Vehicle safety linkage control method and device under drilling and clamping working condition

Abstract

The invention discloses a vehicle safety linkage control method and device under a drilling and clamping working condition. If a target vehicle meeting the drilling and clamping working condition exists in front of a vehicle, in the process that the vehicle activates automatic emergency braking, the target vehicle is started; acquiring the speed of the vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle and the target longitudinal distance between the vehicle and the target vehicle; according to the vehicle speed, the vehicle speed of the target vehicle and the longitudinal deceleration of the target vehicle, the minimum safety distance between the vehicle and the target vehicle is determined; and controlling the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance. Thus, the braking efficiency of the vehicle can be judged in real time through the minimum safety distance, advanced intervention of the passive safety system is triggered for the scene where collision avoidance cannot be achieved through automatic emergency braking, and the problem that in the prior art, the linkage logic of the active safety system and the passive safety system is single is solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile control technology, and in particular to a vehicle safety linkage control method and device under a drilling and jamming condition. Background Art

[0002] The number of cars in my country is increasing, and with it comes the frequent occurrence of traffic accidents. Rear-end collisions with trucks are a type of traffic accident with more serious consequences.

[0003] The special shape of trucks often causes the front of the following car to get under the truck, which causes great harm to the driver and passengers. Passive safety technology usually works only when or after a collision occurs, so how to effectively protect the safety of the driver and passengers is a problem we need to solve. Summary of the invention

[0004] In view of the above problems, the present invention provides a vehicle safety linkage control method and device under drilling and jamming conditions, which triggers the early intervention of the passive safety system for scenarios where automatic emergency braking is not possible to avoid collisions, thereby solving the problem of single linkage logic of the active and passive safety systems in the prior art.

[0005] According to a first aspect of the present invention, a vehicle safety linkage control method under a drilling and stuck condition is provided, comprising:

[0006] If there is a target vehicle that meets the drilling and stuck condition in front of the host vehicle, the speed of the host vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle are obtained during the process of activating the automatic emergency braking of the host vehicle;

[0007] Determining a minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle;

[0008] The passive safety system of the vehicle is controlled according to the minimum safety distance and the target longitudinal distance.

[0009] Optionally, before the step of if there is a target vehicle that meets the drilling and stuck working condition in front of the vehicle, the method further includes:

[0010] After the vehicle is in a forward stable driving state, obtaining adjacent vehicles in front of the vehicle and perception information of the adjacent vehicles;

[0011] According to the perception information of the adjacent vehicles, it is determined whether there is a target vehicle that meets the drilling and stuck working condition among the adjacent vehicles.

[0012] Optionally, before the step of the vehicle being in a forward stable driving state, the method further includes:

[0013] Obtain the vehicle's steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position;

[0014] If the steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position meet the target conditions, the host vehicle is in the forward stable driving state.

[0015] Optionally, the perception information of the adjacent vehicle includes: a relative lateral distance of the adjacent vehicle to the own vehicle, a relative longitudinal distance of the adjacent vehicle to the own vehicle, and size information of the adjacent vehicle;

[0016] The step of determining whether there is a target vehicle that meets the drilling and stuck working condition among the adjacent vehicles according to the sensing information of the adjacent vehicles includes:

[0017] From the adjacent vehicles, selecting the adjacent vehicles whose relative lateral distance is less than a lateral distance threshold as target adjacent vehicles;

[0018] From the target adjacent vehicles, select the target adjacent vehicle with the smallest relative longitudinal distance and less than a longitudinal distance threshold as the target vehicle;

[0019] If the size information of the target vehicle meets the target size range, there is a target vehicle that meets the drilling and jamming conditions.

[0020] Optionally, determining the minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle includes:

[0021] According to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle, the minimum safe distance between the host vehicle and the target vehicle is determined by the following formula:

[0022]

[0023] Where d is the minimum safe distance, v r is the vehicle speed; ρ is the reaction time from the target vehicle braking to the vehicle taking braking measures, which is 0.5s; a max,accel is the maximum acceleration of the vehicle, set to 0; a min,brake is the minimum braking deceleration of the vehicle, which is 0.6g; v f is the speed of the target vehicle; a max,brake is the longitudinal deceleration of the target vehicle.

