Vehicle safety control method and device, medium and vehicle

Abstract

The invention provides a vehicle safety control method and device, a medium and a vehicle, and relates to the technical field of vehicle safety protection. The method comprises the following steps: under the condition of detecting that foreign matters exist around a vehicle, judging whether the foreign matters have the risk of invading into a vehicle body or not based on driving state parameters of the vehicle and motion parameters of the foreign matters; when it is determined that the foreign matter has the risk of invading the vehicle body, the danger level of the foreign matter is determined based on the driving state parameters of the vehicle, the motion parameters of the foreign matter and the foreign matter attribute parameters; based on a protection strategy corresponding to the danger level of the foreign matter, the vehicle is controlled; wherein different danger levels correspond to different protection strategies. Therefore, by combining real-time data such as the running state parameters of the vehicle, the motion parameters of the foreign matter and the attribute parameters of the foreign matter, the danger level of foreign matter invasion is predicted, safety measures corresponding to the danger level are taken in advance, and the injury probability of passengers in an accident is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle safety protection technology, and in particular to a vehicle safety control method, device, medium and vehicle. Background Art

[0002] With the continuous advancement of vehicle technology, vehicle safety systems have also been significantly improved. Existing vehicle safety systems mainly focus on technologies such as pre-collision systems (PCS), lane departure warning systems (LDWS), and automatic emergency braking systems (AEB), which are mainly used to prevent vehicles from colliding with other vehicles or obstacles.

[0003] However, these systems are mainly designed for large-scale collisions or side impact accidents. There is no effective solution for situations where sharp objects penetrate the vehicle body at a high speed. As a result, the vehicle is unable to take timely measures when faced with sudden foreign object intrusion, posing a major safety hazard to the user's vehicle property safety. Summary of the invention

[0004] The present application provides a vehicle safety control method, device, medium and vehicle, which can take corresponding safety measures in a timely manner according to different degrees of foreign object intrusion risks to reduce casualties.

[0005] A first aspect of an embodiment of the present application provides a vehicle safety control method, the method comprising: In the case where a foreign object is detected around the vehicle, determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameters of the vehicle and the motion parameters of the foreign object; In the case where it is determined that the foreign object has a risk of intruding into the vehicle body, determining a danger level of the foreign object based on a driving state parameter of the vehicle, a motion parameter of the foreign object, and a foreign object attribute parameter; The vehicle is controlled based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies.

[0006] Optionally, when a foreign object is detected around the vehicle, determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameter of the vehicle and the motion parameter of the foreign object includes: In the case where a foreign object is detected around the vehicle, a first motion trajectory of the vehicle is generated based on a driving state parameter of the vehicle, and a second motion trajectory of the foreign object is generated based on a motion parameter of the foreign object; Based on the first motion trajectory and the second motion trajectory, it is determined whether the foreign object has a risk of intruding into a vehicle body.

[0007] Optionally, determining whether the foreign object has a risk of intruding into a vehicle body based on the first motion trajectory and the second motion trajectory includes: determining a minimum distance between the first motion trajectory and the second motion trajectory; When the minimum distance is less than a distance threshold, it is determined that the foreign object has a risk of intruding the vehicle body; when the minimum distance is greater than or equal to the distance threshold, it is determined that the foreign object does not have a risk of intruding the vehicle body.

[0008] Optionally, in the case where it is determined that the foreign object has a risk of intruding into the vehicle body, determining the danger level of the foreign object based on the driving state parameter of the vehicle, the motion parameter of the foreign object and the foreign object attribute parameter includes: Based on the driving state parameters of the vehicle and the motion parameters of the foreign object, determining the intrusion parameters of the foreign object and the relative motion parameters between the foreign object and the vehicle; wherein the relative motion parameters include a relative distance change rate and / or a relative speed change rate; Based on the intrusion parameter, the relative motion parameter and the foreign object attribute parameter, a danger level of the foreign object is determined.

[0009] Optionally, determining the danger level of the foreign object based on the intrusion parameter, the relative movement rate and the foreign object attribute parameter includes: Determining a risk score of the foreign object based on the intrusion parameter, the relative movement rate, and the foreign object attribute parameter; When the risk score is lower than the first preset score, the danger level of the foreign object is determined to be primary; when the risk score is higher than or equal to the first preset score and lower than the second preset score, the danger level of the foreign object is determined to be intermediate; when the risk score is higher than or equal to the second preset score, the danger level of the foreign object is determined to be high.

[0010] Optionally, controlling the vehicle based on a protection strategy corresponding to the danger level of the foreign object includes: In the case where the danger level of the foreign object is primary, a first safety strategy is adopted to control the vehicle; the first safety strategy includes activating a seat belt pretensioner and issuing a voice prompt, wherein the voice prompt is used to guide the user to take preset emergency measures; When the danger level of the foreign object is medium, a second safety strategy is used to control the vehicle; the second safety strategy includes activating a seat belt pretensioner, issuing a voice prompt, activating a target airbag, and activating an automatic braking system; When the danger level of the foreign object is high, a third safety strategy is adopted to control the vehicle; the third safety strategy includes activating the seat belt pretensioner, issuing a voice prompt, activating all airbags, activating the automatic braking system, activating the body protection system and issuing an emergency signal, wherein the emergency signal contains the location information and accident information of the vehicle.

