Vehicle control method and device based on pre-collision active safety, medium and vehicle

Abstract

The invention provides a vehicle control method and device based on pre-collision active safety, a medium and a vehicle. The vehicle control method comprises the steps that collision early warning is conducted based on the relative speed and the relative distance between a collision target and a vehicle; executing pre-collision active safety operation in response to the collision early warning; wherein the pre-collision active safety operation comprises at least one of the following operations: adjusting the damping of the suspension, adjusting the rigidity of the suspension and adjusting the height of the suspension. According to the vehicle control method, the collision compatibility can be improved, and the harm to people and the loss to the vehicle caused by collision in all directions are reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically to a vehicle control method, device, medium and vehicle based on pre-collision active safety. Background Art

[0002] Active safety control of vehicles is one of the important control means to improve vehicle safety. Among them, the pre-collision active safety system provides early warning by sensing and evaluating possible dangers during vehicle driving, and automatically takes corresponding measures when necessary to reduce potential collision risks and losses caused by collision.

[0003] Existing pre-collision active safety systems use the following methods to respond to an impending collision when the vehicle detects that it may encounter a side collision: 1. The vehicle body is quickly raised through the active quick-lift suspension system, and the strongest lower part of the vehicle is used to resist the impact, thereby reducing the impact of the collision on the driver and passengers by about 50%, but this method cannot effectively reduce the damage caused by a frontal collision; 2. The suspension damping force and stroke are automatically adjusted to the optimal braking response state during a collision warning, thereby maintaining the vehicle's posture during braking and reducing the braking distance of the braking system, improving braking comfort, but this method cannot improve collision compatibility, so the damage caused by the collision is greater; 3. The vehicle's front height is controlled and adjusted during a collision warning to reduce vehicle losses, but this method cannot reduce the probability of injury to the driver and passengers.

[0004] Therefore, for different collision scenarios, how to improve collision compatibility and reduce the damage to people and the loss to vehicles caused by collision is a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0005] The present application is proposed in view of the above problems. The present application provides a vehicle control method, device, medium and vehicle based on pre-collision active safety, which can improve collision compatibility and reduce the damage to personnel and the loss to the vehicle caused by collisions in all directions.

[0006] According to a first aspect of the present application, a vehicle control method based on pre-collision active safety is provided, the vehicle control method comprising:

[0007] Generate a collision warning based on the relative speed and relative distance between the collision target and the vehicle;

[0008] In response to the collision warning, a pre-collision active safety operation is performed; wherein the pre-collision active safety operation includes at least one of the following operations: adjusting suspension damping, adjusting suspension stiffness, and adjusting suspension height.

[0009] In one embodiment of the present application, the suspension of the vehicle includes a front suspension and a rear suspension, and the collision site includes at least one of the front of the vehicle, the rear of the vehicle, the left side of the vehicle, and the right side of the vehicle.

[0010] In one embodiment of the present application, when the collision site is the front of the vehicle, performing the pre-collision active safety operation includes:

[0011] Increasing the damping of the front suspension and the rear suspension to a preset first damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset first stiffness value;

[0012] The height of the front suspension is adjusted based on the height of the collision target.

[0013] In one embodiment of the present application, the actuator further includes an active rear wing. When the collision site is the front of the vehicle, before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes:

[0014] The damping and stiffness of the front suspension are increased to suppress the pitching of the vehicle, and the angle of the active rear wing is adjusted to a maximum angle.

[0015] In one embodiment of the present application, after increasing the damping and stiffness of the front suspension, the vehicle control method further includes:

[0016] When any one of the following conditions is met: the pitch angle of the vehicle is greater than an angle threshold, the longitudinal acceleration is less than an acceleration threshold, or a brake signal is received, the height of the front suspension and the rear suspension is adjusted, and the damping of the rear suspension is adjusted to adjust the vehicle body posture.

[0017] In one embodiment of the present application, when the collision site is on the left side or the right side of the vehicle, performing the pre-collision active safety operation includes:

[0018] Increasing the damping of the front suspension and the rear suspension to a preset second damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset second stiffness value;

[0019] Based on the height of the collision target, the heights of the front suspension and the rear suspension are adjusted.

[0020] In one embodiment of the present application, the actuator further includes an active stabilizer bar, and the pre-crash active safety operation further includes increasing the stiffness of the active stabilizer bar.

