Vehicle collision detection method, device and equipment and storage medium

Abstract

The embodiment of the invention discloses a vehicle collision detection method, device and equipment and a storage medium, and the method comprises the steps: receiving a voltage signal collected by at least one piezoelectric vibrator; the voltage signal represents that a collision event occurs; determining a collision level corresponding to the collision event based on the voltage signal collected by each piezoelectric vibrator; and giving an alarm based on an alarm strategy corresponding to the collision level.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of vehicle safety technology, and in particular to a vehicle collision detection method, device, equipment and storage medium. Background Art

[0002] In the related art, the collision sensor on the car is used for the control signal input of the car airbag system. The function of the collision sensor is to detect the intensity information of the car collision when the car collides, and the collision sensor can only detect whether the collision event reaches the impact level of opening the airbag, and cannot accurately detect the impact level. Summary of the invention

[0003] One purpose of the present application is to provide a vehicle collision detection method, which has the advantages of receiving a voltage signal collected by at least one piezoelectric vibrator; the voltage signal represents the occurrence of a collision event; and the collision level corresponding to the collision event is determined based on the voltage signal collected by each piezoelectric vibrator. In this way, after a vehicle collision event occurs, the voltage signal output by the piezoelectric vibrator under the action of the positive piezoelectric effect can accurately reflect the degree of collision, and the voltage value of the voltage signal is strongly correlated with the degree of collision, and then the collision level of the collision event can be finely determined based on the voltage signal of each piezoelectric vibrator.

[0004] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that an alarm is issued based on an alarm strategy corresponding to the collision level. In this way, after a vehicle collision event occurs, different types of alarms are issued to the outside of the vehicle based on the collision level, which can effectively avoid the occurrence of secondary collisions and ensure the safety of people in the vehicle.

[0005] Another object of the present application is to provide a vehicle collision detection method, which has the advantage of determining the collision level of a collision event based on each voltage signal and the parameter information of the piezoelectric vibrator corresponding to each voltage signal. In this way, the piezoelectric vibrator will be subjected to a collision with the panel to which it is attached, and the voltage signal collected will be output to a control module. The control module will accurately determine the collision level based on this panel according to the voltage amplitude and the voltage convergence time.

[0006] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that the sound attribute of the first alarm sound is determined based on the collision level; the first alarm sound is issued for warning based on the sound attribute of the first alarm sound, so that after a vehicle collision event occurs, a first alarm sound can be issued to the outside of the vehicle based on the collision level, which can effectively avoid the occurrence of secondary collisions and ensure the safety of people in the vehicle.

[0007] Another object of the present application is to provide a vehicle collision detection method, which has the advantage that the sound attributes of the first alarm sound include at least one of the following: the volume of the first alarm sound, the frequency of the first alarm sound and the sound interval duration of the first alarm sound; wherein, the volume of the first alarm sound is positively correlated with the level of the collision level, the frequency of the first alarm sound is positively correlated with the level of the collision level, and the sound interval duration of the first alarm sound is negatively correlated with the level of the collision level. In this way, after a vehicle collision event occurs, a first alarm sound with different volume, frequency and sound interval duration can be determined based on the collision level, and then the first alarm sound with different volume, frequency and sound interval duration can effectively allow people outside the vehicle to perceive the degree of danger of the collision, thereby effectively avoiding the occurrence of a secondary collision and ensuring the safety of people in the vehicle.

[0008] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that a target indicator light strategy corresponding to the collision level is determined among multiple vehicle indicator light strategy types; and a corresponding light warning is executed based on the target indicator light strategy corresponding to the collision level. In this way, after a vehicle collision event occurs, a corresponding light warning can be issued outside the vehicle based on the collision level, which can effectively avoid the occurrence of secondary collisions and ensure the safety of people in the vehicle.

[0009] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that it collects motion data of environmental objects within a predetermined range of the vehicle; determines the danger level of a warning event based on the motion data; and issues a warning based on a warning strategy corresponding to the motion data and the danger level. In this way, after the vehicle determines a warning event, it can issue a warning for the dangerous event based on the corresponding warning strategy, thereby alerting other vehicles outside the vehicle, which can effectively reduce the probability of a collision event.

[0010] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that the event attributes of the warning event are determined based on the motion data; the danger level is determined based on the event attributes of the warning event. In this way, since the degree of collision in a vehicle collision is mainly related to the motion data of other vehicles, the danger level determined based on the motion data of other vehicles can accurately reflect the danger level of the warning event corresponding to the other vehicles.

[0011] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that the sound attributes of the second alarm sound are determined based on the motion data and the danger level; the second alarm sound is emitted for early warning based on the sound attributes of the second alarm sound. In this way, after the vehicle determines a warning event, it can issue an early warning for the dangerous event based on the corresponding second alarm sound, thereby alerting other vehicles outside the vehicle, which can effectively reduce the probability of a collision event.

[0012] Another object of the present application is to provide a vehicle collision detection method, which has the advantage that the motion data includes at least one of the following: relative distance and relative speed; the sound attribute of the second alarm sound includes at least one of the following: the volume of the second alarm sound, the frequency of the second alarm sound and the sound interval duration of the second alarm sound; wherein the volume of the second alarm sound is positively correlated with the level of the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed; the frequency of the second alarm sound is positively correlated with the level of the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed; the sound interval duration of the second alarm sound is negatively correlated with the level of the danger level, and positively correlated with the relative distance, so that the second alarm sound with different volume, frequency and sound interval duration can be determined based on the motion data and the danger level, and then the second alarm sound with different volume, frequency and sound interval duration can effectively make the outside of the vehicle perceive the danger level of the warning event, and then effectively avoid the occurrence of collision events, thereby ensuring the safety of people in the vehicle.

[0013] Another object of the present application is to provide a vehicle collision detection method, the advantage of which is that based on the motion data and the danger level, a target indicator light strategy corresponding to the warning event is determined among multiple vehicle indicator light strategy types; based on the target indicator light strategy corresponding to the warning event, a corresponding light is executed for warning, so that a corresponding light warning can be given outside the vehicle based on the motion data and the collision level, which can effectively avoid the occurrence of collision events and ensure the safety of people in the vehicle.

[0014] Another object of the present application is to provide a vehicle collision detection method, which has the advantage of collecting video data through a video acquisition component in response to a video acquisition instruction; wherein the video acquisition instruction is generated in response to at least one of the following events: the warning event and the collision event, so that the occurrence process of the pre-collision event and the collision event and the surrounding environment can be effectively recorded, which facilitates the handling of subsequent accidents.

[0015] Another object of the present application is to provide a vehicle collision detection method, which has the advantage that when the video acquisition instruction is generated in response to the warning event, and when the collision event does not occur within a predetermined time, the video data is deleted. In this way, the collected video data can be deleted when no collision event occurs, thereby reducing redundant data in the storage space.

[0016] Another object of the present application is to provide a vehicle collision detection method, which has the advantage of playing a preset voice message after receiving the voltage signal collected by at least one piezoelectric vibrator and determining the collision event based on at least one voltage signal. In this way, it can serve as a certain reminder to other people or vehicles outside the vehicle after the collision event occurs, and can effectively reduce the occurrence of secondary accidents.

[0017] Another object of the present application is to provide a vehicle collision detection method, which has the advantages of collecting and storing interactive voice information of people outside the vehicle and sending the interactive voice information of people outside the vehicle to the vehicle owner after receiving the voltage signal collected by at least one piezoelectric vibrator; receiving the interactive voice information of the vehicle owner fed back by the vehicle owner after receiving the voltage signal collected by at least one piezoelectric vibrator, and outputting the interactive voice information of the vehicle owner, so that the interaction between the vehicle owner and the people outside the vehicle can be realized. In this way, when the vehicle owner is not in the vehicle, the vehicle owner can communicate with the owner of the vehicle involved in the accident through this voice interaction method, which facilitates the handling of subsequent accidents.