[0011] Optionally, the invasion parameter includes the invasion position of the foreign body; The method further comprises: The airbag corresponding to the intrusion position is determined as the target airbag.

[0012] Based on the same inventive concept, a second aspect of an embodiment of the present application provides a vehicle safety control device, the device comprising: A risk monitoring module, for determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameters of the vehicle and the motion parameters of the foreign object when a foreign object is detected around the vehicle; a risk level determination module, for determining the risk level of the foreign object based on the driving state parameters of the vehicle, the motion parameters of the foreign object and the attribute parameters of the foreign object when it is determined that the foreign object has the risk of intruding into the vehicle body; The safety response module is used to control the vehicle based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies.

[0013] Based on the same inventive concept, the third aspect of an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle safety control method proposed in the first aspect of the present application is implemented.

[0014] Based on the same inventive concept, the fourth aspect of an embodiment of the present application provides a vehicle, comprising a processor and a memory; the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the vehicle safety control method proposed in the first aspect of the present application.

[0015] Compared with the prior art, this application has the following advantages: The present application provides a vehicle safety control method. When a foreign object is detected around the vehicle, the method determines whether the foreign object has a risk of intruding into the vehicle body based on the vehicle's driving state parameters and the foreign object's motion parameters; when it is determined that the foreign object has a risk of intruding into the vehicle body, the method determines the danger level of the foreign object based on the vehicle's driving state parameters, the foreign object's motion parameters and the foreign object's attribute parameters; the vehicle is controlled based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies. The present application forms a corresponding protection mechanism for different degrees of foreign object intrusion risks. When applied, the danger level of foreign object intrusion is predicted by combining real-time data such as the vehicle's driving state parameters, the foreign object's motion parameters and the foreign object's attribute parameters, so as to take safety measures corresponding to the danger level in advance and reduce the probability of occupants being injured in an accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 is a flow chart of a vehicle safety control method in one embodiment of the present application; Figure 2 is a flow chart for determining the danger level of a foreign object in one embodiment of the present application; Figure 3 It is a functional module schematic diagram of a vehicle safety control device in one embodiment of the present application; Figure 4 It is a structural schematic diagram of a vehicle in one embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Existing vehicle safety systems mainly focus on technologies such as pre-collision systems (PCS), lane departure warning systems (LDWS), and automatic emergency braking systems (AEB), which are mainly used to prevent vehicles from colliding with other vehicles or obstacles. However, these systems are mainly designed for large-scale collisions or side impact accidents, and have not yet formed an effective solution for situations where sharp objects penetrate the vehicle body at a high speed.

[0020] For example, when the current pre-collision system detects an obstacle ahead, it will sound an alarm and automatically brake through sensors such as radar or cameras, but it cannot effectively detect and judge small or irregularly shaped objects (such as the end of a guardrail or a fallen steel pipe). At the same time, traditional collision detection systems usually rely on acceleration sensors and gyroscopes to trigger safety protection measures such as airbags when they detect a drastic change in the vehicle's acceleration. However, in the case of a sudden sharp object piercing the vehicle body, this method often has a lag and cannot trigger the protection device in time, which may cause serious casualties.

[0021] In view of this, the present application proposes a vehicle safety control method, which forms a corresponding protection mechanism in advance for different degrees of foreign object intrusion risks. When applied, the danger level of foreign object intrusion is predicted by combining real-time data such as the vehicle's driving state parameters, the motion parameters of the foreign object and the foreign object attribute parameters, so as to take safety measures corresponding to the danger level in advance and reduce the probability of injury to the occupants in the accident.

[0022] Please refer to Figure 1 , Figure 1 1 is a flow chart of a vehicle safety control method proposed in one embodiment of the present application. Figure 1 As shown, the method comprises the following steps: S101: When a foreign object is detected around the vehicle, determine whether the foreign object has a risk of intruding into the vehicle body based on the vehicle's driving state parameters and the movement parameters of the foreign object.

[0023] In this embodiment, the vehicle's driving state parameters are used to characterize the current motion of the vehicle, including the current vehicle speed, acceleration, heading angle, etc. The motion parameters of the foreign object are used to characterize the current motion of the foreign object, including the current motion direction, motion speed, motion acceleration, etc. It is easy to understand that if the foreign object moves toward the vehicle at a faster speed, it means that the foreign object has the risk of invading the vehicle body.