[0021] In one embodiment of the present application, before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes:

[0022] determining a minimum travel distance of the vehicle when braking based on the relative speed and the travel speed of the vehicle;

[0023] determining a reaction delay distance based on the relative speed and the travel speed;

[0024] determining a braking distance based on the minimum driving distance, the reaction delay distance, and a preset minimum stopping distance;

[0025] When the braking distance is less than or equal to a preset distance threshold, a braking prompt is generated.

[0026] In one embodiment of the present application, it is characterized in that generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle includes:

[0027] determining a time to collision based on the relative speed and the relative distance;

[0028] When the collision time is equal to a preset time threshold, a collision warning is generated.

[0029] In one embodiment of the present application, it is characterized in that the vehicle control method further includes:

[0030] When the control actuator performs the pre-crash active safety operation, in response to a vehicle stop signal or the lateral acceleration and the longitudinal acceleration of the vehicle are both less than the second acceleration threshold, the control actuator ends the pre-crash active safety operation.

[0031] According to a second aspect of the present application, a vehicle control device based on pre-collision active safety is provided, the control device comprising a memory and a processor, the memory storing a computer program executed by the processor, and when the computer program is executed by the processor, the device equipped with the processor executes the above-mentioned vehicle control method based on pre-collision active safety.

[0032] According to a third aspect of the present application, a storage medium is provided, on which a computer program is stored. The computer program runs on a computer, and when the computer program is running, the computer executes the above-mentioned vehicle control method based on pre-collision active safety.

[0033] According to a fourth aspect of the present application, a vehicle is provided, comprising the above-mentioned vehicle control device based on pre-collision active safety or the above-mentioned storage medium.

[0034] The vehicle control method based on pre-collision active safety of the present application can improve the collision compatibility of the vehicle in different collision scenarios by changing the suspension damping, stiffness and height, and reduce the injuries to people and losses to the vehicle caused by collisions in all directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0036] Figure 1 is a schematic block diagram of a control device for a vehicle control method based on pre-collision active safety according to an embodiment of the present invention;

[0037] Figure 2 is a schematic flow chart of a vehicle control method based on pre-collision active safety according to an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a collision scenario when a vehicle is stationary according to an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of a frontal collision scenario of a vehicle in motion according to an embodiment of the present application;

[0040] Figure 5 is a schematic diagram of a frontal collision scenario of a vehicle in motion according to another embodiment of the present application;

[0041] Figure 6 is a schematic diagram of a scenario in which a vehicle collides with a vehicle traveling laterally while traveling according to an embodiment of the present application;

[0042] Figure 7 This is a schematic diagram of a scenario in which a vehicle changes lanes and collides with a vehicle behind it according to an embodiment of the present application;

[0043] Figure 8 This is a schematic diagram of a scenario in which a vehicle collides with a vehicle changing lanes from the side and rear while driving according to an embodiment of the present application;

[0044] Fig. 9 is a schematic flow chart of a vehicle control method based on pre-collision active safety according to another embodiment of the present application;

[0045] Fig.10 is a schematic structural diagram of a control system according to an embodiment of the present application;

[0046] Fig.11 is a schematic structural diagram of a vehicle according to an embodiment of the present application;

[0047] Fig.12is a schematic structural diagram of a vehicle according to another embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0049] In response to the problem that existing vehicle control methods based on pre-collision active safety cannot improve collision compatibility and cannot reduce the damage to people and losses to vehicles caused by collisions, the present application proposes a vehicle control method, electronic equipment, medium and vehicle based on pre-collision active safety, which can improve collision compatibility and reduce the damage to people and losses to vehicles caused by collisions in all directions. It is described in detail below.

[0050] First, refer to Figure 1 An exemplary control device 100 for implementing an embodiment of the method of the present invention is described below.

[0051] like Figure 1 As shown, the control device 100 includes a processor 110, a memory 120, and a communication interface 130. The processor 110, the memory 120, and the communication interface 130 can be interconnected and communicated via a communication bus 140 and / or other forms of connection mechanisms (not shown).

[0052] It should be noted that Figure 1 The components and structures of the control device 100 shown are merely exemplary and non-limiting. The control device may also have other components and structures as required.

[0053] Optionally, the communication interface 130 may also include a transmitter and / or a receiver.

[0054] The processor 110 can be a microcontroller unit (MCU), a central processing unit (CPU), a digital signal processor (DSP), a single-chip microcomputer and an embedded device, or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the autonomous driving vehicle system to perform desired functions.