[0018] Another object of the present application is to provide a vehicle collision detection method, which has the advantage that the piezoelectric vibrator includes at least one of the following types: a rear piezoelectric vibrator arranged on the rear side panel of the vehicle, a front piezoelectric vibrator arranged on the front side panel of the vehicle, a hood piezoelectric vibrator arranged on the hood panel of the vehicle, a top piezoelectric vibrator arranged on the top panel of the vehicle, a side piezoelectric vibrator arranged on the side panel of the vehicle, and a door piezoelectric vibrator arranged on the door panel. In this way, when a collision event occurs on any one of the rear side panel of the vehicle, the front side panel of the vehicle, the hood panel of the vehicle, the top panel of the vehicle, the side panel of the vehicle and the door panel, the collision level of the collision event can be accurately determined based on the voltage signal of the piezoelectric vibrator on the corresponding panel.

[0019] Another object of the present application is to provide a vehicle collision detection method, which has the advantage of comprising at least one piezoelectric vibrator and a microcontroller, wherein the at least one piezoelectric vibrator and the microcontroller are communicatively connected; wherein the at least one piezoelectric vibrator is used to collect voltage signals; and the microcontroller is used to determine the collision level corresponding to the collision event based on the voltage signal collected by each piezoelectric vibrator, and to control the piezoelectric vibrator to issue a sound alarm based on an alarm strategy corresponding to the collision level. In this way, after a vehicle collision event occurs, the voltage signal output by the piezoelectric vibrator under the action of the positive piezoelectric effect can accurately reflect the degree of collision, and the voltage value of the voltage signal is strongly correlated with the degree of collision, and thus the collision level of the collision event can be finely determined based on the voltage signal of each piezoelectric vibrator.

[0020] Another object of the present application is to provide an electronic device, which has the advantage of comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps in the above method when executing the computer program. In this way, after a vehicle collision event occurs, the processor can execute the above computer program to use the voltage signal of the piezoelectric vibrator to finely determine the collision level of the collision event.

[0021] Another object of the present application is to provide a computer-readable storage medium, which has the advantage of storing a computer program thereon, and implementing the steps in the above method when the computer program is executed by a processor. In this way, after a vehicle collision event occurs, the computer program in the computer-readable storage medium can be used to finely determine the collision level of the collision event using the voltage signal of the piezoelectric vibrator.

[0022] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0023] On the one hand, an embodiment of the present application provides a vehicle collision detection method, comprising:

[0024] Receiving a voltage signal collected by at least one piezoelectric vibrator; the voltage signal represents a collision event;

[0025] Determining a collision level corresponding to the collision event based on the voltage signal collected by each of the piezoelectric vibrators;

[0026] An alarm is issued based on the alarm strategy corresponding to the collision level.

[0027] On the other hand, an embodiment of the present application provides a vehicle collision detection device, comprising at least one piezoelectric vibrator and a microcontroller, wherein the at least one piezoelectric vibrator and the microcontroller are communicatively connected; wherein:

[0028] The at least one piezoelectric vibrator is used to collect voltage signals;

[0029] The microcontroller is used to determine the collision level corresponding to the collision event based on the voltage signal collected by each piezoelectric vibrator, and control the piezoelectric vibrator to sound an alarm based on the alarm strategy corresponding to the collision level.

[0030] On the other hand, an embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and the processor implements the steps in the above method when executing the computer program.

[0031] On the other hand, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps in the above method when executed by a processor.

[0032] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0034] Figure 1 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a piezoelectric vibrator for a vehicle panel provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0038] Figure 5 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0039] Figure 6 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0040] Figure 7 A schematic diagram of a vehicle driving state of a vehicle collision detection method provided in an embodiment of the present application;

[0041] Figure 8A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0042] Fig. 9 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0043] Fig.10 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0044] Fig.11 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0045] Fig.12 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0046] Fig.13 A schematic diagram of an implementation flow of a vehicle collision detection method provided in an embodiment of the present application;

[0047] Fig.14 A schematic diagram of the structure of a vehicle electronic unit provided in an embodiment of the present application;

[0048] Fig.15 A schematic diagram of the structure of a vehicle collision detection device provided in an embodiment of the present application;

[0049] Fig.16 A schematic diagram of the composition structure of another vehicle collision detection device provided in an embodiment of the present application;

[0050] Fig.17 A hardware entity schematic diagram of a vehicle collision detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0052] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0053] 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 are only for the purpose of describing this application and are not intended to limit this application.

[0054] An embodiment of the present application provides a vehicle collision detection method, which can be processed and executed by an on-board computer device, wherein the computer device may refer to a vehicle computer, a laptop computer, a tablet computer, a desktop computer, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device), and other devices with data processing capabilities.

[0055] Figure 1 A schematic diagram of the implementation process of a vehicle collision detection method provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes the following steps S101 to S103:

[0056] Step S101, receiving a voltage signal collected by at least one piezoelectric vibrator; the voltage signal represents a collision event.

[0057] In some embodiments, the body panel of the vehicle is provided with at least one piezoelectric vibrator. After a collision event occurs in the vehicle, a voltage signal collected by the at least one piezoelectric vibrator under the action of the positive piezoelectric effect can be received. After receiving the voltage signal, it is determined that a collision event occurs in the vehicle.

[0058] Among them, when the piezoelectric vibrator is subjected to external pressure, the piezoelectric vibrator undergoes mechanical deformation, and a potential difference is generated. The positive or negative of the potential difference is related to the direction of the mechanical deformation, and the size of the potential difference is related to the size of the mechanical deformation. When the mechanical deformation is restored, the potential difference disappears. This phenomenon of converting mechanical energy into electrical energy is called the "positive piezoelectric effect." Piezoelectric vibrators have excellent sensing capabilities. The positive piezoelectric effect of piezoelectric vibrators can generate corresponding voltage changes in response to the pressure of a collision event, and can sense the size of the external pressure.

[0059] In other embodiments, each body panel of the vehicle is provided with at least one piezoelectric vibrator. After a body panel of the vehicle is hit, a voltage signal collected by at least one piezoelectric vibrator of the body panel under the action of the positive piezoelectric effect can be received.

[0060] In some embodiments, the piezoelectric vibrator includes at least one of the following types: a rear piezoelectric vibrator set on a rear side panel of a vehicle, a front piezoelectric vibrator set on a front side panel of a vehicle, a hood piezoelectric vibrator set on a hood panel of a vehicle, a top piezoelectric vibrator set on a top panel of a vehicle, a side piezoelectric vibrator set on a side panel of a vehicle, and a door piezoelectric vibrator set on a door panel.

[0061] Exemplary, combined Figure 2 In some embodiments, the rear panel and the side panel of the vehicle are both provided with a piezoelectric vibrator 100. The piezoelectric vibrator 100 can be provided on the inner side of the corresponding panel. Figure 2 The piezoelectric vibrator 100 in the figure is only for the convenience of demonstration. When the side panel of the vehicle collides, the voltage signal collected by each piezoelectric vibrator 100 of the side panel of the vehicle can be received. When the rear panel of the vehicle is rear-ended, the voltage signal collected by each piezoelectric vibrator 100 of the rear panel of the vehicle can be received.

[0062] Step S102: determining a collision level corresponding to the collision event based on the voltage signal collected by each of the piezoelectric vibrators.

[0063] In some embodiments, the collision force data of the collision event can be determined based on the voltage signal collected corresponding to each piezoelectric vibrator. The collision level corresponding to the collision event is determined based on the collision force data. The collision level is used to characterize the impact degree of the collision event.

[0064] In other embodiments, the collision force data may be determined based on the voltage signal collected corresponding to each piezoelectric vibrator and the influencing parameter of the piezoelectric vibrator output voltage in the positive piezoelectric effect, and then the collision level may be determined based on the collision force data.

[0065] In other embodiments, the mean voltage can be determined based on the voltage signal collected by each piezoelectric vibrator. A target voltage interval to which the mean voltage belongs is determined from multiple voltage intervals; and a current collision level corresponding to the target voltage interval is determined from multiple collision levels; wherein each of the multiple voltage intervals corresponds to a collision level.