[0024] In a feasible implementation, infrared sensors, LiDAR, high-speed cameras, visual sensors and other devices can be used to monitor environmental changes around the vehicle in real time and detect foreign objects that may exist around the vehicle in a timely manner.

[0025] Specifically, in the detection of foreign objects around the vehicle, infrared sensors can be installed in key parts of the vehicle, such as front and rear bumpers, side doors, etc. When a foreign object enters the infrared detection range around the vehicle, it will block the propagation path of the infrared rays, causing the signal received by the sensor to change. Then, by analyzing this signal change, the presence and location of the foreign object can be determined.

[0026] LiDAR calculates the distance of foreign objects by emitting a laser beam and measuring the time difference between the emission and reception of the laser beam. LiDAR can scan the area around the vehicle and generate point cloud data containing information such as the location, shape and size of foreign objects, and generate a three-dimensional point cloud map of the surrounding environment. Then, through the processing and analysis of the point cloud data, it can identify foreign objects around the vehicle and track their dynamic changes in real time to measure the changes in the relative distance between the foreign object and the vehicle and determine whether there is an object approaching quickly.

[0027] High-speed cameras identify and understand the surrounding environment by capturing video images. They can provide rich visual information, including the color, texture, shape and other features of objects. High-speed cameras can be installed in locations such as front and rear windshields and side windows. Through image processing techniques such as grayscale, binarization, and edge detection, redundant information in the image can be removed and the features of foreign objects can be highlighted. Then, classification algorithms are used to classify and identify foreign objects, such as different types of foreign objects such as pedestrians, animals, and objects.

[0028] Visual sensors can be used for more sophisticated foreign object recognition and classification. For example, by training and optimizing the images captured by visual sensors through deep learning algorithms, accurate recognition of specific types of foreign objects can be achieved, such as identifying different types of roadblocks, dropped objects, etc.

[0029] In addition, the above-mentioned sensors and corresponding detection algorithms have a redundant design to ensure that when a single sensor or module fails, the backup sensor can be used to detect and judge the risk of foreign object intrusion, thereby maintaining all-round monitoring of the vehicle body and promoting the maintenance of vehicle safety.

[0030] This embodiment can integrate and fuse data from different sensors through data fusion technology to generate a more complete and accurate environmental model. Then, the fused data is processed and analyzed using a foreign object recognition algorithm based on deep learning to timely and accurately identify foreign objects around the vehicle, such as those from the rear and sides of the vehicle. In this way, the possible danger of the vehicle can be perceived earlier, especially when driving at high speeds, which can provide users with more reaction time and ultimately provide strong protection for the safe driving of the vehicle.

[0031] S102: When it is determined that the foreign object has a risk of intruding into the vehicle body, a danger level of the foreign object is determined based on the vehicle driving state parameters, the motion parameters of the foreign object, and the foreign object attribute parameters.

[0032] In this embodiment, the foreign body attribute parameters refer to some characteristic parameters inherent in the foreign body itself, including the shape, size, material, etc. The foreign body attribute parameters can be obtained by fusion analysis of various data collected by the above-mentioned laser radar and visual sensor and other equipment.

[0033] In a feasible implementation, when it is determined that a foreign object has a risk of intruding the vehicle body, the time interval of the foreign object intrusion can be predicted based on the vehicle's driving state parameters and the foreign object's motion parameters, and the danger level of the foreign object can be determined based on the time interval. The time interval refers to the time interval from the moment the foreign object is detected to the moment the foreign object and the vehicle invade each other. The shorter the time interval, the higher the danger level of the foreign object.

[0034] Specifically, the time interval may be compared with the preset time information. The preset time information includes a first preset time and a second preset time, and the first preset time is less than the second preset time. Wherein, when the time interval is less than or equal to the first preset time, the danger level is a high-level threat. When the time interval is greater than the first preset time and less than or equal to the second preset time, the danger level is a medium-level threat. When the time interval is greater than the second preset time, the danger level is a primary threat.

[0035] Therefore, by setting the preset time information and comparing it with the time interval of foreign object intrusion, the danger level of the current foreign object can be accurately judged. The preset time can be set by the driver himself according to his driving experience. For example, the first preset time is 3s and the second preset time is 6s.

[0036] In a feasible implementation, when it is determined that a foreign object has a risk of intruding into the vehicle body, the possibility score of the foreign object intrusion can be predicted based on the vehicle's driving state parameters, the foreign object's motion parameters, and the foreign object's attribute parameters, and the foreign object's danger level can be determined based on the possibility score. The possibility score refers to the probability that the foreign object intrusion will affect the vehicle safety, and the possibility score is between 0 and 1. It is easy to understand that the larger the possibility score, the higher the danger level of the foreign object.

