Vehicle collision control method and system

Abstract

The invention discloses a vehicle collision control method and system. Predicting the relative speed of the vehicle when the vehicle collides with an obstacle, and when the relative speed is higher than a first set value, determining a first steering strategy of the vehicle according to a position occupying signal of a co-driver position, including: when the co-driver position is not occupied, controlling the vehicle to deflect towards a driving side to enable the vehicle to generate offset collision, and reducing the harm of collision to a driver; otherwise, when the transverse distance and the longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set condition, the vehicle steering set angle is controlled to increase the overlapping amount of the vehicle and the obstacle during collision. The vehicle angle and the collision overlapping amount are adjusted under specific conditions, energy is absorbed through vehicle deformation, collision impact is effectively reduced, and safety is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of vehicle obstacle avoidance, and in particular relates to a vehicle collision control method and system. Background Art

[0002] With the rapid development of driverless and advanced driver assistance technologies, these cutting-edge technologies have not only achieved commercial operation in many cities around the world, but also led to a profound change in travel methods. Driverless / autonomous driving vehicles and advanced driver assistance systems, with their highly intelligent and electrified outstanding characteristics, are gradually reshaping the transportation ecosystem and further improving the vehicle's autonomous decision-making and interactive capabilities.

[0003] When faced with complex and ever-changing road environments and potential collision risks, driverless vehicles have demonstrated unimaginable agility and accuracy, and can quickly and flexibly take collision avoidance measures to effectively ensure driving safety. However, although many industry giants have deeply explored vehicle collision prevention and collision avoidance technologies, past research has focused on optimizing the safety performance of the vehicle itself, with insufficient attention paid to the specific conditions and needs of the occupants in the vehicle. In view of this, the present invention aims to fill this technical gap, with the core focus on the profound impact of the vehicle occupant status on the selection of collision response strategies. Summary of the invention

[0004] In order to enable vehicles to better avoid collisions and maximize the safety of occupants in the face of complex and changeable road environments and potential collision risks, the present invention proposes a vehicle collision control method and system.

[0005] A vehicle collision control method to achieve one of the purposes of the present invention comprises:

[0006] Predicting a relative speed of the vehicle when colliding with an obstacle, and when the relative speed is higher than a first set value, determining a first steering strategy of the vehicle according to an occupancy signal of a co-pilot seat;

[0007] The first steering strategy includes: when the co-pilot seat is not occupied, controlling the vehicle to deflect to the driver's side to cause an offset collision, thereby reducing the damage to the driver caused by the collision; otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set condition, controlling the vehicle to turn to a first set angle, and the rotation direction of the first set angle is: a direction that can increase the overlap between the vehicle and the obstacle during the collision, so as to increase the deformation of the vehicle during the collision to absorb energy.

[0008] The technical effects of the above technical solution are:

[0009] When the front passenger seat is not occupied: the vehicle is controlled to deflect toward the driver's side, causing an offset collision. Compared with a head-on collision, this type of collision can disperse the collision energy and reduce the direct impact on the driver, thereby reducing the risk of injury to the driver;

[0010] When the front passenger seat is occupied: when the lateral distance, longitudinal distance, vehicle speed and obstacle speed of the vehicle and the obstacle meet the first set conditions, the system will conduct a comprehensive evaluation. Under certain conditions, the system will control the vehicle's steering setting angle to increase the overlap between the vehicle and the obstacle during collision; by increasing the overlap, the vehicle can deform more during the collision, thereby absorbing more collision energy and further reducing damage to the occupants.

[0011] Furthermore, the first setting condition includes:

[0012] n / (v 车 ×sinθ)≤s / (v 物 +v 车 ×cosθ)

[0013] Where: n is the lateral movement distance of the vehicle when the overlap between the vehicle and the obstacle is the set ratio; v 车 is the current speed of the vehicle; s is the longitudinal distance between the obstacle and the vehicle; v 物 is the speed of the obstacle; θ is the first set angle.