[0066] Exemplary, combined Figure 2In some embodiments, the rear panel and the side panel of the vehicle are both provided with a piezoelectric vibrator 100. When a collision occurs on the side panel of the vehicle, a voltage signal collected by at least one piezoelectric vibrator 100 of the side panel of the vehicle can be received. Based on the voltage signal of at least one piezoelectric vibrator 100 of the side panel, corresponding collision force data can be determined. The collision level of the collision event is determined based on the collision force data of the side panel. When a rear-end collision occurs on the rear panel of the vehicle, a voltage signal collected by at least one piezoelectric vibrator 100 of the rear panel of the vehicle can be received. Based on the voltage signal of at least one piezoelectric vibrator 100 of the rear panel, the collision force data corresponding to the collision event can be determined, and the collision level of the collision event is determined based on the collision force data of the rear panel.

[0067] Step S103: issuing an alarm based on the alarm strategy corresponding to the collision level.

[0068] In some embodiments, a corresponding warning strategy may be determined from a plurality of warning strategies based on the collision level, and the warning may be performed using the warning strategy.

[0069] In other embodiments, if the collision level of the collision event is low or the collision level does not meet the conditions for issuing an alarm, no alarm is issued.

[0070] In other embodiments, the properties of the warning strategy may be determined based on the collision level, and the properties of the warning strategy may be used to drive the warning device to issue a warning.

[0071] In other embodiments, the warning strategy may include: warning through an alarm sound. The corresponding alarm sound may be determined based on the collision level. The sound attribute corresponding to the alarm sound is used to drive the piezoelectric vibrator on the panel of the vehicle where the collision event occurs to sound an alarm. The driving of the piezoelectric vibrator on the panel of the vehicle where the collision event occurs to sound an alarm utilizes the inverse piezoelectric effect of the piezoelectric vibrator.

[0072] When an electric field is applied to the piezoelectric vibrator, the piezoelectric vibrator undergoes mechanical deformation. When the direction of the external electric field is the same as the polarization direction of the piezoelectric vibrator, the polarization intensity increases, causing the piezoelectric vibrator to stretch along the polarization direction; when the direction of the external electric field is opposite to the polarization direction of the piezoelectric vibrator, the piezoelectric vibrator shortens along the polarization direction. This phenomenon of converting electrical energy into mechanical energy is called the "inverse piezoelectric effect."

[0073] In an embodiment of the present application, a voltage signal collected by at least one piezoelectric vibrator is received; the voltage signal represents the occurrence of a collision event; and the collision level corresponding to the collision event is determined based on the voltage signal collected by each piezoelectric vibrator. In this way, after a collision event occurs in the vehicle, the voltage signal output by the piezoelectric vibrator under the action of the positive piezoelectric effect can accurately reflect the degree of collision, and the voltage value of the voltage signal is strongly correlated with the degree of collision. Therefore, based on the voltage signal of each piezoelectric vibrator, the collision level of the collision event can be determined in a refined manner.

[0074] Figure 3 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S102 in can be updated to step S201, combining Figure 3 The steps shown are explained.

[0075] Step S201 : determining the collision level of the collision event based on each of the voltage signals and parameter information of the piezoelectric vibrator corresponding to each of the voltage signals.

[0076] In some embodiments, the collision force data of the collision event can be determined based on each voltage signal and the parameter information of the piezoelectric vibrator corresponding to each voltage signal, and the collision level can be determined based on the collision force data.

[0077] The parameter information of the piezoelectric vibrator includes at least one of the following: a piezoelectric constant of the piezoelectric vibrator, a thickness of the piezoelectric vibrator, and a cross-sectional area of ​​the piezoelectric vibrator.

[0078] In some embodiments, the method for determining a collision level based on collision force data further includes: determining a collision level corresponding to the collision force data based on a functional relationship between the collision force data and the collision level.

[0079] In other embodiments, the collision level is determined by the voltage amplitude and convergence time of the voltage signal output by the piezoelectric vibrator. The larger the voltage amplitude of the voltage signal, the greater the collision pressure, and the higher the collision level; the shorter the convergence time, the greater the acceleration during the collision, and the higher the collision level. The smaller the voltage amplitude of the voltage signal, the smaller the collision pressure, and the lower the collision level; the shorter the convergence time, the smaller the acceleration during the collision, and the lower the collision level.

[0080] In the embodiment of the present application, the collision level of the collision event is determined based on each voltage signal and the parameter information of the piezoelectric vibrator corresponding to each voltage signal. Because the output voltage signal of the piezoelectric vibrator has a close correlation with the corresponding parameter information, the collision level can be accurately determined by the voltage signal.

[0081] Figure 4 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S103 in can be updated to step S301 to step S302, combining Figure 4 The steps shown are explained.

[0082] Step S301: determining a sound attribute of the first alarm sound based on the collision level.

[0083] In some embodiments, the warning strategy may include: warning through a first alarm sound. The sound attribute corresponding to the first alarm sound may be determined from a plurality of sound attributes based on the collision level.

[0084] The sound attribute of the first alarm sound includes at least one of the following: the volume of the first alarm sound, the frequency of the first alarm sound, and the sound interval duration of the first alarm sound. The volume of the first alarm sound is positively correlated with the level of the collision level, the frequency of the first alarm sound is positively correlated with the level of the collision level, and the sound interval duration of the first alarm sound is negatively correlated with the level of the collision level.

[0085] Step S302: issuing the first alarm sound for warning based on the sound attribute of the first alarm sound.

[0086] In some embodiments, based on the sound attribute of the first alarm sound, the piezoelectric vibrator on the collision panel can be driven to emit the first alarm sound for warning.

[0087] For example, when a rear-end collision occurs on the rear side panel of a vehicle, the piezoelectric vibrator on the rear side panel can be used to drive the rear side panel to emit a first alarm sound for warning based on the sound attribute of the first alarm sound. When a collision occurs on the side panel of a vehicle, the piezoelectric vibrator on the side panel can be used to drive the side panel to emit a first alarm sound for warning based on the sound attribute of the first alarm sound.

[0088] For example, when the collision level of the collision event is higher, the volume of the first alarm sound emitted by the piezoelectric vibrator is louder, the frequency of the first alarm sound emitted by the piezoelectric vibrator is higher, and the sound interval of the first alarm sound is shorter. When the collision level of the collision event is lower, the volume of the first alarm sound emitted by the piezoelectric vibrator is lower, the frequency of the first alarm sound emitted by the piezoelectric vibrator is lower, and the sound interval of the first alarm sound is longer.

[0089] In other embodiments, based on the sound attribute of the first alarm sound, the first alarm sound may be emitted by a speaker outside the vehicle to give an alarm.

[0090] In the embodiment of the present application, when the collision level of the collision event is higher, the volume of the first alarm sound emitted by the piezoelectric vibrator is louder, the frequency of the first alarm sound emitted by the vehicle is higher, and the sound interval of the first alarm sound is shorter. By determining the sound attribute of the first alarm sound by the collision level to issue an alarm, the first alarm sound can be used to display the corresponding collision level, so that other vehicles or people outside the vehicle can perceive the collision event, which can effectively alert other vehicles or people outside the vehicle and effectively prevent the occurrence of secondary accidents.

[0091] Figure 5 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S103 in can be updated to step S303 to step S304, combining Figure 5 The steps shown are explained.

[0092] Step S303: determining a target indicator light strategy corresponding to the collision level from among a plurality of vehicle indicator light strategy types.

[0093] In some embodiments, after a collision occurs in a vehicle, a target indicator light strategy corresponding to the collision level can be determined from a plurality of vehicle indicator light strategy types. When the collision level is low, a target indicator light strategy with a single warning type can be determined from a plurality of vehicle indicator light strategy types. When the collision level is high, a target indicator light strategy with a variety of warning types can be determined from a plurality of vehicle indicator light strategy types. Among them, when the collision level is greater than a level threshold, the collision level can be determined to be a high collision level, and when the collision level is not greater than the level threshold, the collision level can be determined to be a low collision level.