[0055] The memory 120 may be a computer-readable storage medium in various forms, such as a volatile memory and / or a non-volatile memory. Volatile memory may include, for example, a random access memory (RAM), a cache memory (cache), a synchronous dynamic random access memory (SDRAM), etc. Non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory (Flash), etc. One or more computer program instructions may also be stored on the computer-readable storage medium, and the memory 120 may run the program instructions to implement the vehicle control method based on pre-collision active safety in the embodiment of the present invention described below.

[0056] Next, refer to Figure 2 To describe a vehicle control method based on pre-collision active safety according to an embodiment of the present application.

[0057] The vehicle control method of the present application can be applied to collisions in static and moving vehicle scenarios. The method can be executed by the vehicle control unit (VCU) of the vehicle. The actuator includes an active suspension system. The suspension is a general term for all force transmission connection devices between the frame (or load-bearing body) and the axle (or wheel) of the car. Its function is to transmit the force and torque acting between the wheel and the frame, and to buffer the impact force transmitted to the frame or body by the uneven road surface, reduce the vibration caused thereby, and ensure that the car can run smoothly. The stiffness and damping characteristics of the active suspension system can be dynamically adjusted according to the driving conditions of the car (the vehicle's motion state and road conditions, etc.), so that the suspension system is always in the best vibration reduction state. The method is described in detail below.

[0058] like Figure 2 As shown, the present application provides a vehicle control method based on pre-collision active safety, including the following steps S210-S220.

[0059] In step S210 , a collision warning is generated based on the relative speed and relative distance between the collision target and the vehicle.

[0060] Among them, the relative distance and relative speed parameters can be obtained through signals collected by sensors installed in front, on the side or other positions of the vehicle. For example, the distance and relative speed between the vehicle and the collision target can be measured by a camera or radar and then calculated by a controller. Specifically, millimeter-wave radar, ultrasonic radar, lidar, etc.; millimeter-wave radar and ultrasonic radar can be installed at the front end of the vehicle and the side of the vehicle, and lidar can be installed on the roof.

[0061] The number and installation positions of the sensors are not unique, and the number can be one, two, or more, and can be of one type or of multiple types.

[0062] In the present application, the collision target is a moving target or a stationary target, specifically a vehicle or other objects, such as a wall, a tree, a roadside flower bed, etc. It should be noted that the collision target does not include a person.

[0063] When the relative distance and relative speed between the collision target and the vehicle meet the preset conditions, a collision warning is generated. The preset conditions here can be that the collision time between the collision target and the vehicle is less than or equal to the preset time threshold, or the relative distance is equal to the distance threshold.

[0064] The vehicle determines whether to issue a collision warning based on its relative speed and relative distance with the collision target, without relying on the driver's experience and judgment, thereby reducing the impact of human factors, improving the accuracy of collision situation judgment, and helping to improve vehicle driving safety.

[0065] In step S220, in response to the collision warning, a pre-collision active safety operation is performed; wherein the pre-collision active safety operation includes at least one of the following operations: adjusting suspension damping, adjusting suspension stiffness, and adjusting suspension height.

[0066] Specifically, when a collision warning is received, the vehicle controller can generate a corresponding control signal based on the collision location to control the active suspension system to perform corresponding pre-collision active safety operations.

[0067] The vehicle control method based on pre-collision active safety of the present application controls the vehicle when it is about to collide for pre-collision active safety scenarios, changes the suspension damping and stiffness, thereby improving the collision compatibility of the vehicle in different collision scenarios, and reducing the damage to personnel and vehicle losses caused by collisions in all directions. Furthermore, the vehicle height can be adjusted according to the height and direction of the collision object, and by adjusting the collision position of the vehicle, the damage to personnel in the cabin during the collision is further reduced.

[0068] According to one embodiment of the present application, the suspension of the vehicle includes a front suspension and a rear suspension, and the collision location includes at least one of the front of the vehicle, the rear of the vehicle, the left side of the vehicle, and the right side of the vehicle.

[0069] In this embodiment, the front suspension is a force transmission connection device between the frame (or load-bearing body) of the automobile and the left front wheel and the right front wheel, and the rear suspension is a force transmission connection device between the frame (or load-bearing body) of the automobile and the left rear wheel and the right rear wheel.

[0070] In this embodiment, the collision location may be located at the front, rear, left and right sides of a stationary vehicle, or at the front, rear, left and right sides of a moving vehicle.

