data of the vehicle after a preset time period according to the vehicle motion data and the road adhesion coefficient; Calculating second motion data of the first target vehicle after the preset time period according to the first target motion data and the road adhesion coefficient; Based on the first motion data and the second motion data, it is predicted whether a side collision will occur between the vehicle and the first target vehicle.

2. The vehicle side collision warning method according to claim 1, characterized in that: Before obtaining the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, the method includes: Acquiring pressure data of a seat of the vehicle; Based on the pressure data, detecting whether there is a passenger in the vehicle; The obtaining of the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling includes: If it is detected that there are the vehicle passengers on the vehicle, the vehicle motion data and the road adhesion coefficient are obtained.

3. The vehicle side collision warning method according to claim 1, characterized in that: After acquiring the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, the method further includes: Acquire second target motion data of a second target vehicle traveling on the road, wherein the second target vehicle is located on a side of the vehicle; After calculating the second motion data of the first target vehicle after the preset time period according to the first target motion data and the road adhesion coefficient, the method further includes: Calculating third motion data of the second target vehicle after the preset time period according to the second target motion data and the road adhesion coefficient; Based on the first motion data and the third motion data, it is predicted whether a side collision will occur between the vehicle and the second target vehicle.

4. The vehicle side collision warning method according to claim 1, characterized in that: The predicting, based on the first motion data and the second motion data, whether the vehicle and the first target vehicle are about to have a side collision comprises: Calculating a relative displacement and / or a relative speed between the vehicle and the first target vehicle based on the first motion data and the second motion data; If the relative displacement between the vehicle and the first target vehicle is calculated, based on the relative displacement, it is predicted whether the vehicle and the first target vehicle will have a side collision; or, If the relative speed between the vehicle and the first target vehicle is calculated, based on the relative speed, it is predicted whether the vehicle and the first target vehicle will have a side collision; or, When the relative displacement and the relative speed between the vehicle and the first target vehicle are calculated, it is predicted whether a side collision will occur between the vehicle and the first target vehicle based on the relative displacement and the relative speed.

5. The vehicle side collision warning method according to claim 4, characterized in that: The predicting, based on the relative displacement, whether the vehicle and the first target vehicle are about to have a side collision comprises: Detecting whether the relative displacement is less than a preset displacement threshold; If it is detected that the relative displacement is less than the preset displacement threshold, it is determined that a side collision is about to occur between the vehicle and the first target vehicle.

6. The vehicle side collision warning method according to claim 4, characterized in that: The predicting, based on the relative speed, whether the vehicle and the first target vehicle are about to have a side collision comprises: Detecting whether the relative speed is less than a preset speed threshold; If it is detected that the relative speed is greater than the preset speed threshold, it is determined that a side collision is about to occur between the vehicle and the first target vehicle.

7. The vehicle side collision warning method according to claim 4, characterized in that: The predicting, based on the relative displacement and the relative speed, whether the vehicle and the first target vehicle are about to have a side collision comprises: Calculating an estimated collision duration based on the relative displacement and the relative speed; Detecting whether the estimated collision duration is less than a preset collision duration threshold; If it is detected that the predicted collision duration is less than the preset collision duration threshold, it is determined that a side collision is about to occur between the vehicle and the first target vehicle.

8. A vehicle side collision warning system, characterized in that: The invention comprises a vehicle-mounted controller, a data acquisition device and a data calculation device, wherein the vehicle-mounted controller is communicatively connected to the data acquisition device and the data calculation device, wherein the data acquisition device is used to obtain the current vehicle motion data of the vehicle and the road adhesion coefficient of the road on which the vehicle is traveling, and obtain the first target motion data of a first target vehicle traveling on the road during the driving process of the vehicle, and send the vehicle motion data, the first target motion data and the road adhesion coefficient to the data calculation device, wherein the first target vehicle is located on the side of the vehicle, and the data calculation device is used to calculate the first motion data of the vehicle after a preset time period according to the vehicle motion data and the road adhesion coefficient, and calculate the second motion data of the first target vehicle after the preset time period according to the first target motion data and the road adhesion coefficient, and send the first motion data and the second motion data to the vehicle-mounted controller, and the vehicle-mounted controller is used to predict whether the vehicle and the first target vehicle are about to have a side collision based on the first motion data and the second motion data.

9. A vehicle-mounted controller, characterized in that: The on-board controller includes a processor and a memory, the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the on-board controller executes the vehicle side collision warning method as described in any one of claims 1 to claim 7.

10. A computer storage medium, characterized in that: The method comprises computer instructions, and when the computer instructions are executed on a vehicle-mounted controller, the vehicle-mounted controller executes the vehicle side collision warning method according to any one of claims 1 to 7.

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