[0094] Among them, the vehicle indicator light strategy type represents turning on the indicator light corresponding to the vehicle under a certain strategy. Among them, the indicator lights of the vehicle include: outline lights, fog lights and hazard warning lights. Exemplarily, when the collision level is low, the target indicator light strategy that can be determined from multiple vehicle indicator light strategy types includes: turning on the hazard warning lights. When the collision level is high, the target indicator light strategy that can be determined from multiple vehicle indicator light strategy types includes: turning on the outline lights, turning on the fog lights and turning on the hazard warning lights.

[0095] Step S304: Execute the corresponding light to give an alarm based on the target indicator light strategy corresponding to the collision level.

[0096] In some embodiments, after determining the target indicator light strategy corresponding to the collision level, the vehicle light control system is used to execute the corresponding indicator light for warning according to the target indicator light strategy.

[0097] In the embodiment of the present application, the target indicator light strategy is determined by the collision level to issue a light warning, so as to achieve the effect that different lights correspond to different collision levels. The target indicator light strategy warning can clearly reflect the collision event of the current vehicle to other vehicles or personnel outside the vehicle, thereby serving to remind other vehicles or personnel and effectively preventing the occurrence of secondary accidents.

[0098] Figure 6 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S101 in the above may include steps S401 to S402, which will be combined with Figure 6 The steps shown are explained.

[0099] Step S401: Collect motion data of environmental objects within a predetermined range of the vehicle.

[0100] In some embodiments, whether the vehicle is in a driving state or a stopped state, the motion data of each environmental object within a predetermined range of the vehicle can be collected in real time through sensors. The sensors may include: ultrasonic sensors, millimeter wave sensors, cameras, infrared sensing sensors, time of flight (TOF) sensing sensors, etc.

[0101] The motion data may be the motion data of environmental objects within a predetermined range relative to the vehicle. Environmental objects may be moving objects within a predetermined range of the vehicle, and may include, for example, other vehicles, doors of other vehicles, bicycles, motorcycles, pedestrians, and pets. The predetermined range may be within 10 meters, 50 meters, or 100 meters. In the embodiment of the present application, there is no limitation on the specific size of the predetermined range.

[0102] Exemplary, combined Figure 7 , vehicle 1, vehicle 2 and vehicle 3 are all in driving state. For the convenience of explanation, Figure 7 The dotted circle in the figure is the boundary of the predetermined range of vehicle 1. Vehicle 1 detects the presence of vehicle 2 and vehicle 3 within the predetermined range through sensors. Vehicle 1 can detect the motion data of vehicle 2 relative to vehicle 1 through sensors, and vehicle 1 can detect the motion data of vehicle 3 relative to vehicle 1 through sensors.

[0103] Step S402: Determine the danger level of the warning event based on the motion data.

[0104] In some embodiments, the danger level of the warning event corresponding to each environmental object can be determined based on the motion data of each environmental object relative to the vehicle. The motion data may include: relative speed and relative distance. The danger level of the warning event is positively correlated with the relative speed of the environmental object relative to the vehicle, and negatively correlated with the relative distance of the environmental object relative to the vehicle.

[0105] In other embodiments, the motion data corresponding to each environmental object within a predetermined range can be obtained by sensor detection. Based on the motion data corresponding to each environmental object, the danger level of the warning event corresponding to the environmental object can be determined. When the danger level of the warning event corresponding to an environmental object reaches the warning condition level, the warning event corresponding to the environmental object can be warned.

[0106] In some embodiments, step S402 may also be implemented by step S4021 and step S4022. The steps will be described in combination.

[0107] Step S4021: Determine the event attribute of the warning event based on the motion data.

[0108] In some embodiments, the event attributes of the warning event corresponding to each environmental object can be determined based on the motion data of each environmental object. The event attributes can include: pre-collision time corresponding to the environmental object. The pre-collision time can represent the time from the vehicle to the collision with an environmental object.

[0109] In some other embodiments, the motion data corresponding to the environmental object may include: a relative distance and a relative speed of the environmental object relative to the host vehicle. The pre-collision time may be determined based on the relative distance and the relative speed.

[0110] Step S4022: Determine the danger level based on the event attribute of the warning event.

[0111] In some embodiments, the danger level of the pre-collision event corresponding to each environmental object may be determined based on the pre-collision time of the pre-collision event corresponding to each environmental object.

[0112] Among them, the danger level is negatively correlated with the pre-collision time.

[0113] Exemplarily, after determining the pre-collision time based on the relative speed and relative distance of an environmental object, the danger level can be determined based on the pre-collision time. Among them, a target time interval to which the pre-collision time belongs can be determined from multiple time intervals; and the danger level corresponding to the target time interval can be determined; wherein each of the multiple time intervals corresponds to a danger level.

[0114] Step S403: issuing an early warning based on the motion data and the early warning strategy corresponding to the danger level.

[0115] In some embodiments, when the danger level of a warning event corresponding to an environmental object is greater than the warning condition level, a current warning strategy can be determined from multiple warning strategies based on the motion data and danger level corresponding to the warning event. The warning strategy is used to drive the vehicle-mounted warning device to issue a warning.

[0116] In other embodiments, if the danger level of a warning event corresponding to an environmental object is low or the danger level is not greater than the warning condition level, no warning is issued.

[0117] In other embodiments, the properties of the warning strategy can be determined based on the motion data and the danger level, and the properties of the warning strategy can be used to drive the warning device to issue a warning.

[0118] In other embodiments, the early warning strategy may include: early warning through an alarm sound. The corresponding alarm sound may be determined based on the danger level. The sound attribute corresponding to the alarm sound is used to drive the piezoelectric vibrator on the vehicle body panel on the side of the environmental object that is pre-collision with the vehicle body to sound an early warning.

[0119] In the embodiment of the present application, motion data of environmental objects within a predetermined range of the vehicle are collected; the danger level of the warning event is determined based on the motion data; and a warning is issued based on a warning strategy corresponding to the motion data and the danger level. In this way, after the vehicle determines the danger level of the warning event, the warning event can be issued, thereby alerting other vehicles outside the vehicle, which can effectively reduce the probability of a collision event.

[0120] Figure 8 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 6 , Figure 6 Step S403 in the above example can also be combined with step S501 to step S502. Figure 8 The steps shown are explained.

[0121] Step S501: Determine the sound attribute of the second alarm sound based on the motion data and the danger level.

[0122] In some embodiments, the warning strategy includes: warning through a second alarm sound. The sound attribute corresponding to the second alarm sound can be determined based on the motion data and the danger level corresponding to each warning event. The sound attribute of the second alarm sound includes at least one of the following: the volume of the second alarm sound, the frequency of the second alarm sound, and the sound interval duration of the second alarm sound.

[0123] The motion data includes at least one of the following: relative distance and relative speed; the volume of the second alarm sound is positively correlated with the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed. The frequency of the second alarm sound is positively correlated with the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed. The sound interval duration of the second alarm sound is negatively correlated with the danger level, and positively correlated with the relative distance.

[0124] Step S502: issuing the second alarm sound for early warning based on the sound attribute of the second alarm sound.

[0125] In some embodiments, based on the volume, frequency and sound interval duration of the second alarm sound, the piezoelectric vibrator on the vehicle body panel on the side of the environmental object pre-collision can be driven to issue an audible warning.

[0126] In other embodiments, the external speaker of the vehicle may be driven to issue an audible warning based on the volume, frequency and sound interval duration of the second alarm sound.

[0127] In the embodiment of the present application, the method of issuing an early warning by determining the sound attributes of the second alarm sound through motion data and danger level can create a sense of presence for the environmental objects corresponding to the early warning event, effectively remind the environmental objects corresponding to the early warning event, and reduce the probability of collision events.

[0128] Fig. 9 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 6 , Figure 6 Step S403 in the above example can also be combined with step S601 to step S602. Fig. 9 The steps shown are explained.