[0014] Furthermore, the calculation method of the first setting angle θ includes:

[0015] According to the position between the obstacle and the vehicle, the lateral displacement of the vehicle and the longitudinal distance between the obstacle and the vehicle are obtained;

[0016] A first set angle is obtained according to the lateral displacement and the longitudinal distance.

[0017] Furthermore, the calculation formula of the first setting angle θ includes: θ=tan -1 n / s.

[0018] Further, the method further comprises: when the relative speed is higher than a second set value, determining a second steering strategy of the vehicle according to an occupancy signal of the co-pilot seat and a vehicle configuration;

[0019] The second steering strategy includes: if the co-pilot seat is not occupied or the vehicle is equipped with side air curtains or side airbags, the vehicle is controlled to deflect so that the vehicle and the obstacle form a side collision; the angle of vehicle deflection is the deflection angle when the overlap between the vehicle and the obstacle is a set ratio. Its technical effect is: when the co-pilot seat is not occupied or the vehicle is equipped with side air curtains or side airbags, the vehicle is controlled to deflect and form a side collision with the obstacle. Compared with a frontal collision, this side collision can usually reduce the direct impact on the passenger compartment, thereby reducing the possibility of injury to the occupants; in addition, by accurately calculating the deflection angle, the overlap between the vehicle and the obstacle reaches a set ratio. This setting is intended to maximize the energy absorption effect of the vehicle, absorb the collision energy through the deformation of the vehicle, and further reduce the damage to the occupants. In summary, through intelligent judgment and adjustment of the vehicle steering strategy, the collision result is optimized during the collision process, the risk of occupant injury is reduced, and the vehicle structure is maximized for energy absorption, thereby improving the safety of the vehicle.

[0020] Furthermore, the second steering strategy also includes: if the passenger seat is occupied and the vehicle is not equipped with side air curtains or side air bags, and the vehicle speed, the vehicle's maximum limit turning angle, and the vehicle's minimum turning radius at the maximum limit turning angle meet the second setting condition, controlling the vehicle to turn to a second setting angle; the steering of the second setting angle is a steering that causes the vehicle to collide with the obstacle sideways; if Figure 5 In the scenario shown, the obstacle is on the left side of the vehicle, and the vehicle turns to the left at a second set angle, so that the right side of the vehicle forms a side collision with the obstacle. Its technical effect is: when the co-pilot seat is occupied and the vehicle is not equipped with a side air curtain or side airbag, the vehicle is controlled to turn at a second set angle, so that the obstacle forms a side collision with the vehicle. Compared with a head-on collision, this strategy can significantly reduce the direct impact on the passenger compartment, especially protecting the occupants in the co-pilot seat, because in a side collision, the impact force on the occupants is relatively small, and the risk of injury is also reduced accordingly; the vehicle status, occupant occupancy and collision conditions are judged in real time, so as to make intelligent decisions quickly. This rapid response capability helps to protect the safety of the occupants to the greatest extent in an emergency; the vehicle absorbs energy in the best posture during the collision. This optimization not only helps to reduce occupant injuries, but also protects the vehicle structure to a certain extent and reduces maintenance costs. At the same time, the application of this technical solution further improves the safety and reliability of the vehicle. When facing potential collision risks, the vehicle can autonomously take measures to avoid collisions or reduce collision damage, providing more comprehensive protection for the occupants.

[0021] Furthermore, the second setting condition includes:

[0022] πR / 2v 车 ≥s1 / (v 物 +v 车×cosβ)

[0023] Where R is the minimum turning radius of the vehicle at the maximum limit turning angle β; v 车 is the speed of the vehicle; s1 is the distance traveled between the vehicle and the obstacle from the beginning to the collision contact; v 物 is the speed of the obstacle; β is the maximum turning angle.