[0037] Specifically, based on the vehicle's driving state parameters and the foreign object's motion parameters, we can understand the changes in the relative motion between the two. If the speed of the two is faster and the relative distance is shortened faster, it means that the depth of the foreign object's invasion will be deeper and the impact on vehicle safety will be greater, so the possibility score is higher. On this basis, if the foreign object attribute parameters indicate that the foreign object is large in size and irregular in shape, it means that the foreign object will cause a larger area of ​​damage to the vehicle body after intrusion, and the impact on vehicle safety will also be greater, so the possibility score is higher.

[0038] For example, when the probability score of foreign body intrusion is less than 0.4, the danger level of foreign body intrusion is determined to be a primary threat. When the probability score of foreign body intrusion is greater than or equal to 0.4 and less than 0.8, the danger level of foreign body intrusion is determined to be a medium threat. When the probability score of foreign body intrusion is greater than 0.8, the danger level of foreign body intrusion is determined to be a high threat.

[0039] S103: Control the vehicle based on a protection strategy corresponding to the danger level of the foreign object.

[0040] In this embodiment, different danger levels correspond to different protection strategies. The protection strategy refers to a series of safety response measures that need to be controlled by the vehicle, including automatic braking and deceleration, deployment of airbags, etc. When applied, when a foreign object is detected and the danger level of the foreign object is determined, the protection strategy corresponding to the danger level is immediately executed to control the vehicle's brakes, airbags and other module equipment to take corresponding actions, so as to activate defense in advance and reduce the impact of accidents.

[0041] This embodiment pre-sets different protection strategies and matches them according to the current danger level of foreign objects, so as to take appropriate and effective safety defense measures in time for different foreign object intrusion situations, thereby minimizing the risk of casualties.

[0042] Optionally, when a foreign object is detected around the vehicle, determining whether the foreign object has a risk of intruding into the vehicle body based on the vehicle driving state parameters and the motion parameters of the foreign object includes: S201: When a foreign object is detected around a vehicle, a first motion trajectory of the vehicle is generated based on a driving state parameter of the vehicle, and a second motion trajectory of the foreign object is generated based on a motion parameter of the foreign object.

[0043] In this implementation manner, the first motion trajectory represents the motion path of the vehicle within a short period of time in the future, and the second motion trajectory represents the motion path of the foreign object within a short period of time in the future.

[0044] Specifically, when a foreign object is detected around the vehicle, the first motion trajectory of the vehicle can be generated by establishing a vehicle dynamic model to simulate the actual driver control process. The vehicle's driving state parameters that need to be considered at this time include the vehicle's acceleration, deceleration, steering angle and other parameters. At the same time, a projectile motion model, a curve motion model, etc. can be constructed, and numerical integration, differential equations and other methods can be used to solve the second motion trajectory of the foreign object. The motion parameters of the foreign object that need to be considered at this time include the speed, direction and other parameters of the foreign object.

[0045] S202: Determine whether the foreign object has a risk of intruding into the vehicle body based on the first motion trajectory and the second motion trajectory.

[0046] In this embodiment, after obtaining the first motion trajectory of the vehicle and the second motion trajectory of the foreign object, a preset collision detection algorithm, such as an algorithm based on polygon intersection (such as libgeos library), can be used to determine whether the vehicle and the foreign object will collide. These algorithms usually also need to consider the geometric shape, size and relative position relationship of the vehicle and the foreign object, as well as their changes over time.

[0047] The preset collision detection algorithm is obtained through multiple simulation tests. By using simulation software to simulate the motion trajectory of the vehicle and foreign objects, the relative position and motion between the two can be intuitively observed, and by simulating collision situations under different scenes and conditions, the collision detection algorithm can be further verified and adjusted to improve the effectiveness and accuracy of the collision detection algorithm.

[0048] Specifically, the judgment process of the risk of foreign object intrusion mainly includes: determining the minimum distance between the first motion trajectory and the second motion trajectory; when the minimum distance is less than the distance threshold, determining that the foreign object has the risk of intruding the vehicle body; when the minimum distance is greater than or equal to the distance threshold, determining that the foreign object does not have the risk of intruding the vehicle body.

[0049] In this embodiment, the minimum distance refers to the distance corresponding to the moment when the first motion trajectory of the vehicle and the second motion trajectory of the foreign object are closest. The distance threshold represents the safe distance between the vehicle and the foreign object. By comparing the minimum distance with the preset distance threshold, it can be determined whether the foreign object has the risk of invading the vehicle body. If the minimum distance is less than the distance threshold, it means that in the future, the foreign object may break through the safe distance defense line of the vehicle, and the foreign object may be very close to the vehicle, so it is considered that the foreign object has the risk of invading the vehicle body. If the minimum distance is greater than or equal to the distance threshold, it means that in the future, the foreign object is outside the safe distance defense line of the vehicle, so it is considered that the foreign object does not have the risk of invading the vehicle body.