[0024] Optionally, controlling the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance includes:

[0025] comparing the minimum safety distance with the target longitudinal distance;

[0026] If the target longitudinal distance is less than or equal to the minimum safety distance, a control signal is sent to the passive safety system to control the passive safety system to make adjustments.

[0027] Optionally, the passive safety system includes airbags, seat belts and front seats;

[0028] The controlling and adjusting the passive safety system includes:

[0029] Lowering the detonation threshold of the airbag;

[0030] tightening the seat belt;

[0031] The front seats are moved backward.

[0032] According to a second aspect of the present invention, a vehicle safety linkage control device under a drilling and stuck condition is provided, comprising:

[0033] an acquisition module, for acquiring the vehicle speed of the host vehicle, the vehicle speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle during the process of activating the automatic emergency braking of the host vehicle if there is a target vehicle that meets the drilling and stuck working condition in front of the host vehicle;

[0034] A calculation module, used to determine the minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle;

[0035] A control module is used to control the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance.

[0036] According to a third aspect of the present invention, a controller is provided, the controller comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor executing the aforementioned vehicle safety linkage control method under the drilling and stuck condition.

[0037] According to a fourth aspect of the present invention, a vehicle is provided, the vehicle comprising a vehicle body and a controller installed in the vehicle body, wherein the controller executes the aforementioned vehicle safety linkage control method under the drilling and stuck condition.

[0038] The above one or more technical solutions in the embodiments of this specification have at least the following technical effects:

[0039] The embodiment of this specification provides a vehicle safety linkage control method and device under the drilling and stuck condition. If there is a target vehicle that meets the drilling and stuck condition in front of the vehicle, the speed of the vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the vehicle and the target vehicle are obtained during the activation of the automatic emergency braking of the vehicle; the minimum safety distance between the vehicle and the target vehicle is determined according to the speed of the vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle; the passive safety system of the vehicle is controlled according to the minimum safety distance and the target longitudinal distance. In this way, the braking efficiency of the vehicle can be judged in real time through the minimum safety distance. For scenes where collisions can be avoided through automatic emergency braking, the early intervention of the passive safety system is not triggered, avoiding the discomfort caused to the driver and passengers by frequent adjustments in the cabin, and increasing the riding comfort. For scenes where collisions cannot be avoided through automatic emergency braking, the early intervention of the passive safety system is triggered, which solves the problem of the single linkage logic of the active and passive safety systems in the prior art.

[0040] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the accompanying drawings, the same reference figures are used to represent the same components. In the drawings:

[0042] Figure 1 A flow chart of a vehicle safety linkage control method under a drilling and sticking condition in an embodiment of the present invention is shown.

[0043] Figure 2 A schematic diagram of target vehicle screening in an embodiment of the present invention is shown.

[0044] Figure 3 A schematic diagram showing a target vehicle in an embodiment of the present invention

[0045] Figure 4 A block diagram of a vehicle safety linkage control device under a drilling and stuck condition in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0049] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] The number of cars in my country is increasing day by day, and traffic accidents are becoming more frequent. Truck rear-end collision is a type of traffic accident with more serious consequences. Due to the special shape of trucks, the front of the rear car often drills into the bottom of the front car, causing great harm to the driver and passengers.

[0051] Passive safety technology usually works only when or after a collision occurs, while active safety technology monitors the driving environment around the vehicle in real time and can assess the potential collision risk before a collision occurs. Therefore, combining passive safety with active safety technology can effectively protect the safety of drivers and passengers.

[0052] Common active safety technologies rely on the Autonomous Emergency Braking (AEB) system, which uses the intelligent sensors on the vehicle to sense and identify the target vehicle in front of the vehicle and calculate the collision risk in real time. When there is a risk of collision, the vehicle is controlled through emergency braking to avoid or mitigate the collision.

[0053] As for the working condition of drilling under the truck (i.e., drilling and jamming condition), this embodiment links automatic emergency braking with passive safety. The AEB system recognizes and analyzes the surrounding environment, and combines the braking performance of AEB. When it determines that a rear-end collision with a truck may occur, it controls the passive safety system to intervene before the collision occurs and makes adjustments in the cabin in advance, which can effectively improve the safety of the driver and passengers in the drilling and jamming condition.