[0024] A vehicle collision control system to achieve the second objective of the present invention comprises:

[0025] Relative speed prediction module: used to predict the relative speed when the vehicle collides with an obstacle;

[0026] A first steering strategy determination module: used for determining a first steering strategy of the vehicle according to an occupancy signal of the co-pilot seat when the relative speed is higher than a first set value;

[0027] The first steering strategy includes: when the co-pilot seat is not occupied, controlling the vehicle to deflect to the driver's side to cause an offset collision, thereby reducing the damage caused by the collision to the driver; otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set conditions, controlling the vehicle to turn to a first set angle to increase the overlap between the vehicle and the obstacle during the collision, so as to increase the deformation of the vehicle during the collision to absorb energy.

[0028] Furthermore, the system also includes: a second steering strategy determination module, which is used to determine a second steering strategy when the relative speed is greater than a second set value; the second steering strategy includes: if the co-pilot seat is occupied and the vehicle is not equipped with side air curtains or side airbags, and the vehicle speed, the vehicle's maximum limit turning angle, and the vehicle's minimum turning radius at the maximum limit turning angle meet the second set conditions, controlling the vehicle to turn to the second set angle to cause the vehicle to form a side collision with the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is one of the flow diagrams of the method of the present invention;

[0030] Figure 2 It is a schematic diagram of the driving path that swerves to the left to allow the driver to stay away from obstacles;

[0031] Figure 3 It is a schematic diagram of the driving path that veers to the right to allow the driver to move away from obstacles.

[0032] Figure 4 This is a schematic diagram of the driving path that controls the vehicle to collide in the direction with a large overlap rate.

[0033] Figure 5 It is a schematic diagram of a side collision of a vehicle caused by an obstacle formed by a turning vehicle;

[0034] Figure 6 This is the second schematic flow chart of the method of the present invention. DETAILED DESCRIPTION

[0035] The following specific implementations are used to explain the technical solutions of the claims of the present invention so that those skilled in the art can understand the claims. The protection scope of the present invention is not limited to the following specific implementation structures. The technical solutions of the claims of the present invention made by those skilled in the art but different from the following specific implementations are also within the protection scope of the present invention.

[0036] Example 1

[0037] Vehicle collision control method

[0038] like Figure 1 As shown, when it is detected that a vehicle collision is unavoidable, the speed of the obstacle and the speed of the vehicle are obtained respectively through the vehicle-mounted speed sensor and the vehicle wheel speed sensor. By comparing the speeds of the two, the relative speed at the time of collision can be obtained or predicted.

[0039] If the relative speed is high during the collision, the collision will be very dangerous to the occupants in the car. In order to achieve a favorable collision protection method, the seat occupancy sensor needs to sense the seat occupancy status. When there is no occupant in the front passenger seat, the vehicle is controlled to deflect to the left to cause an offset collision, thereby reducing the contact area between the driving position and the obstacle that is about to collide, reducing the severity of the collision, and thus reducing the damage to the driving position (and the driver) caused by the collision. Figure 2 As shown, the driver is kept away from obstacles. In this way, the deformation of the right vehicle can absorb energy and even achieve the effect of "brushing by" the obstacle.

[0040] It can effectively prevent the steering wheel / steering column from harming the driver.

[0041] When the relative speed at the time of collision is high and the passenger seat is occupied, the vehicle is controlled to turn so that the vehicle and the obstacle have a larger overlap (the overlap refers to the area or proportion of contact and overlap between the vehicle and the obstacle in a collision. For example, if the overlap is 25%, it means that the overlap between the obstacle facing the vehicle and the car is from the edge of the main driver's side to the middle area occupying 25% of the vehicle width) to ensure that the vehicle has sufficient deformation to absorb energy during the collision and protect the safety of the occupants. Figure 3 As shown, the ideal overlap is 100%. Assume that during this process, the lateral displacement of the vehicle is n; the longitudinal distance between the obstacle and the vehicle is s; the vehicle turning angle is θ (the first set angle), tanθ = n / s; Figure 4As shown, when the obstacle is on the left front side of the vehicle, the vehicle turns left by a first set angle so that the vehicle and the obstacle have a larger overlap; when the obstacle is on the right front side of the vehicle, the vehicle turns right by a first set angle so that the vehicle and the obstacle have a larger overlap.