[0050] Therefore, by comparing the movement trajectories of the vehicle and the foreign object, we can observe whether the two overlap or approach each other in space. If the movement trajectories of the two are very close or overlapped at a certain time point or time period, it means that there may be a risk of collision, and it is determined that the foreign object has the risk of invading the vehicle body. If the movement trajectories of the two are always far apart, it means that there is a high probability that there is no risk of collision, and it is determined that the foreign object does not have the risk of invading the vehicle body. In turn, the accuracy and reliability of collision risk judgment are effectively improved to ensure driving safety.

[0051] Please refer to Figure 2 , Figure 2 This is a flow chart for determining the danger level of foreign matter in one embodiment of the present application. Figure 2 As shown, when it is determined that the foreign object has the risk of intruding into the vehicle body, the danger level of the foreign object is determined based on the vehicle driving state parameters, the motion parameters of the foreign object and the attribute parameters of the foreign object, including: S301: Based on the driving state parameters of the vehicle and the motion parameters of the foreign object, determine the intrusion parameters of the foreign object and the relative motion parameters between the foreign object and the vehicle.

[0052] In this embodiment, the relative motion parameters between the foreign object and the vehicle include the relative distance change rate and / or relative speed change rate of the two. The relative motion parameters can reflect the possibility of foreign objects invading the vehicle body. If the relative distance change rate between the vehicle and the foreign object is faster, it means that the distance between the foreign object and the vehicle is shortened faster in a short time, and the foreign object is approaching the vehicle body quickly and there is a high possibility that the foreign object is invading the vehicle body. If the relative speed change rate between the vehicle and the foreign object is faster, it means that the relative acceleration between the foreign object and the vehicle is greater, which will cause the distance between the foreign object and the vehicle to shorten sharply in a short time, and there is a high possibility that the foreign object is invading the vehicle body.

[0053] The intrusion parameters of foreign objects include the location, angle and depth of foreign object intrusion. The intrusion parameters can reflect the impact of foreign object intrusion on vehicle safety. If the location of the foreign object intrusion is closer to the important parts of the vehicle, the angle of penetration is closer to the vertical direction and the penetration depth is deeper, the impact of foreign object intrusion on vehicle safety will be greater, which may affect some important functions of the vehicle and be difficult to remove from the vehicle body, which may increase the difficulty of subsequent vehicle maintenance.

[0054] Furthermore, after obtaining the vehicle's driving state parameters and the motion parameters of the foreign object, the foreign object's intrusion parameters can be predicted through a machine learning algorithm. Specifically, by collecting a large amount of data on foreign objects penetrating the vehicle body in different scenarios (different vehicle motion states and foreign object motion states), including the shape, size, material of the foreign object, the material and structure of the vehicle body, and the penetration angle, etc. Then use machine learning algorithms, such as neural networks and support vector machines, to train and learn these data. Finally, through the trained model, the current motion data of the vehicle and foreign objects, as well as the foreign object and vehicle body information are input to predict the position, angle, and depth of the foreign object penetrating the vehicle body.

[0055] S302: Determine the danger level of the foreign object based on the intrusion parameter, the relative motion parameter and the foreign object attribute parameter.

[0056] In this embodiment, when it is determined that a foreign object has the risk of intruding into the vehicle body, the intrusion parameters of the foreign object, the attribute parameters of the foreign object, and the relative motion parameters between the foreign object and the vehicle will affect the current degree of danger of foreign object intrusion. It is easy to understand that when the relative motion parameters between the foreign object and the vehicle reflect that the distance between the foreign object and the vehicle is sharply shortened in a short period of time, the predicted foreign object intrusion parameter table reflects that the position where the foreign object intrudes into the vehicle body is a key position, the angle of penetration is close to vertical, the depth of penetration is deep, and the attribute parameters of the foreign object reflect that the foreign object is large in size and sharp in shape, the greater the threat risk of the foreign object to the vehicle, the higher the danger level of the foreign object.

[0057] Specifically, the risk level of foreign matter can be quantified by calculating the risk score of foreign matter, so as to achieve the classification of the risk level of foreign matter. The process specifically includes: S302-1: Determine the risk score of the foreign body based on the intrusion parameter, relative movement rate and foreign body attribute parameter.

[0058] In this embodiment, the risk score of the foreign object is used to characterize the threat level of the foreign object to the vehicle safety. The higher the risk score, the higher the threat level of the foreign object to the vehicle.

[0059] For example, the intrusion parameter, relative movement rate and foreign body attribute parameter can be assigned corresponding weights according to their respective importance to the risk level judgment, and weighted summation can be performed to obtain the risk score of the foreign body. Specifically, the calculation method is as follows:

[0060] in, represents the risk score of the foreign body, Indicates the intrusion score of foreign matter. Indicates the relative speed between the foreign object and the vehicle, Indicates the property score of the foreign object. The attribute score can be obtained by comprehensive calculation based on the penetration position, penetration angle, and penetration depth of the foreign body. It can be quantified based on parameters such as the shape and size of the foreign body.