[0071] For the sake of convenience in description below, the collision target may also be described as a collision object, which has the same meaning and is an object that is about to collide with the vehicle.

[0072] Figure 3 is a schematic diagram of a collision scenario when a vehicle is stationary according to an embodiment of the present application. Figure 3 As shown, the vehicle is stationary, collision object 1 is located on the left side of the vehicle, moves toward the vehicle at a speed v, and will collide with the left side of the vehicle; of course, collision object 1 can also be located on the right side of the vehicle (not shown in the figure), move toward the vehicle, and collide with the right side of the vehicle; or collision object 2 is located in front of or behind the vehicle, moves toward the vehicle at a speed v, and will collide with the front or rear of the vehicle.

[0073] Under the conditions that the collision parts include the front, rear, left side and right side of the vehicle, the collision loss can be minimized when the vehicle collides.

[0074] According to one embodiment of the present application, when the collision site is the front of the vehicle, performing the pre-collision active safety operation includes:

[0075] Increasing the damping of the front suspension and the rear suspension to a preset first damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset first stiffness value;

[0076] Adjusts the height of the front suspension based on the height of the collision target.

[0077] This embodiment can be applied to a collision scenario when the vehicle is stationary, and can also be applied to a collision scenario when the vehicle is in motion, that is, while driving.

[0078] In this embodiment, the first damping value and the first stiffness value may be values ​​obtained through calibration based on vehicle parameters of the vehicle, such as mass, volume, structure, etc., which enable the vehicle to have maximum compatibility in a frontal collision.

[0079] See below Figure 4 and 5 To illustrate a frontal collision scenario of a vehicle in motion according to an embodiment of the present application. Figure 4 As shown in FIG, a frontal collision during vehicle driving may be a collision between the vehicle and a collision object, such as a frontal collision between the vehicle and the front vehicle. Here, the front vehicle may move in the same direction as the vehicle or in the opposite direction to the vehicle. Figure 5 As shown, the frontal collision during vehicle driving may also be a collision between the vehicle and an object moving in a vertical direction, such as a vehicle suddenly appearing in front and moving laterally at a speed v.

[0080] In this embodiment, the height of the collision target can be collected by a visual sensor, such as a camera. The method for adjusting the height of the front suspension based on the height of the collision target includes: adjusting the height of the front suspension to the height of the collision target, that is, the same height as the collision target, and the specific height ΔH to be adjusted is:

[0081] ΔH=H 物体 -H 车辆

[0082] Among them, H 物体 is the height of the object, H 车辆 is the vehicle height.

[0083] When the adjusted height ΔH exceeds the adjustable range of the suspension, the limit value of the adjustable height is selected to make the suspension height reach the maximum or minimum.

[0084] After generating a collision warning, timely increasing the front and rear suspension damping and stiffness, and adaptively adjusting the front suspension height according to the height of the front collision object can effectively improve the collision compatibility of the vehicle during a frontal collision and reduce the damage to personnel and vehicle losses caused by a frontal collision.

[0085] According to one embodiment of the present application, the actuator further includes an active rear wing. When the collision site is the front of the vehicle, before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes:

[0086] Increase the damping and stiffness of the front suspension to suppress vehicle pitch, and adjust the active rear wing angle to its maximum angle.

[0087] In this embodiment, the specific values ​​used to suppress vehicle pitch and increase the damping and stiffness of the front suspension can be determined by existing methods, or by using data obtained by prior calibration; or a preset first damping value and a first stiffness value can be used, which are not specifically limited in this embodiment.

[0088] Specifically, after adjusting the active tail wing angle to the maximum angle, the increased air resistance is:

[0089] D=1 / 2ρV 2 AC D

[0090] Where D represents air resistance, C D represents the air resistance coefficient, V represents the vehicle speed, ρ represents the air density, and A represents the frontal area.

[0091] Increase lift to:

[0092] L=1 / 2ρV 2 AC L

[0093] Where L represents lift, C L represents the lift coefficient.

[0094] When the tail wing angle increases, the air resistance coefficient increases, the air resistance increases, the frontal area increases, the lift coefficient becomes negative and decreases, and the downforce increases, thereby improving the braking efficiency.

[0095] In this embodiment, when a braking prompt is received, the front suspension damping and stiffness are increased in advance to better suppress the vehicle body pitch, improve braking efficiency, and improve comfort. The active rear wing angle is adjusted to the maximum angle in advance, so that the height is raised to the highest, which can increase air resistance and provide better rear axle braking efficiency during subsequent vehicle braking.