[0042] The total width of the obstacle is N; the vehicle's longitudinal speed is v x =v 车 × cosθ, the lateral velocity is v y =v 车 × sinθ; the time taken by the vehicle from detecting the obstacle to contacting the obstacle is t2 = s / (v 物 +v x ); The time taken for the vehicle to move in the lateral direction is n is t1 = n / v y .

[0043] Ideally, the overlap between the vehicle and the obstacle is 100%. In this case, t1≤t2, which means that the following calculation formula (1) must be satisfied:

[0044] n / (v 车 ×sinθ)≤s / (v 物 +v 车 ×cosθ) (1)

[0045] When the speed of the obstacle V 物 and the vehicle's speed V 车 When both are greater than 0 and their relative speed is high, it will have a greater impact on the collision of vehicles. If the speed limit on urban roads is 60km / h, their relative speed will reach 120km / h; if the vehicles collide at a speed of 120km / h, it is equivalent to the serious consequences of a collision at the maximum speed limit on a highway. If the vehicle is turned by steering, the obstacle will collide with the side of the vehicle, such as Figure 5 As shown, the relative speed between the obstacle and the vehicle in the collision direction is only equal to the speed of the obstacle, which can significantly reduce the relative speed during the collision, thereby reducing the collision loss, especially when there is no passenger in the front passenger seat (not occupied), or the vehicle is equipped with side airbags and / or side air curtains. The driver and the passengers behind the driver are away from the collision side. At the same time, the contact area between the vehicle and the obstacle is increased through the side collision (relative to the frontal collision), which can effectively ensure the dissipation of the collision energy and the integrity of the passenger compartment; in addition, the vehicle has a longer distance and takes more time to turn than to go straight, thereby increasing the braking distance and increasing the reaction time, which is conducive to improving the collision result. Its control process is as follows Figure 6 , the calculation process is as follows:

[0046] Assume that the minimum turning radius of the vehicle at the maximum limit turning angle β is R, the vehicle width is w, and the distance s between the vehicle and the obstacle ranges from head-on collision to side collision, such as Figure 5 As shown, the obstacle is on the left front side of the vehicle, and the vehicle turns to the left front. The turning angle is the second set angle of 90°. The vehicle and the obstacle collide from the front to the side, which is exactly a quarter of the arc. The time used is t1 = πR / 2v 车 .

[0047] The distance traveled by the vehicle from the beginning to the collision is s1 = sw / 2; the time taken by the vehicle from the beginning to the collision is t2 = s1 / (v 物 +v 车 ×cosβ); In order to transform from a frontal collision to a side collision, it is necessary that: t1 ≥ t2, that is, satisfy the following formula (2):

[0048] πR / 2v 车 ≥s1 / (v 物 +v 车 ×cosβ) (2)

[0049] Example 2

[0050] A vehicle collision control method, comprising:

[0051] Predicting a relative speed of the vehicle when colliding with an obstacle, and when the relative speed is higher than a first set value, determining a first steering strategy of the vehicle according to an occupancy signal of a co-pilot seat;

[0052] The first steering strategy includes: when the co-pilot seat is not occupied, controlling the vehicle to deflect toward the driver's side to cause an offset collision, thereby reducing the damage caused by the collision to the driver; otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set condition, controlling the vehicle to turn to a first set angle θ to increase the overlap between the vehicle and the obstacle during the collision, so as to increase the deformation of the vehicle during the collision to absorb energy.

[0053] In some embodiments, the first setting condition includes:

[0054] n / (v 车 ×sinθ)≤s / (v 物 +v 车 ×cosθ)

[0055] Where: n is the lateral movement distance of the vehicle when the overlap between the vehicle and the obstacle is the set ratio; v 车 is the current speed of the vehicle; s is the longitudinal distance between the obstacle and the vehicle; v 物 is the speed of the obstacle; θ is the first set angle.