[0061] S302-2: When the risk score is lower than the first preset score, the danger level of the foreign body is determined to be primary; when the risk score is higher than or equal to the first preset score and lower than the second preset score, the danger level of the foreign body is determined to be intermediate; when the risk score is higher than or equal to the second preset score, the danger level of the foreign body is determined to be high.

[0062] In this embodiment, the second preset score is greater than the first preset score. By comparing the risk score of the foreign object with the first preset score and the second preset score, the danger level of the current foreign object can be accurately judged.

[0063] For example, the first preset score and the second preset score can be set to 30 points and 70 points respectively. When the risk score is less than 30 points, the danger level of the foreign body is determined to be primary, when the risk score is greater than or equal to 30 points and less than 70 points, the danger level of the foreign body is determined to be intermediate, and when the risk score is greater than or equal to 70 points, the danger level of the foreign body is determined to be high.

[0064] It should be noted that the danger level of foreign objects in this application is not limited to the above-mentioned primary, intermediate and advanced levels. A more detailed risk level division can also be performed based on the risk score of the foreign objects, such as divided into four levels, five levels, etc., to adapt to more foreign object intrusion scenarios.

[0065] This embodiment calculates the risk score of foreign objects and classifies the danger levels of foreign objects, thereby laying a foundation for the response of subsequent safety measures and promoting the protection of vehicle safety.

[0066] Optionally, the vehicle is controlled based on a protection strategy corresponding to the danger level of the foreign object, including: S401: When the danger level of the foreign object is primary, a first safety strategy is used to control the vehicle; the first safety strategy includes activating a seat belt pretensioner and issuing a voice prompt, and the voice prompt is used to guide the user to take preset emergency measures.

[0067] In this embodiment, the danger level of the foreign object is primary, indicating that the threat level of the foreign object to vehicle safety is relatively low. At this time, basic measures such as voice prompts and seat belt pre-tightening can be taken to deal with the current foreign object intrusion situation.

[0068] Among them, voice prompts are used to guide users to take preset emergency measures. For example, step on the brakes, turn the steering wheel slightly, etc., to avoid foreign objects as much as possible and prevent foreign objects from invading the car body. The seat belt pretensioner is used to eliminate the gap between the seat belt and the human body, reduce the forward displacement of the human chest, thereby ensuring that the occupants remain in a safe position and reduce the secondary damage caused by the collision impact to the occupants.

[0069] S402: When the danger level of the foreign object is medium, the second safety strategy is used to control the vehicle; the second safety strategy includes activating the seat belt pretensioner, issuing a voice prompt, activating the target airbag, and activating the automatic braking system.

[0070] In this embodiment, when the danger level of the foreign object is intermediate, more caution is required compared to the primary level. At this time, in addition to taking basic measures such as voice prompts and seat belt pre-tightening, protective measures such as activating the target airbag and activating the automatic braking system are also required to reduce the damage to the occupants caused by the intrusion of foreign objects.

[0071] Airbags are installed in many places in the car, such as the center of the steering wheel, the dashboard on the passenger side, the side of the seat, under the dashboard, and in the roof, etc., to provide effective anti-collision protection for passengers. The automatic braking system can automatically decelerate or brake to reduce the damage caused by foreign object collision and minimize the severity of foreign object intrusion accidents, especially in complex road environments, which helps to further ensure the safety of passengers.

[0072] Optionally, the intrusion parameter includes an intrusion position of the foreign object; the above method also includes: determining the airbag corresponding to the intrusion position as a target airbag.

[0073] In this embodiment, when the danger level of the foreign object is medium, the impact of the foreign object intrusion on the vehicle is usually localized and will not cause comprehensive and serious safety impact on the vehicle. At this time, when opening the airbags, there is no need to open all the airbags. It is only necessary to open the corresponding part of the airbags according to the location of the foreign object intrusion, so as to save costs while ensuring the safety of the occupants.

[0074] For example, when it is detected that foreign matter has entered through the front windshield, the airbags at the center of the front steering wheel, the dashboard on the passenger side, etc. are identified as target airbags and opened; when it is detected that foreign matter has entered through the roof, the airbags at the roof, seats, etc. are identified as target airbags and opened to reduce the direct impact on the occupants.

[0075] S403: When the danger level of the foreign object is high, the third safety strategy is used to control the vehicle; the third safety strategy includes activating the seat belt pretensioner, issuing a voice prompt, activating all airbags, activating the automatic braking system, activating the body protection system and issuing an emergency signal, wherein the emergency signal contains the vehicle's location information and accident information.

[0076] In this embodiment, when the danger level of the foreign object is high, it means that the intrusion of the foreign object will cause comprehensive and serious safety impact on the vehicle. At this time, in addition to activating the seat belt pretensioner, issuing voice prompts, activating the airbag, and activating the automatic braking system, all other safety measures must be taken, including activating the body protection system, issuing an emergency call signal, etc., to comprehensively protect the vehicle and minimize the risk of casualties.