[0054] Specifically, the embodiment of the present invention provides a vehicle safety linkage control method under a drilling and stuck condition, combining Figure 1 As shown in the flowchart, the vehicle safety linkage control method under the drilling and stuck working condition includes steps 101 to 103:

[0055] Step 101: If there is a target vehicle that meets the drilling and stuck condition in front of the host vehicle, then during the process of activating the automatic emergency braking of the host vehicle, the speed of the host vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle are obtained;

[0056] In this embodiment, the host vehicle refers to the vehicle driven by the driver. The target vehicle refers to the vehicle located in front of the host vehicle and meets the drilling and jamming working conditions. Only when there is a target vehicle in front of the host vehicle, the host vehicle can activate the automatic emergency braking.

[0057] In the driving environment recognition, the vehicle of this embodiment needs to complete the driving state judgment and the target vehicle screening.

[0058] The purpose of driving state judgment is to use the vehicle position and posture information, combined with the driving state of the front and rear vehicles when the actual drilling and jamming accident occurs, to define the driving state of the vehicle and the adjacent vehicles, and use it as one of the preconditions of step 101. Because when the drilling and jamming condition occurs, the vehicle is usually in a straight-line driving or forward stable driving state with a small curvature, so it is necessary to consider the vehicle's steering wheel angle, yaw angular velocity, gear position and other information. Combined with mass production experience and analysis of actual drilling and jamming accidents, the specific steps may include:

[0059] Obtain the vehicle's steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position;

[0060] If the steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position meet the target conditions, the host vehicle is in the forward stable driving state.

[0061] The target conditions are steering wheel angle less than 30 degrees, steering wheel angular velocity less than 30° / s, yaw angular velocity less than 3° / s, lateral velocity less than 0.5m / s, and lateral acceleration less than 2m / s. 2And the gear position is N or D, then it is considered that the vehicle is in a stable forward driving state.

[0062] In this embodiment, after determining that the vehicle is in a forward stable driving state, it is also necessary to use the vehicle's perception of the adjacent vehicle (i.e., the target object) to determine the position and driving state of the adjacent vehicle relative to the vehicle. In the actual driving process, there may be vehicles in front, behind, on the left, and on the right of the vehicle. For the drilling and jamming condition, there is no need to judge the parallel vehicles and the rear vehicles in the left and right lanes (if there are left and right lanes), and only the vehicles in front of the vehicle need to be paid attention to. In other words, the vehicles in other positions are filtered out, and only the perception information of the vehicles in front of the vehicle is retained.

[0063] Target vehicle screening means that when the vehicle is in a driving scenario where a rear-end collision may occur, the adjacent vehicles sensed are further screened to identify the target vehicle that may cause the jamming condition. Figure 2 As shown, the specific steps may include:

[0064] After the vehicle is in a forward stable driving state, obtaining adjacent vehicles in front of the vehicle and perception information of the adjacent vehicles;

[0065] According to the perception information of the adjacent vehicles, it is determined whether there is a target vehicle that meets the drilling and stuck working condition among the adjacent vehicles.

[0066] The adjacent vehicle in front of the vehicle refers to the vehicle in front of the center point of the front bumper of the vehicle. The perception information includes: the relative lateral distance of the adjacent vehicle to the vehicle, the relative longitudinal distance of the adjacent vehicle to the vehicle, and the size information of the adjacent vehicle.

[0067] After the perception information of the adjacent vehicles is acquired, it may be possible to determine whether the target vehicle exists among the adjacent vehicles based on the perception information of the adjacent vehicles. The specific steps may include:

[0068] From the adjacent vehicles, selecting the adjacent vehicles whose relative lateral distance is less than a lateral distance threshold as target adjacent vehicles;

[0069] From the target adjacent vehicles, selecting the target adjacent vehicle with the smallest relative longitudinal distance as the target vehicle;

[0070] If the size information of the target vehicle meets the target size range, there is a target vehicle that meets the drilling and jamming conditions.