[0056] In some embodiments, the method for calculating the first setting angle θ includes:

[0057] like Figure 4 As shown, according to the position between the obstacle and the vehicle, the lateral displacement n of the vehicle and the longitudinal distance s between the obstacle and the vehicle are obtained;

[0058] According to the lateral displacement n and the longitudinal distance s, the first set angle θ is obtained by using the trigonometric function tanθ=n / s.

[0059] In some embodiments, the method further includes: when the relative speed is higher than a second set value, determining a second steering strategy of the vehicle according to an occupancy signal of the co-pilot seat and the vehicle configuration;

[0060] The second steering strategy includes: if the passenger seat is not occupied or the vehicle is equipped with side air curtains or side air bags, controlling the vehicle to deflect so that the vehicle and the obstacle form a side collision; the vehicle deflection angle is the deflection angle when the overlap between the vehicle and the obstacle is a set ratio.

[0061] In some embodiments, the second steering strategy also includes: if the front passenger seat is occupied and the vehicle is not equipped with side air curtains or side airbags, and the vehicle speed, the vehicle's maximum turning angle, and the vehicle's minimum turning radius at the maximum turning angle meet second set conditions, controlling the vehicle to turn to a second set angle to cause the vehicle to form a side collision with the obstacle.

[0062] In some embodiments, the second setting condition includes:

[0063] πR / 2v 车 ≥s1 / (v 物 +v 车 ×cosβ)

[0064] Where R is the minimum turning radius of the vehicle at the maximum limit turning angle β; v 车 is the speed of the vehicle; s1 is the distance traveled between the vehicle and the obstacle from the beginning to the collision contact; v 物 is the speed of the obstacle; β is the maximum turning angle.

[0065] Example 3

[0066] A vehicle collision control system, comprising:

[0067] Relative speed prediction module: used to predict the relative speed when the vehicle collides with an obstacle;

[0068] A first steering strategy determination module: used to determine a first steering strategy of the vehicle according to an occupancy signal of the co-pilot seat when the relative speed is higher than a first set value; in this embodiment, the first set value is 50 km / h;

[0069] The first steering strategy includes: when the co-pilot seat is not occupied, controlling the vehicle to deflect to the driver's side to cause an offset collision, thereby reducing the damage caused by the collision to the driver; otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set conditions, controlling the vehicle to turn to a first set angle to increase the overlap between the vehicle and the obstacle during the collision, so as to increase the deformation of the vehicle during the collision to absorb energy.

[0070] In some embodiments, the invention further comprises: a second steering strategy determination module, which is used to determine a second steering strategy of the vehicle according to an occupancy signal of the co-pilot seat and the vehicle configuration when the relative speed is higher than a second set value; in this embodiment, the second set value is 60 km / h;

[0071] The second steering strategy includes: if the passenger seat is occupied and the vehicle is not equipped with side air curtains or side air bags, and the vehicle speed, the vehicle's maximum limit turning angle, and the vehicle's minimum turning radius at the maximum limit turning angle meet the second setting conditions, control the vehicle to turn to a second setting angle so that the vehicle and the obstacle form a side collision; in this embodiment, the second setting angle is 90°. Figure 5 shown.

[0072] In some embodiments, the second steering strategy also includes: if the passenger seat is not occupied or the vehicle is equipped with side air curtains or side airbags, controlling the vehicle to deflect so that the vehicle and the obstacle form a side collision; the vehicle deflection angle is the deflection angle when the overlap between the vehicle and the obstacle is a set ratio.

[0073] Example 4

[0074] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the steps of the method described in the present invention are implemented, which will not be repeated here.

[0075] The computer-readable storage medium may be the data transmission device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smartmedia card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc., provided on the computer device.

[0076] Furthermore, the computer-readable storage medium may include both an internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data to be output or has been output.

[0077] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0081] Example 5

[0082] A computer program product comprises a computer program / instruction, which implements any step of the vehicle collision control method when executed by a processor.