[0096] According to one embodiment of the present application, before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes:

[0097] Determine the minimum travel distance when the vehicle brakes based on the relative speed and the vehicle's travel speed;

[0098] Determining a reaction delay distance based on relative speed and travel speed;

[0099] determining a braking distance based on a minimum travel distance, a reaction delay distance, and a preset minimum stopping distance;

[0100] When the braking distance is equal to a preset distance threshold, a braking prompt is generated.

[0101] Specifically, when the collision target is a moving vehicle, the minimum driving distance d1 is calculated by the following formula:

[0102]

[0103] Where, v is the vehicle speed, v rel is the relative speed, a1 is the maximum deceleration of the vehicle, and a2 is the maximum deceleration of the preceding vehicle.

[0104] Based on the relative speed and driving speed, the reaction delay distance d2 is calculated by the following formula:

[0105] d2=vt1+v re1 t2

[0106] Among them, t1 is the driver's reaction time and t2 is the system delay time.

[0107] The braking distance D can be calculated according to the following formula:

[0108] D d1+d2+d0

[0109] Among them, d0 is the minimum stopping distance.

[0110] For example, the values ​​of a1, a2, t1, and t2 are respectively a1=6 m / s 2 、a2=7m / s 2 , t1=0.1s, t2=0.6s.

[0111] By generating braking prompts, the vehicle can perform corresponding operations to improve vehicle braking efficiency and comfort.

[0112] According to one embodiment of the present application, after increasing the damping and stiffness of the front suspension, the vehicle control method further includes:

[0113] When any of the following conditions is met: the pitch angle of the vehicle is greater than an angle threshold, the longitudinal acceleration is less than an acceleration threshold, or a brake signal is received, the height of the front suspension and the rear suspension is adjusted, and the damping of the rear suspension is adjusted to adjust the vehicle body posture.

[0114] In this embodiment, the pitch angle and longitudinal acceleration of the vehicle can be measured by an inertial measurement unit (IMU). The brake signal can be collected from the brake system.

[0115] Specifically, when any of the above conditions is met, the height of the front suspension is increased and the height of the rear suspension is decreased to adjust the vehicle body posture. Furthermore, the vehicle body posture is also adjusted by adjusting the damping of the rear suspension.

[0116] The specific height and damping adjustment values ​​can be determined based on the current vehicle body status data.

[0117] According to one embodiment of the present application, when the collision site is on the left side or the right side of the vehicle, performing the pre-collision active safety operation includes:

[0118] Increasing the damping of the front suspension and the rear suspension to a preset second damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset second stiffness value;

[0119] Adjust the height of the front and rear suspension based on the height of the collision target.

[0120] In this embodiment, the second damping value and the second stiffness value may be values ​​obtained through calibration according to vehicle parameters of the vehicle, such as mass, volume, structure, etc., which can enable the vehicle to have maximum compatibility in a side collision.

[0121] The method of adjusting the height of the front suspension and the rear suspension based on the height of the collision target is the same as that of the front collision, and will not be further explained here.

[0122] In this embodiment, the active suspension system adjusts the suspension damping and stiffness according to different signals, and controls the front and rear suspension heights to rise / fall rapidly after receiving the vehicle body height control signal.

[0123] See below Figure 6 and 8 To illustrate a side collision scenario of a vehicle traveling according to an embodiment of the present application, the collision object in the figure is a vehicle traveling at a speed v.

[0124] A side collision of a moving vehicle may occur in the following three situations:

[0125] like Figure 6 As shown, the vehicle is in motion, and at a traffic intersection, a vehicle traveling sideways collides with the side of the moving vehicle on the left side;

[0126] like Figure 7 As shown, the vehicle changes lanes while driving and collides with the vehicle behind it on the left side;

[0127] like Figure 8 As shown, the side vehicle changes lanes and collides with the moving vehicle on the left.

[0128] In this embodiment, the lateral radar can be used to monitor the vector speed and distance of the object approaching the side, and generate a warning of an impending collision on the side of the vehicle. At this time, the vehicle rollover and collision impact force are suppressed by rapidly increasing the damping and stiffness of the entire suspension; the vehicle's overall body height is actively and rapidly raised, and the anti-collision beam in the side door of the vehicle and the bottom frame are used to resist the collision impact force, so as to reduce the damage caused to the driver and passengers by the collision intrusion into the cab.