[0071] In this embodiment, the center of the front bumper of the vehicle is taken as the center point of the relative lateral and longitudinal distances, and adjacent vehicles located on the left and right sides of the center point whose relative lateral distances are outside the lateral distance threshold (for example, the lateral distance threshold is 3.5m) are screened out, and the remaining adjacent vehicles are the target adjacent vehicles directly in front of the vehicle.

[0072] If there are multiple target adjacent vehicles, the target adjacent vehicle with the smallest relative longitudinal distance is selected as the target vehicle, and the relative longitudinal distance of the target vehicle must also be less than the longitudinal distance threshold, which can be 1000m. If the relative longitudinal distance is too large, the possibility of rear-end collision between the vehicle and the vehicle in front is very small.

[0073] After accurately identifying the target vehicle in front, it is necessary to further determine whether the size of the target vehicle meets the size range of vehicles that can get under a vehicle. Because the AEB system usually identifies cars, pedestrians, and cyclists on the road, this embodiment sets the target size range based on whether the vehicle will get under the vehicle in front. Figure 3 As shown, if the rear width of the target vehicle identified by the sensor of this vehicle is greater than or equal to 2.5m, the height of the car body is greater than or equal to 2.5m, and the total height of the rear is greater than or equal to 3.5m, then the size information of the target vehicle meets the target size range, and there is a possibility that this vehicle will drill under the target vehicle.

[0074] Only when all the above conditions are met can the vehicle rear-end the target vehicle, and thus the vehicle can activate automatic emergency braking (i.e., AEB system).

[0075] In this embodiment, it should be noted that when the vehicle and the target vehicle rear-end collision occurs, it is generally considered that no lateral movement is involved. The collision risk at this time is related to the longitudinal distance between the front and rear vehicles and the longitudinal speeds of the two vehicles. This embodiment uses TTC (Time to Collision) to quantitatively analyze the collision risk between the vehicle and the target vehicle. TTC refers to the ratio of the distance between the front and rear vehicles to the relative speed of the two vehicles. The formula is as follows:

[0076]

[0077] Among them, s1 is the longitudinal displacement of the target vehicle, s0 is the longitudinal displacement of the host vehicle, v1 is the longitudinal speed of the target vehicle, and v0 is the longitudinal speed of the host vehicle.

[0078] According to the above formula, TTC is positively correlated with the longitudinal distance difference between the two vehicles and negatively correlated with the longitudinal speed difference between the two vehicles. Therefore, it is applicable to the situation where the distance between the two vehicles is close and there is a large longitudinal speed difference, meeting the requirements of the rear-end collision scenario. In addition, considering that the longitudinal speeds of the front and rear vehicles may be equal, the calculated TTC will become +∞ or -∞, which is not conducive to the output of the result. However, before a rear-end collision occurs, the longitudinal distance will not be 0. Therefore, this embodiment can use the reciprocal of TTC as a parameter to judge the collision risk.

[0079] When the countdown of TTC reaches the rear-end collision threshold (the rear-end collision threshold is obtained through vehicle calibration experiments), the AEB system determines that there is a risk of collision with the vehicle, the AEB function is activated, and the vehicle will perform automatic emergency braking at maximum deceleration.

[0080] It should be noted that the automatic emergency braking capability is limited. If the target vehicle brakes suddenly or the vehicle is driving too fast, it may not be able to avoid the collision completely. If there is a target vehicle in front of the vehicle that meets the drilling and jamming conditions, if the collision cannot be avoided in time, the vehicle will rear-end and drill under the target vehicle, and passive safety intervention is required. If the automatic emergency braking of the vehicle can brake in time to avoid the collision, passive safety intervention is not required.

[0081] During the activation of automatic emergency braking, the braking effectiveness of the automatic emergency braking needs to be evaluated in real time to decide whether the passive safety system needs to intervene in advance and the timing of the passive safety system's intervention.

[0082] Therefore, during the process of activating the automatic emergency braking of the host vehicle, the speed of the host vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle are obtained.