[0083] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A vehicle collision control method, characterized in that: include: Predicting a relative speed of the vehicle when colliding with an obstacle, and when the relative speed is higher than a first set value, determining a first steering strategy of the vehicle according to an occupancy signal of a co-pilot seat; The first steering strategy includes: when the co-pilot seat is not occupied, controlling the vehicle to deflect toward the driver's side to cause an offset collision of the vehicle; Otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set condition, the vehicle is controlled to turn to the first set angle.

2. The vehicle collision control method according to claim 1, characterized in that: Also includes: When the relative speed is higher than a second set value, determining a second steering strategy of the vehicle according to an occupancy signal of the co-pilot seat and the vehicle configuration; The second steering strategy includes: if the passenger seat is not occupied or the vehicle is equipped with a side air curtain or a side air bag, controlling the vehicle to deflect so that the vehicle collides with the obstacle sideways; The vehicle deflection angle is a deflection angle at which the overlap amount between the vehicle and the obstacle becomes a set ratio.

3. The vehicle collision control method according to claim 2, characterized in that: The second steering strategy also includes: if the front passenger seat is occupied and the vehicle is not equipped with side air curtains or side airbags, and the vehicle speed, the vehicle's maximum turning angle, and the vehicle's minimum turning radius at the maximum turning angle meet the second set conditions, controlling the vehicle to turn to a second set angle.

4. The vehicle collision control method according to claim 3, characterized in that: The second setting condition includes: πR / 2v 车 ≥s1 / (v 物 +v 车 ×cosβ) Where R is the minimum turning radius of the vehicle at the maximum limit turning angle β; v 车 is the speed of the vehicle; s1 is the distance traveled between the vehicle and the obstacle from the beginning to the collision contact; v 物 is the speed of the obstacle; β is the maximum turning angle.

5. The vehicle collision control method according to claim 1, characterized in that: The first setting condition includes: n / (v 车 ×sinθ)≤s / (v 物 +v 车 ×cosθ) Where: n is the lateral movement distance of the vehicle when the overlap between the vehicle and the obstacle is the set ratio; v 车 is the current speed of the vehicle; s is the longitudinal distance between the obstacle and the vehicle; v 物 is the speed of the obstacle; θ is the first set angle.

6. The vehicle collision control method according to claim 5, characterized in that: The calculation method of the first setting angle θ includes: According to the position between the obstacle and the vehicle, the lateral displacement of the vehicle and the longitudinal distance between the obstacle and the vehicle are obtained; A first set angle is obtained according to the lateral displacement and the longitudinal distance.

7. A vehicle collision control system, characterized in that: include: Relative speed prediction module: used to predict the relative speed when the vehicle collides with an obstacle; A first steering strategy determination module: used for determining a first steering strategy of the vehicle according to an occupancy signal of the co-pilot seat when the relative speed is higher than a first set value; The first steering strategy includes: when the passenger seat is not occupied, controlling the vehicle to deflect toward the driver's side to cause an offset collision of the vehicle, thereby reducing the damage to the driver caused by the collision; Otherwise, when the lateral distance and longitudinal distance between the vehicle and the obstacle, the speed of the obstacle and the vehicle speed meet the first set condition, the vehicle is controlled to turn to the first set angle to increase the overlap between the vehicle and the obstacle during the collision.

8. The vehicle collision control system according to claim 7, characterized in that: include: A second steering strategy determination module, configured to determine a second steering strategy of the vehicle according to an occupancy signal of a co-pilot seat and a vehicle configuration when the relative speed is higher than a second set value; The second steering strategy includes: if the front passenger seat is occupied and the vehicle is not equipped with side air curtains or side air bags, and the vehicle speed, the vehicle's maximum turning angle, and the vehicle's minimum turning radius at the maximum turning angle meet second set conditions, controlling the vehicle to turn to a second set angle to cause the vehicle to collide sideways with the obstacle.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the vehicle collision control method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, any step of the vehicle collision control method described in claims 1 to 6 is implemented.

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