[0129] According to an embodiment of the present application, the actuator further includes an active stabilizer bar, and the pre-crash active safety operation further includes increasing the stiffness of the active stabilizer bar.

[0130] In this embodiment, the lateral impact force of the collision is resisted by increasing the stiffness of the active stabilizer bar, so that the vehicle's anti-collision beam and the frame at the bottom of the vehicle are used to absorb the impact force of the collision, reduce the probability of the collision invading the cab, reduce casualties, and further suppress vehicle roll.

[0131] According to one embodiment of the present application, generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle includes:

[0132] Determining a time to collision based on relative speed and relative distance;

[0133] When the collision time is equal to the preset time threshold, a collision warning is generated.

[0134] According to one embodiment of the present application, the vehicle control method further includes:

[0135] When the control actuator performs the pre-collision active safety operation, in response to a vehicle stop signal or the lateral acceleration and the longitudinal acceleration of the vehicle are both less than the acceleration threshold, the control actuator ends the pre-collision active safety operation.

[0136] In this embodiment, the lateral acceleration and the longitudinal acceleration can be measured by an inertial measurement unit (IMU), and the vehicle stop signal can be collected from the braking system.

[0137] When the control actuator performs pre-collision active safety operations, it determines whether the collision is over by monitoring the vehicle's lateral and longitudinal acceleration and the vehicle stop signal. If the collision is over, the suspension height, stiffness and damping return to their original state. If the collision is not over, the suspension height, stiffness and damping are maintained after the control.

[0138] See below Fig. 9 To illustrate a vehicle control process based on pre-collision active safety according to an embodiment of the present application.

[0139] The control method of this embodiment is performed by a controller in the control system. Fig.10 is a schematic structural diagram of a control system according to an embodiment of the present application, such as Fig.10 As shown, the controller is electrically connected to the advanced driving service system, the anti-lock braking system, the inertial measurement unit, the active suspension system, the active tail wing system, and the active stabilizer bar system respectively.

[0140] The advanced driving service system is used to collect the current vehicle speed signal, as well as the relative speed and relative distance between the collision target and the vehicle, and provide the following signals and data to the controller:

[0141] Braking warning signal: A warning signal is issued to indicate that the vehicle needs to brake based on the current vehicle speed, the speed of the vehicle in front and the distance to the vehicle in front.

[0142] Collision Warning Signal: Based on the vector speed of approaching objects monitored on the front, left and right sides of the vehicle, a collision warning signal is sent when a collision is unavoidable.

[0143] Front collision object height signal: When the height of the front collision object can be monitored, the collision object height signal is sent;

[0144] Vehicle speed data, relative speed and relative distance between the collision target and the vehicle.

[0145] Brake-by-Wire System, used to send a vehicle stationary signal when the vehicle is stationary and send an ABS activation signal when braking.

[0146] The inertial measurement unit is used to send the vehicle's longitudinal acceleration signal, lateral acceleration signal, and pitch angle signal, so that the vehicle's body posture can be adjusted through the suspension system during emergency braking to ensure the vehicle's braking efficiency and the comfort of the driver and passengers.

[0147] The active suspension system is used to send body height signals to different sides of the vehicle, adjust the suspension damping and stiffness according to different signals, and control the front and rear suspension height to rise / fall rapidly after receiving the body height control signal.

[0148] The active tail system is used to control the tail lift height after receiving the tail angle control signal.

[0149] Active stabilizer bar system, which is used to actively increase rigidity after receiving side collision signals.

[0150] Among them, the active suspension system, active rear wing system, and active stabilizer bar system include corresponding driving devices, and the controller generates corresponding control signals and sends them to the driving devices, thereby controlling the active suspension system, active rear wing system, and active stabilizer bar system to perform pre-collision active safety operations.

[0151] The vehicle control process based on pre-collision active safety of this embodiment includes the following steps:

[0152] S1. Determine whether a collision warning signal or a braking prompt signal is received. If not, do not start the vehicle control method based on pre-collision active safety; if so, execute step S2.

[0153] S2. Determine whether a left / right collision warning signal is received:

[0154] If yes, then the vehicle rollover and collision impact force are suppressed by rapidly increasing the damping and stiffness of the entire suspension; the vehicle body height is actively and rapidly raised, and the anti-collision beam in the side door and the bottom frame of the vehicle are used to resist the collision impact force, so as to reduce the damage to the driver and passengers caused by the collision intrusion into the cab; the active stabilizer bar stiffness is increased to suppress the vehicle rollover and collision impact force; and the process goes to step S8;

[0155] If not, go to step S3.