[0077] Among them, by sending an emergency distress signal to the nearest emergency service center and uploading the vehicle's location information and accident data, the service center's security personnel can promptly understand the current vehicle's accident situation, and then implement rescue as quickly as possible to reduce the possibility of secondary accidents.

[0078] It should be noted that the above steps S401-S403 are parallel measures in three different situations and there is no order of precedence.

[0079] The safety response mechanism of this embodiment can quickly trigger the corresponding safety strategy when the danger level of foreign body intrusion is detected, so as to take various protective measures in advance, such as airbag deployment, seat belt pretensioner activation, etc., to significantly reduce the probability of injury to passengers in accidents. This hierarchical real-time response mechanism can be applied to various dangerous scenarios of foreign body intrusion and has wide applicability.

[0080] Please refer to Figure 3 Based on the same inventive concept, a second aspect of an embodiment of the present application provides a vehicle safety control device, the vehicle safety control device 300 comprising: The risk monitoring module 301 is used to determine whether the foreign object has a risk of intruding into the vehicle body based on the vehicle driving state parameters and the motion parameters of the foreign object when a foreign object is detected around the vehicle; The risk level determination module 302 is used to determine the risk level of the foreign object based on the vehicle driving state parameters, the motion parameters of the foreign object and the attribute parameters of the foreign object when it is determined that the foreign object has the risk of intruding into the vehicle body; The safety response module 303 is used to control the vehicle based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies.

[0081] Optionally, the risk monitoring module 301 includes: A trajectory detection submodule, for generating a first motion trajectory of the vehicle based on the driving state parameters of the vehicle and generating a second motion trajectory of the foreign object based on the motion parameters of the foreign object when a foreign object is detected around the vehicle; The risk judgment submodule is used to determine whether the foreign object has the risk of intruding into the vehicle body based on the first motion trajectory and the second motion trajectory.

[0082] Optionally, the trajectory detection submodule includes: A minimum distance determination unit, used to determine a minimum distance between the first motion trajectory and the second motion trajectory; The comparison unit is used to determine that the foreign object has a risk of intruding the vehicle body when the minimum distance is less than a distance threshold, and to determine that the foreign object does not have a risk of intruding the vehicle body when the minimum distance is greater than or equal to the distance threshold.

[0083] Optionally, the risk level determination module 302 includes: An intrusion prediction submodule, for determining the intrusion parameters of the foreign object and the relative motion parameters between the foreign object and the vehicle based on the driving state parameters of the vehicle and the motion parameters of the foreign object; wherein the relative motion parameters include the relative distance change rate and / or the relative speed change rate; The level judgment submodule is used to determine the danger level of the foreign body based on the intrusion parameter, relative motion parameter and foreign body attribute parameter.

[0084] Optionally, the level judgment submodule includes: A scoring unit, for determining a risk score of the foreign body based on the intrusion parameter, the relative movement rate and the foreign body attribute parameter; The grading unit is used to determine the danger level of the foreign body as primary when the risk score is lower than a first preset score, to determine the danger level of the foreign body as intermediate when the risk score is higher than or equal to the first preset score and lower than a second preset score, and to determine the danger level of the foreign body as high when the risk score is higher than or equal to the second preset score.

[0085] Optionally, the security response module 303 includes: A first response submodule is used to control the vehicle using a first safety strategy when the danger level of the foreign object is primary; the first safety strategy includes activating the seat belt pretensioner and issuing a voice prompt, and the voice prompt is used to guide the user to take a preset emergency measure; A second response submodule is used to control the vehicle using a second safety strategy when the danger level of the foreign object is medium; the second safety strategy includes activating a seat belt pretensioner, issuing a voice prompt, activating a target airbag, and activating an automatic braking system; The third response submodule is used to control the vehicle using a third safety strategy when the danger level of the foreign object is high; the third safety strategy includes activating the seat belt pretensioner, issuing a voice prompt, activating all airbags, activating the automatic braking system, activating the body protection system and issuing an emergency signal, wherein the emergency signal contains the vehicle's location information and accident information.

[0086] Optionally, the invasion parameter includes the invasion position of the foreign body; the device further comprises: The airbag selection submodule is used to determine the airbag corresponding to the intrusion position as the target airbag.

[0087] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0088] In the third aspect, based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the vehicle safety control method proposed in the first aspect of the present application is implemented.

[0089] It should be noted that the specific implementation of the storage medium of the embodiment of the present application refers to the specific implementation of the vehicle safety control method proposed in the first aspect of the embodiment of the present application, and will not be repeated here.

[0090] In the fourth aspect, based on the same inventive concept, refer to Figure 4 An embodiment of the present application provides a vehicle 400, including a processor 401 and a memory 402; the memory 402 stores machine executable instructions that can be executed by the processor 401, and the processor 401 is used to execute the machine executable instructions to implement the vehicle safety control method proposed in the first aspect of the present application.