[0129] Step S601: determining a target indicator light strategy corresponding to the warning event from a plurality of vehicle indicator light strategy types based on the motion data and the danger level.

[0130] In some embodiments, the warning strategy may include: warning through indicator lights. Based on the motion data and danger level of each warning event, a target indicator light strategy corresponding to the collision level may be determined from a plurality of vehicle indicator light strategy types.

[0131] Step S602: Based on the target indicator light strategy corresponding to the warning event, corresponding lights are executed for warning.

[0132] In some embodiments, after determining that the danger level of a warning event reaches the warning condition, the corresponding indicator light can be executed to issue a warning based on the target indicator light strategy corresponding to the warning event.

[0133] Exemplarily, when the danger level is low, the target indicator light strategy that can be determined based on the collision level includes: turning on the hazard warning lights. When the danger level is high, the target indicator light strategy that can be determined based on the collision level includes: turning on the hazard warning lights, turning on the fog lights, and turning on the outline lights.

[0134] In an embodiment of the present application, a target indicator light strategy is determined through motion data and danger levels to perform light warnings, so as to achieve the effect that different lights correspond to different danger levels. Further, warnings through the target indicator light strategy can clearly reflect the current pre-collision event to the environmental objects corresponding to the pre-collision event, thereby serving to remind the environmental objects and reducing the probability of a collision event.

[0135] Fig.10 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 6 , Figure 6 Step S401 in the above method may further include steps S701 to S702, which will be combined with Fig.10 The steps shown are explained.

[0136] Step S701, in response to a video acquisition instruction, acquiring video data through a video acquisition component; wherein the video acquisition instruction is generated in response to at least one of the following events: the warning event and the collision event.

[0137] In some embodiments, after a warning event is determined based on the motion data of an environmental object, video data of the vehicle's surroundings can be collected through a video acquisition component. After a collision event is determined based on the received voltage signal of a piezoelectric vibrator, video data of the vehicle's surroundings can also be collected through a video acquisition component. After a warning event is determined based on the motion data of an environmental object, video data of the vehicle's surroundings can be collected through a video acquisition component, and a collision event is determined by receiving a voltage signal of a piezoelectric vibrator within a period of time, and the video acquisition component can continue to be used to continuously collect video data of the surroundings.

[0138] For example, when a warning event is determined based on the motion data of an environmental object, the video data of the vehicle's surrounding environment can be collected by the video collection component on the corresponding side of the environmental object. When a collision event occurs, the video data of the vehicle's surrounding environment can be collected by the video collection component on the collision panel side.

[0139] Exemplarily, when a warning event of an environmental object corresponds to the rear panel, the surrounding environmental data can be collected by the rear video acquisition component. When a rear-end collision occurs in the vehicle, the rear video acquisition component continues to be used to collect surrounding environmental data. When a warning event of an environmental object corresponds to the side panel, the surrounding environmental data can be collected by the side video acquisition component. When a side collision occurs in the vehicle, the side video acquisition component continues to be used to collect surrounding environmental data.

[0140] Step S702: If the video acquisition instruction is generated in response to the warning event and the collision event does not occur within a predetermined time, delete the video data.

[0141] In some embodiments, after a warning event is determined based on the motion data of an environmental object, video data of the surrounding environment of the vehicle can be collected by a video collection component. If a voltage signal collected by the piezoelectric vibrator is not received within a predetermined time after the warning event is determined, it is determined that no collision event has occurred. The collected video data is deleted.

[0142] The predetermined time may be 1 minute or 1 hour. In the embodiment of the present application, there is no specific limitation on the length of the predetermined time.

[0143] In the embodiment of the present application, by responding to the video acquisition instruction, the video acquisition component collects video data; the pre-collision event and the process of the collision event and the surrounding environment can be effectively recorded, which facilitates the handling of subsequent accidents. In addition, when the video acquisition instruction is generated in response to the warning event and the collision event does not occur within the predetermined time, the video data is deleted, so that the collected video data can be deleted when the collision event does not occur, reducing the redundant data of the storage space.

[0144] Fig.11 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S101 in the above method may further include step S801, combining Fig.11 The steps shown are explained.

[0145] Step S801: after receiving the voltage signal collected by at least one piezoelectric vibrator, and in the case where the collision event is determined based on at least one of the voltage signals, playing a preset voice message.

[0146] In some embodiments, after receiving the voltage signal collected by at least one piezoelectric vibrator, if the voltage value of some voltage signals is greater than the voltage threshold, it is determined that a collision event has occurred, and a preset voice message can be played after the collision event is determined. The preset voice message may include: voice message indicating that a collision event has occurred, voice message indicating the collision level, and voice message indicating the collision panel.

[0147] In other embodiments, the preset voice information can be played through the piezoelectric vibrator on the collision panel under the effect of the inverse piezoelectric effect. The preset voice information can also be played through the external speaker of the vehicle.

[0148] Fig.12 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S101 in the above method may further include step S802, combining Fig.11 The steps shown are explained.

[0149] Step S802: after receiving the voltage signal collected by at least one piezoelectric vibrator, collect and store the interactive voice information of the person outside the vehicle, and send the interactive voice information of the person outside the vehicle to the vehicle owner.

[0150] In some embodiments, after receiving the voltage signal collected by at least one piezoelectric vibrator, if the voltage value of some voltage signals is greater than the voltage threshold, it is determined that a collision event has occurred. After the collision event is determined, at least one piezoelectric vibrator on the vehicle body panel collects and stores the interactive voice information of people outside the vehicle under the action of the positive piezoelectric effect. At the same time, the interactive voice information of people outside the vehicle can be sent to the terminal on the owner's side. Exemplarily, it can be sent to the owner's mobile phone. In other embodiments, the interactive voice information of people outside the vehicle can also be collected and stored through components such as vehicle-mounted microphones and vehicle-mounted sound collection sensors.

[0151] In some embodiments, after a collision occurs in a vehicle, the piezoelectric vibrator on the vehicle body panel emits sound to interact with the person outside the vehicle. The piezoelectric vibrator on the vehicle body panel is deformed to form a voltage signal under the action of the interactive voice of the person outside the vehicle, and then the voltage signal is processed by the mode converter to form the interactive voice information of the person outside the vehicle. The interactive voice information of the person outside the vehicle is sent to the terminal on the owner's side.

[0152] Fig.13 FIG. 1 is an optional flow chart of a vehicle collision detection method provided in an embodiment of the present application, and the method can be executed by a processor of an onboard computer device. Figure 1 , Figure 1 Step S101 in the above method may further include step S803, combining Fig.11 The steps shown are explained.

[0153] Step S803: after receiving the voltage signal collected by at least one piezoelectric vibrator, receiving the interactive voice information of the car owner fed back by the car owner, and outputting the interactive voice information of the car owner.

[0154] In some embodiments, after receiving a voltage signal collected by at least one piezoelectric vibrator, if the voltage value of some voltage signals is greater than a voltage threshold, it is determined that a collision event has occurred. After determining the collision event, the owner's interactive voice information is received from the owner's terminal, and the owner's interactive voice information is output through the piezoelectric vibrator on the vehicle body panel under the action of the inverse piezoelectric effect.

[0155] In some embodiments, after the interactive voice information of the person outside the vehicle is sent to the terminal on the owner's side, the terminal on the owner's side can send the owner's interactive voice information to the vehicle. Then, the piezoelectric vibrator on the vehicle body panel is driven by the power amplifier in combination with the owner's interactive voice information to output the owner's interactive voice information. Among them, the piezoelectric vibrator has a light and thin volume, high sound efficiency, water resistance, dust resistance, and corrosion resistance, and is particularly suitable for installation outside the vehicle. In addition, it also has a wide sound frequency bandwidth, basically with a wide-band sound capability of 150Hz to 20kHz, which can efficiently promote the sound of vehicle metal panels, such as doors, and plastic panels, such as front and rear bumpers and other panel materials.

[0156] In other embodiments, after receiving the interactive voice information of the car owner, the power amplifier can also be used to drive the external speakers of the car to output the interactive voice information of the car owner.