[0156] In this step, the advanced driver assistance system monitors the vehicle's surroundings through radar and vision systems, determines whether the left / right side of the vehicle is about to collide based on the current vehicle speed and the vector speed of the approaching object, and sends a collision warning signal of the impending left / right side collision to the controller, while sending a collision object height signal by identifying the height of the front object.

[0157] S3. Determine whether a front collision warning signal is received: if so, go to step S7; if not, go to step S4.

[0158] The advanced driver assistance system determines that a collision is about to occur on the front side of the vehicle by the current vehicle speed and the vector speed of the approaching object, and sends a collision warning signal of an impending front collision to the controller. At the same time, it sends a collision object height signal by identifying the height of the front object.

[0159] S4. Determine whether a braking prompt signal is received: if so, go to step S5; if not, go to step S1.

[0160] The advanced driver assistance system calculates the warning distance based on the current vehicle speed, the speed of the front collision object, and the distance to the front object. When the warning distance is reached, a braking prompt signal is sent to the system.

[0161] S5: Increase the front suspension stiffness and damping, and adjust the active rear wing to the maximum angle.

[0162] S6, determine whether the pitch angle of the vehicle is greater than the threshold, whether the longitudinal acceleration of the vehicle is less than the threshold, and whether the ABS is triggered, and determine whether the vehicle enters the emergency braking state through the above three monitored signals. If so, that is, after determining that the vehicle enters the emergency braking state, adjust the front and rear suspension height and damping to adjust the body posture; if not, go to step S1.

[0163] According to the pitch angle and speed of the vehicle, the height and damping of the front and rear suspensions of the vehicle are controlled to suppress the pitch of the vehicle and reduce the reduction in braking efficiency of the rear axle caused by the forward shift of the load due to emergency braking.

[0164] S7. When a collision warning signal is received, the stiffness and damping of the entire suspension are increased, and the front suspension of the vehicle adaptively adjusts the front suspension height according to the height of the front collision object.

[0165] The advanced driver assistance system determines that a collision is about to occur on the front side of the vehicle by the current vehicle speed and the vector speed of the approaching object, and sends a collision warning signal of an impending front collision to the controller. At the same time, it sends a collision object height signal by identifying the height of the front object.

[0166] S8: After the function is triggered, the lateral and longitudinal accelerations of the vehicle and the vehicle stop signal are monitored to determine whether the collision is over. If the collision is over, the suspension height, stiffness and damping are restored to the original state. If the collision is not over, the controlled suspension height, stiffness and damping are maintained.

[0167] In this control system, the controller works with the suspension system, braking system, and active rear wing system to adjust the vehicle's collision posture. For collisions in different directions, the execution system and active rear wing of the vehicle's upper chassis are intelligently controlled before the front, left, and right sides of the vehicle collide, and the braking efficiency is improved by adaptively adjusting the vehicle height, thereby improving collision compatibility and reducing the damage to personnel and vehicles caused by collisions. In addition, the control system can also be used in conjunction with the automatic emergency braking system function to improve the vehicle's pre-collision safety; it solves the problem that the execution system of the vehicle's upper chassis does not respond in advance when the vehicle is about to collide, thereby reducing the damage to personnel and the loss to the vehicle.

[0168] An embodiment of the present application also provides a vehicle control device based on pre-collision active safety, the control device comprising a memory and a processor, the memory storing a computer program executed by the processor, and when the computer program is executed by the processor, the device equipped with the processor executes the vehicle control method based on pre-collision active safety as described in any of the above embodiments.

[0169] An embodiment of the present application further provides a storage medium, on which a computer program is stored. The computer program runs on a computer, and when the computer program is running, the computer executes the vehicle control method based on pre-collision active safety as described in any of the above embodiments.

[0170] An embodiment of the present application further provides a vehicle, comprising the above-mentioned vehicle control device based on pre-collision active safety or the above-mentioned storage medium. Fig.11 A vehicle according to an embodiment of the present application is exemplarily shown, and the vehicle includes an electronic device. Fig.12 A vehicle according to another embodiment of the present application is exemplarily shown, the vehicle including a storage medium.

[0171] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0172] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0173] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0174] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0175] Similarly, it should be understood that in order to streamline the present invention and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present invention should not be interpreted as reflecting the following intention: the claimed invention requires more features than the features explicitly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0176] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0177] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0178] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules in the article analysis device according to an embodiment of the present invention. The present invention may also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0179] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc., does not indicate any order. These words may be interpreted as names.