[0083] Step 102: determining a minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle;

[0084] In this embodiment, for the rear-end collision condition, the most urgent and extreme situation is that the target vehicle brakes at the maximum deceleration. After the vehicle discovers it, it has a certain reaction time. During this reaction time, the vehicle maintains the maximum acceleration and drives forward. After the driver's reaction time is reached, the vehicle decelerates and brakes at the minimum braking deceleration until the danger is eliminated. The distance is defined as the minimum safe distance, with the front of the vehicle when the target vehicle starts braking as the starting point and the rear of the target vehicle when the vehicle completes braking as the end point. When the target longitudinal distance between the vehicle and the target vehicle is always greater than the minimum safe distance, it means that a rear-end collision will not occur.

[0085] In this embodiment, after obtaining the speed of the vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle, the minimum safe distance can be calculated based on the speed of the vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle. This embodiment uses RSS (Responsibility Sensitive Safety) to calculate the minimum safe distance. When two vehicles are traveling longitudinally in the same lane, lateral movement is not considered, and the minimum safe distance between the two vehicles is calculated as follows:

[0086]

[0087] Where d is the minimum safe distance, v r is the vehicle speed; ρ is the reaction time from the target vehicle braking to the vehicle taking braking measures, which is 0.5s; a max,accel is the maximum acceleration of the vehicle, set to 0; a min,brake is the minimum braking deceleration of the vehicle, which can be in the range of 0.6-0.9g; v f is the speed of the target vehicle; a max,brake is the longitudinal deceleration of the target vehicle.

[0088] Step 103: Controlling the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance.

[0089] During the activation of automatic emergency braking, the braking efficiency is judged in real time by comparing the minimum safety distance with the target longitudinal distance. When the target longitudinal distance between the two vehicles is greater than the minimum safety distance, the vehicle can avoid the collision through automatic emergency braking. When the target longitudinal distance is less than or equal to the minimum safety distance, collision avoidance cannot be achieved by automatic emergency braking alone. The vehicle determines that a dangerous situation of jamming may occur. The vehicle will output a control signal to the passive safety system. After receiving the control signal, the passive safety system will make corresponding adjustments to achieve the combined effect of active and passive safety.

[0090] It should be noted that the passive safety system of this embodiment includes airbags, seat belts and front seats.

[0091] After receiving the control signal, the passive safety system will adjust the passive safety system based on the control model, including:

[0092] The detonation threshold of the safety airbag is reduced to advance the ignition time of the safety airbag.

[0093] Tighten the seat belts to reduce the movement of the occupants in the vehicle.

[0094] The front seats are moved backward to increase the energy absorption space at the front of the vehicle.

[0095] To sum up, a vehicle safety linkage control method under drilling and jamming conditions in this embodiment starts from the drilling and jamming conditions, takes the most dangerous traffic accidents as the key issue for active and passive safety fusion processing, identifies and screens target vehicles that may rear-end the vehicle, and evaluates the automatic emergency braking performance in real time. When the automatic emergency braking system cannot avoid collision, the passive safety system intervenes in advance and makes cabin adjustments before the vehicle collides. The applicable scenarios are clear, and the safety of drivers and passengers is maximized at the same time.

[0096] For scenarios where collisions can be avoided through the automatic emergency braking system, the passive safety system will not be triggered to intervene in advance, avoiding discomfort to drivers and passengers caused by frequent adjustments in the cabin, increasing ride comfort, and solving the problem of a single active and passive safety linkage logic under the existing strategy, in which the passive safety system intervenes immediately after the automatic emergency braking is activated.

[0097] Based on the same inventive concept, combined Figure 4 As shown, an embodiment of the present invention further provides a vehicle safety linkage control device under a drilling and stuck condition, comprising:

[0098] an acquisition module, for acquiring the vehicle speed of the host vehicle, the vehicle speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle during the process of activating the automatic emergency braking of the host vehicle if there is a target vehicle that meets the drilling and stuck working condition in front of the host vehicle;

[0099] A calculation module, used to determine the minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle;

[0100] A control module is used to control the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance.

[0101] Optionally, the acquisition module is also used to:

[0102] After the vehicle is in a forward stable driving state, obtaining adjacent vehicles in front of the vehicle and perception information of the adjacent vehicles;

[0103] According to the perception information of the adjacent vehicles, it is determined whether there is a target vehicle that meets the drilling and stuck working condition among the adjacent vehicles.