[0157] In the embodiment of the present application, after receiving the voltage signal collected by at least one piezoelectric vibrator, a preset voice message can be played, so that it can play a certain reminder role to other people or vehicles outside the vehicle after the collision event occurs, and can effectively reduce the occurrence of secondary accidents. And after receiving the voltage signal collected by at least one piezoelectric vibrator, the interactive voice information of the person outside the vehicle can be collected and sent to the owner, and the interactive voice information sent by the owner can be played, so that the interaction between the owner and the person outside the vehicle can be realized. In this way, when the owner is not in the vehicle, the owner can communicate with the owner of the accident through this voice interaction method, which is convenient for the handling of subsequent accidents.

[0158] The following will illustrate the vehicle collision detection method of the present application with a specific implementation scenario.

[0159] In the related art, vehicles face the following three problems:

[0160] 1. Today's cars are becoming more and more intelligent, with different sensors integrated on the outside of the car to sense the outside world to support advanced driver assistance or autonomous driving. However, these advanced driver assistance or autonomous driving capabilities are based on their own capabilities to improve driving safety, and are often powerless against sudden collisions from external vehicles.

[0161] 2. Today's vehicles are equipped with an event data recorder (EDR) device. EDR is equivalent to a black box on a car. Its function is to collect key driving data of the car in an accident, including vehicle speed, acceleration at the time of vehicle collision, steering wheel steering angle, engine working status, airbag status, driver assistance system data, and various operation data performed by the driver at the time of the accident. Once a traffic accident occurs, the data recorded by EDR can effectively avoid the situation where both parties stick to their own opinions and shirk responsibility. It helps traffic police quickly and accurately determine the responsibility for the accident. However, this is an accident tracking system that cannot actively warn of vehicle collisions in advance or complete closed-loop tracking of the accident process after the accident occurs, which can easily cause the party at fault to leave the scene and be unable to be tracked.

[0162] 3. Today's vehicles do not have the ability to make sounds on different sides of the outside of the vehicle, nor do they have the touch perception ability of the body on different sides of the outside of the vehicle, so they cannot provide such comprehensive capabilities of collision prevention and perception tracking. In the related art, it is not easy to install independent sound-emitting speakers on each side of the vehicle outside the vehicle. Traditional speakers are not suitable for installation outside the vehicle due to their large size, non-waterproof and non-corrosion-resistant. Therefore, under normal circumstances, an independent traditional speaker is usually installed in the cavity of the vehicle chassis or individual parts outside the vehicle, which does not have the ability to make sounds in all directions outside the vehicle. In this way, the vehicle cannot issue corresponding warning sounds to the outside. It can be imagined that when there is a risk of collision with other vehicles at the rear or side of the vehicle, the vehicle should issue a warning sound in advance to the rear or the corresponding side direction, rather than in all directions. And the collision sensor on the current car is used for the control signal input of the car airbag system. Its function is that when the car collides, the collision sensor detects the intensity information of the car collision and transmits this information to the electronic control unit of the airbag system, and its electronic control unit determines whether to detonate the inflatable element to inflate the airbag. Usually, the collision sensor in the airbag system is the collision sensor of the whole vehicle, and it is not possible to precisely detect the collision accuracy level of different sides of the vehicle, such as the collision or scrape level of the door, which may not be enough for the airbag to be deployed. In addition, the number of collision sensors of the airbag is insufficient, and it is impossible to detect the collision level of peripheral mechanical parts on different sides.

[0163] In the face of the above three different situations, this application provides a vehicle collision detection method for dealing with rear-end collision events:

[0164] The vehicle ahead (using sensors on the rear side of the vehicle, such as ultrasonic sensors, millimeter wave sensors, etc.) actively detects the approach of the vehicle behind, and triggers a warning event when it detects that the vehicle behind is approaching dangerously. A second alarm sound is emitted through the vehicle panel sound system (the volume of the second alarm sound, the frequency of the alarm sound, and the interval of the second alarm sound will change with the approaching danger level. The parameters affecting the second alarm sound are the approaching distance and the approaching speed). At the same time, the danger level of the warning event is sent to the headlight control module, and the vehicle's double flash lights, outline lights, and rear fog lights are turned on. This can actively remind the vehicle behind and improve safe driving.

[0165] When it is determined that the rear vehicle is in danger of collision, the camera at the rear of the vehicle will be turned on in time and record video data. When the rear vehicle collides with the rear of the front vehicle, the piezoelectric vibrator on the rear panel of the front vehicle collects voltage signals under the action of the piezoelectric effect, and the microcontroller determines the collision level of the rear impact based on the collected voltage signal. At this time, the video data before and after the collision, the collision level data, and the driving data of the vehicle (such as speed, acceleration and trajectory, etc.) are saved. When no vehicle collision is detected, the video data of the rear-end collision of the vehicle will not be retained.

[0166] When a high-power piezoelectric sound vibrator is installed on the rear panel of the vehicle, the rear panel can emit sound to the outside, and the sound is directed to the rear of the vehicle. At the same time, if the rear panel is hit, the piezoelectric vibrator can collect voltage signals in time and trigger an accident alarm. The vehicle will record the collision video in time to notify people outside the car that the accident has occurred, and play the first warning sound of the accident vehicle to prevent a second accident. While ensuring safety, the owner can turn off the first warning sound in time, and can promptly learn the collision level of the vehicle collision on the car computer or mobile phone.

[0167] Among them, after the emergency brake of the vehicle, it actively senses the possible warning event caused by the approach of the rear vehicle, sends a second alarm sound to the rear vehicle, and determines the danger level. When the vehicle is stopped or reversing, it senses the possible danger caused by the approach of the rear vehicle, sends a second alarm sound to the rear vehicle, and determines the danger level.

[0168] The electronic control unit of the vehicle sound system will send out a second alarm sound through the vehicle panel sound system according to the danger level. The influencing parameters of the second alarm sound attribute include: danger level, relative distance, and relative speed. When the danger level is higher, the volume of the sound outside the vehicle is also higher, and vice versa. When the relative distance is smaller, the frequency of the second alarm sound is higher, and vice versa. When the relative speed is smaller, the sound interval is larger, and vice versa, the interval is smaller. When there is a risk of collision and the distance is too close, even if the relative speed is very small or even zero, the maximum value of the sound interval needs to have a threshold, such as a maximum interval of 5 seconds. At the same time, the active safety system can also send the danger level, relative vehicle speed, and relative distance information to the headlight control module to light up the vehicle's double flash lights, contour lights, and rear fog lights. The lighting warning mode of these lights can be presented accordingly according to the danger level, such as emergency double flash, when the distance is too close, light up the contour lights and rear fog lights.

[0169] When a vehicle collides, the body panel deforms. At this time, the piezoelectric vibrator in the panel can detect the collision level through the piezoelectric effect, which is reflected in the form of voltage changes at both ends of the piezoelectric vibrator. Fig.14 At this time, the voltage signal collected by the piezoelectric vibrator is sent to the microcontroller unit (MCU) through the piezoelectric vibrator and the A / D mode converter of the sensing system. The MCU can detect the collision level through the internal algorithm. And the MCU can send the collision level to the display component of the vehicle computer or other terminals through the bus connected by the CAN transceiver.

[0170] When a vehicle collides, the first alarm sound is immediately emitted to alert external vehicles and prevent secondary accidents. The vehicle can emit different first alarm sounds according to the collision level. When the accident level is higher, the volume of the first alarm sound is usually louder. When the accident occurs on a dangerous road section, the volume of the first alarm sound is usually louder. At this time, the sound of the first alarm sound is emitted on all sides around the vehicle.

[0171] In the face of the above three different situations, this application also provides a vehicle collision detection method for dealing with side collision events:

[0172] When other vehicles on the side of the vehicle suddenly open their doors, the ultrasonic sensors or TOF sensors around the vehicle can timely sense the speed and relative distance of the other vehicle's doors, and the system will promptly send out a second alarm sound. The frequency and volume of the second alarm sound are related to the speed and distance of the other vehicle's doors.