[0180] The above is only a specific embodiment of the present invention or an explanation of a specific embodiment. The protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A vehicle control method based on pre-collision active safety, characterized in that: The vehicle control method comprises: Generate a collision warning based on the relative speed and relative distance between the collision target and the vehicle; In response to the collision warning, a pre-collision active safety operation is performed; wherein the pre-collision active safety operation includes at least one of the following operations: adjusting suspension damping, adjusting suspension stiffness, and adjusting suspension height.

2. The vehicle control method based on pre-collision active safety as claimed in claim 1, characterized in that: The suspension of the vehicle includes a front suspension and a rear suspension, and the collision site includes at least one of the front of the vehicle, the rear of the vehicle, the left side of the vehicle, and the right side of the vehicle.

3. The vehicle control method based on pre-collision active safety as claimed in claim 2, characterized in that: When the collision site is the front of the vehicle, the performing of the pre-collision active safety operation includes: Increasing the damping of the front suspension and the rear suspension to a preset first damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset first stiffness value; The height of the front suspension is adjusted based on the height of the collision target.

4. The vehicle control method based on pre-collision active safety as claimed in claim 3, characterized in that: The actuator further includes an active rear wing. When the collision site is the front of the vehicle, before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes: The damping and stiffness of the front suspension are increased to suppress the pitching of the vehicle, and the angle of the active rear wing is adjusted to a maximum angle.

5. The vehicle control method based on pre-collision active safety as claimed in claim 4, characterized in that: After increasing the damping and stiffness of the front suspension, the vehicle control method further includes: When any one of the following conditions is met: the pitch angle of the vehicle is greater than an angle threshold, the longitudinal acceleration is less than an acceleration threshold, or a brake signal is received, the height of the front suspension and the rear suspension is adjusted, and the damping of the rear suspension is adjusted to adjust the vehicle body posture.

6. The vehicle control method based on pre-collision active safety as claimed in claim 2, characterized in that: When the collision site is on the left side or the right side of the vehicle, the performing of the pre-collision active safety operation includes: Increasing the damping of the front suspension and the rear suspension to a preset second damping value, and increasing the stiffness of the front suspension and the rear suspension to a preset second stiffness value; Based on the height of the collision target, the heights of the front suspension and the rear suspension are adjusted.

7. The vehicle control method based on pre-collision active safety as claimed in claim 6, characterized in that: The actuator further includes an active stabilizer bar, and the pre-crash active safety operation further includes increasing the stiffness of the active stabilizer bar.

8. The vehicle control method based on pre-collision active safety according to any one of claims 1 to 7, characterized in that: Before generating a collision warning based on the relative speed and relative distance between the collision target and the vehicle, the vehicle control method further includes: determining a minimum travel distance of the vehicle when braking based on the relative speed and the travel speed of the vehicle; determining a reaction delay distance based on the relative speed and the travel speed; determining a braking distance based on the minimum driving distance, the reaction delay distance, and a preset minimum stopping distance; When the braking distance is less than or equal to a preset distance threshold, a braking prompt is generated.

9. The vehicle control method based on pre-collision active safety according to any one of claims 1 to 7, characterized in that: The generating of the collision warning based on the relative speed and relative distance between the collision target and the vehicle comprises: determining a time to collision based on the relative speed and the relative distance; When the collision time is equal to a preset time threshold, a collision warning is generated.

10. The vehicle control method based on pre-collision active safety according to any one of claims 1 to 7, characterized in that: The vehicle control method further includes: When the control actuator performs the pre-crash active safety operation, in response to a vehicle stop signal or the lateral acceleration and the longitudinal acceleration of the vehicle are both less than the acceleration threshold, the control actuator ends the pre-crash active safety operation.

11. A vehicle control device based on pre-collision active safety, characterized in that: The control device includes a memory and a processor, wherein the memory stores a computer program executed by the processor, and when the computer program is executed by the processor, the device equipped with the processor executes the vehicle control method based on pre-collision active safety as described in any one of claims 1-10.

12. A storage medium, characterized in that: The storage medium stores a computer program, which runs on a computer. When the computer program is running, the computer executes the vehicle control method based on pre-collision active safety as described in any one of claims 1 to 10.

13. A vehicle, characterized in that: Includes the control device according to claim 11 or the storage medium according to claim 12.

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