[0104] Optionally, the acquisition module is also used to:

[0105] Obtain the vehicle's steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position;

[0106] If the steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position meet the target conditions, the host vehicle is in the forward stable driving state.

[0107] Optionally, the acquisition module is also used to:

[0108] From the adjacent vehicles, selecting the adjacent vehicles whose relative lateral distance is less than a lateral distance threshold as target adjacent vehicles;

[0109] From the target adjacent vehicles, select the target adjacent vehicle with the smallest relative longitudinal distance and less than a longitudinal distance threshold as the target vehicle;

[0110] If the size information of the target vehicle meets the target size range, there is a target vehicle that meets the drilling and jamming conditions.

[0111] Optionally, the computing module is further configured to:

[0112] According to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle, the minimum safe distance between the host vehicle and the target vehicle is determined by the following formula:

[0113]

[0114] Where d is the minimum safe distance, v r is the vehicle speed; ρ is the reaction time from the target vehicle braking to the vehicle taking braking measures, which is 0.5s; a max,accel is the maximum acceleration of the vehicle, set to 0; a min,brake is the minimum braking deceleration of the vehicle, which is 0.6g; v f is the speed of the target vehicle; a max,brake is the longitudinal deceleration of the target vehicle.

[0115] Optionally, the control module is further configured to:

[0116] comparing the minimum safety distance with the target longitudinal distance;

[0117] If the target longitudinal distance is less than or equal to the minimum safety distance, a control signal is sent to the passive safety system to control the passive safety system to make adjustments.

[0118] Optionally, the control module is further configured to:

[0119] Lowering the detonation threshold of the airbag;

[0120] tightening the seat belt;

[0121] The front seats are moved backward.

[0122] In summary, the embodiment of this specification provides a vehicle safety linkage control device under the drilling and stuck condition. If there is a target vehicle that meets the drilling and stuck condition in front of the vehicle, the speed of the vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the vehicle and the target vehicle are obtained during the activation of the automatic emergency braking of the vehicle; the minimum safety distance between the vehicle and the target vehicle is determined according to the speed of the vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle; the passive safety system of the vehicle is controlled according to the minimum safety distance and the target longitudinal distance. In this way, the braking efficiency of the vehicle can be judged in real time through the minimum safety distance. For scenes where collisions can be avoided through automatic emergency braking, the early intervention of the passive safety system is not triggered, avoiding the discomfort caused to the driver and passengers by frequent adjustments in the cabin, and increasing the riding comfort. For scenes where collisions cannot be avoided through automatic emergency braking, the early intervention of the passive safety system is triggered, which solves the problem of the single linkage logic of the active and passive safety systems in the prior art.

[0123] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the vehicle safety linkage control device under the drilling and sticking condition described above can refer to the corresponding process in the aforementioned method and will not be elaborated here.

[0124] Based on the same inventive concept, an embodiment of the present invention also provides a controller, which includes a vehicle safety linkage control device under a drilling and sticking condition, a memory, a processor and a communication unit. The memory stores machine-readable instructions executable by the processor. When the controller is running, the processor and the memory communicate through a bus, the processor executes the machine-readable instructions, and executes the vehicle safety linkage control method under the drilling and sticking condition.

[0125] The memory, the processor, and the communication unit are electrically connected to each other directly or indirectly to achieve signal transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The vehicle safety linkage control device under the drilling and jamming condition includes at least one software function module that can be stored in the memory in the form of software or firmware. The processor is used to execute the executable module stored in the memory (for example, the software function module or computer program included in the vehicle safety linkage control device under the drilling and jamming condition).

[0126] Among them, the memory can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

[0127] In some embodiments, the processor is used to perform one or more functions described in this embodiment. In some embodiments, the processor may include one or more processing cores (eg, a single-core processor (S) or a multi-core processor (S)).

[0128] In this embodiment, the memory is used to store the program, and the processor is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor, or implemented by the processor.

[0129] The communication unit is used to establish a communication connection between the controller and other devices through the network, and to send and receive data through the network.