[0091] It should be noted that the specific implementation of the vehicle 400 in the embodiment of the present application refers to the specific implementation of the vehicle safety control method proposed in the first aspect of the embodiment of the present application, and will not be repeated here.

[0092] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0093] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt 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.

[0094] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal 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.

[0095] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including 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.

[0096] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement 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.

[0097] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0098] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal 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 terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0099] The above is a detailed introduction to a vehicle safety control method, device, medium and vehicle provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle safety control method, characterized in that: The method comprises: In the case where a foreign object is detected around the vehicle, determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameters of the vehicle and the motion parameters of the foreign object; In the case where it is determined that the foreign object has a risk of intruding into the vehicle body, determining a danger level of the foreign object based on a driving state parameter of the vehicle, a motion parameter of the foreign object, and a foreign object attribute parameter; The vehicle is controlled based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies.

2. The method according to claim 1, characterized in that In the case where a foreign object is detected around the vehicle, determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameter of the vehicle and the motion parameter of the foreign object includes: In the case where a foreign object is detected around the vehicle, a first motion trajectory of the vehicle is generated based on a driving state parameter of the vehicle, and a second motion trajectory of the foreign object is generated based on a motion parameter of the foreign object; Based on the first motion trajectory and the second motion trajectory, it is determined whether the foreign object has a risk of intruding into a vehicle body.

3. The method according to claim 2, characterized in that Determining whether the foreign object has a risk of intruding into a vehicle body based on the first motion trajectory and the second motion trajectory includes: determining a minimum distance between the first motion trajectory and the second motion trajectory; When the minimum distance is less than a distance threshold, it is determined that the foreign object has a risk of intruding the vehicle body; when the minimum distance is greater than or equal to the distance threshold, it is determined that the foreign object does not have a risk of intruding the vehicle body.

4. The method according to claim 1, characterized in that: In the case where it is determined that the foreign object has a risk of intruding into the vehicle body, determining the danger level of the foreign object based on the driving state parameter of the vehicle, the motion parameter of the foreign object and the foreign object attribute parameter, includes: Based on the driving state parameters of the vehicle and the motion parameters of the foreign object, determining the intrusion parameters of the foreign object and the relative motion parameters between the foreign object and the vehicle; wherein the relative motion parameters include a relative distance change rate and / or a relative speed change rate; Based on the intrusion parameter, the relative motion parameter and the foreign object attribute parameter, a danger level of the foreign object is determined.

5. The method according to claim 4, characterized in that Determining the danger level of the foreign object based on the intrusion parameter, the relative movement rate and the foreign object attribute parameter includes: Determining a risk score of the foreign object based on the intrusion parameter, the relative movement rate, and the foreign object attribute parameter; When the risk score is lower than the first preset score, the danger level of the foreign object is determined to be primary; when the risk score is higher than or equal to the first preset score and lower than the second preset score, the danger level of the foreign object is determined to be intermediate; when the risk score is higher than or equal to the second preset score, the danger level of the foreign object is determined to be high.

6. The method according to claim 5, characterized in that The vehicle is controlled based on a protection strategy corresponding to the danger level of the foreign object, including: In the case where the danger level of the foreign object is primary, a first safety strategy is adopted to control the vehicle; the first safety strategy includes activating a seat belt pretensioner and issuing a voice prompt, wherein the voice prompt is used to guide the user to take preset emergency measures; When the danger level of the foreign object is medium, a second safety strategy is used to control the vehicle; the second safety strategy includes activating a seat belt pretensioner, issuing a voice prompt, activating a target airbag, and activating an automatic braking system; When the danger level of the foreign object is high, a third safety strategy is adopted to control the vehicle; the third safety strategy includes activating the seat belt pretensioner, issuing a voice prompt, activating all airbags, activating the automatic braking system, activating the body protection system and issuing an emergency signal, wherein the emergency signal contains the location information and accident information of the vehicle.

7. The method according to claim 6, characterized in that The intrusion parameters include the intrusion position of the foreign body; The method further comprises: The airbag corresponding to the intrusion position is determined as the target airbag.

8. A vehicle safety control device, characterized in that: The device comprises: A risk monitoring module, for determining whether the foreign object has a risk of intruding into the vehicle body based on the driving state parameters of the vehicle and the motion parameters of the foreign object when a foreign object is detected around the vehicle; a risk level determination module, for determining the risk level of the foreign object based on the driving state parameters of the vehicle, the motion parameters of the foreign object and the attribute parameters of the foreign object when it is determined that the foreign object has the risk of intruding into the vehicle body; The safety response module is used to control the vehicle based on a protection strategy corresponding to the danger level of the foreign object; wherein different danger levels correspond to different protection strategies.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the vehicle safety control method as described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: It comprises a processor and a memory; the memory stores machine executable instructions that can be executed by the processor, and the processor is used to execute the machine executable instructions to implement the vehicle safety control method as described in any one of claims 1 to 7.

Images