[0173] When a collision occurs on the side panel of the vehicle, the voltage signal can be collected through the sensing function of the piezoelectric vibrator of the side panel, and the collision level of the side collision can be determined based on the voltage signal. After determining that the collision level exceeds a certain level, a voice notification is immediately activated to inform that a collision has occurred. The measures adopted are as follows: voice notification of a collision to the owner, which will be recorded (the level of the collision, which side panel was hit); the camera outside the car is turned on to capture video data of the current environment; the owner is contacted and the call outside the car is connected.

[0174] Piezoelectric vibrators are installed on each panel of the vehicle. When the side panel is hit, it will automatically record the level of the collision and turn on the camera outside the vehicle. At the same time, the piezoelectric vibrator on the side panel will make a sound to inform people outside the vehicle: the vehicle door has been hit, the level of the collision, etc. The characteristic of this method is that when the vehicle is in a dormant state, it can still sense the collision event of the side panel and its collision level (such as using infrared sensing, TOF sensing and other low-power modes), and provide timely warnings, post-collision perception records and communication capabilities outside the vehicle.

[0175] Among them, when the vehicle is parked in a garage or on the roadside, the vehicle is in a state of being turned off or not started, and the driver is not in the car. In this scenario, other vehicles parked on the side of the vehicle suddenly open their doors. At this time, the ultrasonic sensor or TOF sensor on the corresponding side of the vehicle can timely perceive the opening speed and relative distance of the doors of other vehicles. When the perception system determines that there is a risk of collision, it will promptly turn on the camera outside the vehicle for recording, and play the second voice alarm sound on the corresponding side. When the door is relatively close to one side of the vehicle, the volume of the second alarm sound will be higher, otherwise the volume will be lower. The faster the door is opened, the higher the frequency of the second alarm sound will be, and vice versa.

[0176] When a side panel collision occurs, the side panel deforms, and the collision level can be detected based on the piezoelectric effect of the piezoelectric vibrator in the side panel. Fig.14 At this time, the voltage signal collected by the piezoelectric vibrator is sent to the MCU through the piezoelectric vibrator outside the car and the A / D mode converter of the sensing system. The MCU can detect the collision level through the internal algorithm. At the same time, the collision level can be remotely sent to the terminal on the owner's side.

[0177] When a side panel collision occurs, the piezoelectric vibrator driving the side panel can make a sound to the outside, and the voice can specifically inform which panel has collided. The TOF sensor or camera outside the car can detect the occupants of the vehicle getting off the car, and the side panel makes a sound under the action of the piezoelectric vibrator to interact with the people outside the car. At the same time, the external sound system actively connects to the terminal on the owner's side through the car computer, and through the external microphone and piezoelectric vibrator, the remote owner and the people outside the car can communicate the accident status and handling matters through voice calls. Fig.14 , the voltage signal corresponding to the interactive voice information of the person outside the car can be collected and stored through the piezoelectric vibrator on the car body panel, and the voltage signal can be converted into interactive voice information through the A / D mode converter. And the interactive voice information of the person outside the car is sent to the terminal on the owner's side through the CAN transceiver. After receiving the interactive voice information of the owner fed back by the terminal on the owner's side, the interactive voice information of the owner can be received by the digital signal processing (Digital Signal Processing, DSP) module and converted into a voltage signal, and the power amplifier is controlled to provide a voltage signal to the piezoelectric vibrator to output the interactive voice information of the owner.

[0178] Based on the above embodiments, the present application provides a complete process of collision warning, collision level perception, collision notification and vehicle-external interaction, which objectively and efficiently supports the handling of vehicle-external collision accidents.

[0179] Fig.15 A schematic diagram of the structure of a vehicle collision detection device provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the vehicle collision detection device 600 includes: at least one piezoelectric vibrator 601 and a microcontroller 602, wherein the at least one piezoelectric vibrator 601 and the microcontroller 602 are in communication connection; wherein,

[0180] The at least one piezoelectric vibrator 601 is used to collect voltage signals;

[0181] The microcontroller 602 is used to determine the collision level corresponding to the collision event based on the voltage signal collected by each piezoelectric vibrator, and control the piezoelectric vibrator to sound an alarm based on the alarm strategy corresponding to the collision level.

[0182] In some embodiments, the microcontroller 602 determines the collision level of the collision event based on each of the voltage signals and parameter information of the piezoelectric vibrator corresponding to each of the voltage signals.

[0183] In some embodiments, the alarm strategy includes: alarming through a first alarm sound; the microcontroller 602 determines the sound attribute of the first alarm sound based on the collision level; and emits the first alarm sound for alarming based on the sound attribute of the first alarm sound.

[0184] In some embodiments, the sound attributes of the first alarm sound include at least one of the following: the volume of the first alarm sound, the frequency of the first alarm sound and the sound interval duration of the first alarm sound; wherein, the volume of the first alarm sound is positively correlated with the level of the collision level, the frequency of the first alarm sound is positively correlated with the level of the collision level, and the sound interval duration of the first alarm sound is negatively correlated with the level of the collision level.

[0185] In some embodiments, the microcontroller 602 determines a target indicator light strategy corresponding to the collision level from a plurality of vehicle indicator light strategy types; and executes a corresponding light to give an alarm based on the target indicator light strategy corresponding to the collision level.

[0186] In some embodiments, the microcontroller 602 collects motion data of environmental objects within a predetermined range of the vehicle; determines a danger level of a warning event based on the motion data; and issues a warning based on a warning strategy corresponding to the motion data and the danger level.

[0187] In some embodiments, the microcontroller 602 determines the event attributes of the warning event based on the motion data; and determines the danger level based on the event attributes of the warning event.

[0188] In some embodiments, the warning strategy includes: warning through a second alarm sound; the microcontroller 602 determines the sound attributes of the second alarm sound based on the motion data and the danger level; and issuing the second alarm sound for warning based on the sound attributes of the second alarm sound.

[0189] In some embodiments, the motion data includes at least one of the following: relative distance and relative speed; the sound attributes of the second alarm sound include at least one of the following: volume of the second alarm sound, frequency of the second alarm sound and sound interval duration of the second alarm sound; wherein the volume of the second alarm sound is positively correlated with the level of the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed; the frequency of the second alarm sound is positively correlated with the level of the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed; the sound interval duration of the second alarm sound is negatively correlated with the level of the danger level, and positively correlated with the relative distance.

[0190] In some embodiments, the microcontroller 602 determines a target indicator light strategy corresponding to the warning event from a plurality of vehicle indicator light strategy types based on the motion data and the danger level; and executes corresponding lights for warning based on the target indicator light strategy corresponding to the warning event.

[0191] In some embodiments, the microcontroller 602 collects video data through a video collection component in response to a video collection instruction; wherein the video collection instruction is generated in response to at least one of the following events: the warning event and the collision event. The microcontroller 602 deletes the video data when the video collection instruction is generated in response to the warning event and the collision event does not occur within a predetermined time.

[0192] In some embodiments, after receiving the voltage signal collected by at least one piezoelectric vibrator, and when the collision event is determined based on at least one of the voltage signals, a preset voice message is played; after receiving the voltage signal collected by at least one piezoelectric vibrator, interactive voice information of people outside the vehicle is collected and stored, and the interactive voice information of people outside the vehicle is sent to the vehicle owner; after receiving the voltage signal collected by at least one piezoelectric vibrator, the interactive voice information of the vehicle owner fed back by the vehicle owner is received, and the interactive voice information of the vehicle owner is output.

[0193] In some embodiments, the piezoelectric vibrator includes at least one of the following types: a rear piezoelectric vibrator set on a rear side panel of a vehicle, a front piezoelectric vibrator set on a front side panel of a vehicle, a hood piezoelectric vibrator set on a hood panel of a vehicle, a top piezoelectric vibrator set on a top panel of a vehicle, a side piezoelectric vibrator set on a side panel of a vehicle, and a door piezoelectric vibrator set on a door panel.