[0130] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0131] Based on the same inventive concept, an embodiment of the present invention further provides a vehicle, including a vehicle body and a controller installed in the vehicle body, wherein the controller is used to implement the aforementioned vehicle safety linkage control method under the drilling and sticking condition.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller of the vehicle described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0133] The above are only various embodiments of the present invention, but 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. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle safety linkage control method under drilling and stuck conditions, characterized in that: include: If there is a target vehicle that meets the drilling and stuck condition in front of the host vehicle, the speed of the host vehicle, the speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle are obtained during the process of activating the automatic emergency braking of the host vehicle; Determining a minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle; The passive safety system of the vehicle is controlled according to the minimum safety distance and the target longitudinal distance.

2. The method according to claim 1, characterized in that: Before the step of if there is a target vehicle that meets the drilling and stuck working condition in front of the vehicle, the method further includes: After the vehicle is in a forward stable driving state, obtaining adjacent vehicles in front of the vehicle and perception information of the adjacent vehicles; According to the sensing information of the adjacent vehicles, it is determined whether there is a target vehicle that meets the drilling and stuck working condition among the adjacent vehicles.

3. The method according to claim 2, characterized in that Before the step of the vehicle being in a forward stable driving state, the method further includes: Obtain the vehicle's steering wheel angle, steering wheel angular velocity, yaw angular velocity, lateral velocity, lateral acceleration and gear position; If the steering wheel angle, the steering wheel angular velocity, the yaw angular velocity, the lateral velocity, the lateral acceleration, and the gear position meet target conditions, the host vehicle is in the forward stable driving state.

4. The method according to claim 2, characterized in that: The perception information of the adjacent vehicle includes: a relative lateral distance of the adjacent vehicle relative to the own vehicle, a relative longitudinal distance of the adjacent vehicle relative to the own vehicle, and size information of the adjacent vehicle; The determining, based on the sensing information of the adjacent vehicles, whether there is a target vehicle that meets the drilling and stuck working condition from among the adjacent vehicles includes: From the adjacent vehicles, selecting the adjacent vehicles whose relative lateral distance is less than a lateral distance threshold as target adjacent vehicles; From the target adjacent vehicles, selecting the target adjacent vehicle with the smallest relative longitudinal distance as the target vehicle; If the size information of the target vehicle meets the target size range, there is a target vehicle that meets the drilling and jamming conditions.

5. The method according to claim 1, characterized in that Determining the minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle, and the longitudinal deceleration of the target vehicle includes: According to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle, the minimum safe distance between the host vehicle and the target vehicle is determined by the following formula: Where d is the minimum safe distance, v r is the vehicle speed; ρ is the reaction time from the target vehicle braking to the vehicle taking braking measures, which is 0.5s; a max,accel is the maximum acceleration of the vehicle, set to 0; a min,brake is the minimum braking deceleration of the vehicle, which is 0.6g; v f is the speed of the target vehicle; a max,brake is the longitudinal deceleration of the target vehicle.

6. The method according to claim 1, characterized in that The controlling the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance includes: comparing the minimum safety distance with the target longitudinal distance; If the target longitudinal distance is less than or equal to the minimum safety distance, a control signal is sent to the passive safety system to control the passive safety system to make adjustments.

7. The method according to claim 6, characterized in that The passive safety system includes airbags, seat belts and front seats; The controlling and adjusting the passive safety system includes: Lowering the detonation threshold of the airbag; tightening the seat belt; The front seats are moved backward.

8. A vehicle safety linkage control device under drilling and stuck conditions, characterized in that: include: an acquisition module, for acquiring the vehicle speed of the host vehicle, the vehicle speed of the target vehicle, the longitudinal deceleration of the target vehicle, and the target longitudinal distance between the host vehicle and the target vehicle during the process of activating the automatic emergency braking of the host vehicle if there is a target vehicle that meets the drilling and stuck working condition in front of the host vehicle; A calculation module, used to determine the minimum safe distance between the host vehicle and the target vehicle according to the speed of the host vehicle, the speed of the target vehicle and the longitudinal deceleration of the target vehicle; A control module is used to control the passive safety system of the vehicle according to the minimum safety distance and the target longitudinal distance.

9. A controller, characterized in that: The controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle safety linkage control method under the drilling and clamping condition described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle includes a vehicle body and a controller installed in the vehicle body, wherein the controller executes the vehicle safety linkage control method under the drilling and sticking condition described in any one of claims 1-7.

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