[0194] Based on the foregoing embodiments, the embodiments of the present application provide another vehicle collision detection device, which includes the units included and the modules included in the units, which can be implemented by a processor in a computer device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0195] Fig.16 A schematic diagram of the structure of another vehicle collision detection device provided in an embodiment of the present application is shown in FIG. Fig.16 As shown, the vehicle collision detection device 700 includes: a signal receiving module 710, a signal processing module 720, and an alarm module 730, wherein:

[0196] The signal receiving module 710 is used to receive a voltage signal collected by at least one piezoelectric vibrator; the voltage signal indicates the occurrence of a collision event;

[0197] A signal processing module 720, configured to determine a collision level corresponding to the collision event based on the voltage signal collected by each of the piezoelectric vibrators;

[0198] The warning module 730 is used to issue a warning based on the warning strategy corresponding to the collision level.

[0199] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0200] It should be noted that in the embodiment of the present application, if the above-mentioned vehicle collision detection method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific hardware, software or firmware, or any combination of hardware, software, and firmware.

[0201] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0202] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0203] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0204] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented specifically by hardware, software or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK) and the like.

[0205] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0206] Fig.17 A hardware entity diagram of a vehicle collision detection device provided in an embodiment of the present application, such as Fig.17 As shown, the hardware entity of the vehicle collision detection device 800 includes: a processor 801 and a memory 802, wherein the memory 802 stores a computer program that can be run on the processor 801, and the processor 801 implements the steps in the method of any of the above embodiments when executing the program.

[0207] The memory 802 stores a computer program that can be run on the processor. The memory 802 is configured to store instructions and applications executable by the processor 801. It can also cache data to be processed or processed by the processor 801 and each module in the vehicle collision detection device 800 (for example, image data, audio data, voice communication data, and video communication data). It can be implemented through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0208] When the processor 801 executes the program, the steps of any of the above vehicle collision detection methods are implemented. The processor 801 generally controls the overall operation of the vehicle collision detection device 800.

[0209] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the vehicle collision detection method in any of the above embodiments.

[0210] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0211] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application are not specifically limited.

[0212] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0213] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial number of each step / process mentioned above does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The serial numbers of the embodiments of the present application mentioned above are for description only and do not represent the advantages and disadvantages of the embodiments.

[0214] It should be noted that, in this article, the terms "include", "comprises" 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 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 existence of other identical elements in the process, method, article or device including the element.

[0215] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0216] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0217] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0218] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0219] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0220] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A vehicle collision detection method, characterized in that: include: Receiving a voltage signal collected by at least one piezoelectric vibrator; The voltage signal indicates that a collision event has occurred; Determining a collision level corresponding to the collision event based on the voltage signal collected by each of the piezoelectric vibrators; An alarm is issued based on the alarm strategy corresponding to the collision level.

2. The vehicle collision detection method according to claim 1, characterized in that: The warning strategy includes: warning through a first alarm sound; the warning strategy based on the collision level corresponding to the warning includes: determining a sound attribute of the first alarm sound based on the collision level; The first alarm sound is emitted to give an alarm based on the sound attribute of the first alarm sound.

3. The vehicle collision detection method according to claim 2, characterized in that: The sound attribute of the first alarm sound includes at least one of the following: the volume of the first alarm sound, the frequency of the first alarm sound, and the sound interval duration of the first alarm sound; Among them, the volume of the first alarm sound is positively correlated with the level of the collision level, the frequency of the first alarm sound is positively correlated with the level of the collision level, and the sound interval duration of the first alarm sound is negatively correlated with the level of the collision level.

4. The vehicle collision detection method according to claim 1, characterized in that: The issuing of an alarm based on an alarm strategy corresponding to the collision level includes: Determining a target indicator light strategy corresponding to the collision level among a plurality of vehicle indicator light strategy types; The target indicator light strategy corresponding to the collision level executes corresponding lights to issue an alarm.

5. The vehicle collision detection method according to any one of claims 1 to 4, characterized in that: Before receiving the voltage signal collected by at least one piezoelectric vibrator, the method further includes: Collect motion data of environmental objects within a predetermined range of the vehicle; determining a danger level of the warning event based on the motion data; An early warning is issued based on the motion data and the early warning strategy corresponding to the danger level.

6. The vehicle collision detection method according to claim 5, characterized in that: The determining the danger level of the warning event based on the motion data includes: Determining an event attribute of the warning event based on the motion data; The danger level is determined based on the event attribute of the warning event.

7. The vehicle collision detection method according to claim 5, characterized in that: The early warning strategy includes: issuing an early warning through a second alarm sound; the early warning strategy based on the motion data and the corresponding danger level includes: determining a sound attribute of the second alarm sound based on the motion data and the danger level; The second alarm sound is emitted based on the sound attribute of the second alarm sound for early warning.

8. The vehicle collision detection method according to claim 7, characterized in that: The motion data includes at least one of the following: relative distance and relative speed; the sound attribute of the second alarm sound includes at least one of the following: volume of the second alarm sound, frequency of the second alarm sound and duration of sound interval of the second alarm sound; The volume of the second alarm sound is positively correlated with the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed. The frequency of the second alarm sound is positively correlated with the danger level, negatively correlated with the relative distance, and positively correlated with the relative speed; The duration of the sound interval of the second alarm sound is negatively correlated with the danger level, and positively correlated with the relative distance.

9. The vehicle collision detection method according to claim 5, characterized in that: The warning strategy based on the motion data and the danger level corresponding to the warning includes: Based on the motion data and the danger level, determining a target indicator light strategy corresponding to the warning event from a plurality of vehicle indicator light strategy types; Based on the target indicator light strategy corresponding to the warning event, the corresponding light is used for warning.

10. The vehicle collision detection method according to claim 5, characterized in that: After collecting the motion data of the environmental objects within the predetermined range of the vehicle, the method further includes: In response to the video acquisition instruction, video data is acquired by the video acquisition component; wherein the video acquisition instruction is generated in response to at least one of the following events: the warning event and the collision event.

11. The vehicle collision detection method according to claim 10, characterized in that: After the video data is collected by the video collection component in response to the video collection instruction, the method further includes: When the video acquisition instruction is generated in response to the warning event and the collision event does not occur within a predetermined time, the video data is deleted.

12. The vehicle collision detection method according to any one of claims 1 to 4, characterized in that: The method further comprises at least one of the following: After receiving the voltage signal collected by at least one piezoelectric vibrator, and in the case where the collision event is determined based on at least one of the voltage signals, playing a preset voice message; After receiving the voltage signal collected by at least one piezoelectric vibrator, collecting and storing interactive voice information of a person outside the vehicle, and sending the interactive voice information of the person outside the vehicle to the vehicle owner; After receiving the voltage signal collected by at least one piezoelectric vibrator, the interactive voice information of the car owner fed back by the car owner is received, and the interactive voice information of the car owner is output.

13. The vehicle collision detection method according to any one of claims 1 to 4, characterized in that: The piezoelectric vibrator includes at least one of the following types: a rear piezoelectric vibrator arranged on a rear side panel of a vehicle, a front piezoelectric vibrator arranged on a front side panel of a vehicle, a hood piezoelectric vibrator arranged on a hood panel of a vehicle, a top piezoelectric vibrator arranged on a top panel of a vehicle, a side piezoelectric vibrator arranged on a side panel of a vehicle, and a door piezoelectric vibrator arranged on a door panel.

14. A vehicle collision detection device, characterized in that: It includes at least one piezoelectric vibrator and a microcontroller, wherein the at least one piezoelectric vibrator and the microcontroller are in communication connection; wherein, The at least one piezoelectric vibrator is used to collect voltage signals; The microcontroller is used to determine the collision level corresponding to the collision event based on the voltage signal collected by each piezoelectric vibrator, and control the piezoelectric vibrator to sound an alarm based on the alarm strategy corresponding to the collision level.

15. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the steps in the method according to any one of claims 1 to 13 when executing the computer program.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 13 are implemented.

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