In-vehicle article collision risk detection method, vehicle controller and vehicle

Abstract

The invention provides an in-vehicle article collision risk detection method, a vehicle controller and a vehicle. The method comprises the steps that in the driving process of a vehicle, attribute information of an article hung in a cabin of the vehicle is obtained, and the attribute information comprises the weight and / or the volume of the article; information of a road where the vehicle is located currently and driving information are obtained, and the driving information comprises the driving speed and the steering wheel turning angle of the vehicle; on the basis of the road information and the driving information, predicting a vehicle shaking coefficient after a preset duration; according to the attribute information of the article and the vehicle shake coefficient, a collision risk coefficient of the article is determined, and the collision risk coefficient represents the risk that the article collides with people in the vehicle or other objects in the vehicle. According to the invention, the risk that the object collides with people or other objects near the object under the condition that the object hung in the cabin shakes can be warned.

Description

Technical Field

[0001] The present application relates to the technical field of collision risk avoidance, and in particular to a method for detecting collision risks of objects within a vehicle, a vehicle controller and a vehicle. Background Art

[0002] With the popularization of vehicles, more and more families, companies, etc. choose to travel by car. When traveling, families or companies often need to carry a variety of items, and there may be a situation where items are hung in the cabin of the vehicle.

[0003] However, during the driving of the vehicle, there is a possibility that the objects hanging in the cabin may shake, and the shaking of the objects may cause the risk of collision to people or other objects near the objects in the vehicle. Summary of the invention

[0004] In view of the above, the embodiments of the present application provide a method for detecting the risk of collision of items inside a vehicle, a vehicle controller and a vehicle, which can solve the problem in the prior art that it is impossible to determine whether the shaking of items inside the vehicle during driving will cause the risk of collision with people or other objects.

[0005] An embodiment of the present application provides a method for detecting collision risks of items in a vehicle, the method comprising: obtaining attribute information of items suspended in a cabin of the vehicle during driving of the vehicle, the attribute information including the weight and / or volume of the items; obtaining information about the road and driving information on which the vehicle is currently located, wherein the driving information includes the driving speed and steering wheel angle of the vehicle; based on the road information and the driving information, predicting a vehicle sway coefficient after a preset period of time; and determining a collision risk coefficient of the item based on the attribute information of the item and the vehicle sway coefficient, wherein the collision risk coefficient represents the risk of the item colliding with a person in the vehicle or other objects in the vehicle.

[0006] The method for detecting the collision risk of items in a vehicle according to an embodiment of the present application, after obtaining the attribute information, road information and driving information of the item, first determines the vehicle shaking system of the item during the vehicle driving process based on the road information and driving information to obtain the shaking amplitude of the item. Then, a more accurate collision risk coefficient is determined based on the attribute information and the vehicle shaking coefficient. This facilitates determining the risk of the current item colliding with a person or other object in the vehicle based on the collision risk coefficient.

[0007] In some embodiments, at least one cabin hook is provided in the cabin, and the cabin hook includes a retractable pull rope, and the retractable pull rope is used to adjust the distance between the object and a preset plane; after determining the collision risk coefficient of the object, the method further includes: when the collision risk coefficient is greater than a preset risk threshold, issuing a collision warning message, and / or adjusting the current first pull rope length of the retractable pull rope.

[0008] In some embodiments, the cockpit hook also includes a hook base, and the retractable pull rope is wound around the outer peripheral side of the hook base; the adjusting of the current first pull rope length of the retractable pull rope includes: obtaining an adjustment length matching the collision risk coefficient; obtaining the circumference of the outer peripheral side of the hook base; taking the quotient of the adjustment length and the circumference as the number of rotations, and controlling the retractable pull rope to rotate around the hook base the number of rotations to adjust the first pull rope length.

[0009] In some embodiments, after controlling the retractable pull rope to rotate the number of times around the hook base to adjust the first pull rope length, it also includes: using the adjusted first pull rope length as the second pull rope length; calculating the first product between the attribute information, the second pull rope length and the vehicle sway coefficient; using the first difference between the first product and the first coefficient as the new collision risk coefficient, or using the second difference between the second product between the first product and the second coefficient and the first coefficient as the new collision risk coefficient; when the new collision risk coefficient is not greater than the preset risk threshold, controlling the length of the retractable pull rope to be the second pull rope length.

[0010] In some embodiments, determining the collision risk coefficient of the object based on the attribute information of the object and the vehicle sway coefficient includes: calculating the third product between the attribute information, the first pull rope length and the vehicle sway coefficient; using the third difference between the third product and the first coefficient as the collision risk coefficient, or using the fourth difference between the fourth product between the third product and the second coefficient and the first coefficient as the collision risk coefficient.

[0011] In some embodiments, the road information includes multiple road conditions; the prediction of the vehicle sway coefficient after a preset time period based on the road information and the driving information includes: obtaining the simulated sway coefficient of the vehicle in different simulation scenarios and after the preset time period, wherein there are multiple simulation scenarios, each of which corresponds to a simulated sway coefficient, and the simulation scenarios are scenarios in which the vehicle is simulated driving on different road conditions under different driving information; determining a target simulation scenario that matches the road information and the driving information currently located by the vehicle from the multiple simulation scenarios; and using the simulated sway coefficient corresponding to the target simulation scenario as the vehicle sway coefficient.

[0012] In some embodiments, before determining the collision risk coefficient of the item based on the attribute information weight of the item and the vehicle sway coefficient, the method also includes: detecting whether the attribute information weight is within a preset attribute range and detecting whether the vehicle sway coefficient is within a preset coefficient range; determining the collision risk coefficient of the item based on the attribute information weight of the item and the vehicle sway coefficient includes: determining the collision risk coefficient based on the attribute information weight and the vehicle sway coefficient when one or both of the attribute information weight is detected to be within the preset attribute range and the vehicle sway coefficient is within the preset coefficient range.

[0013] In some embodiments, after detecting whether the attribute information weight is within a preset attribute range and detecting whether the vehicle sway coefficient is within a preset coefficient range, the method further includes: issuing an attribute non-compliance reminder when it is detected that the attribute information weight is greater than an upper threshold of the preset attribute range.

[0014] An embodiment of the present application also provides a vehicle controller, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the vehicle controller executes the above-mentioned in-vehicle object collision risk detection method.

[0015] An embodiment of the present application also provides a vehicle, which stores computer instructions. When the computer instructions are executed on a vehicle controller, the vehicle controller executes the above-mentioned method for detecting the risk of collision of objects in the vehicle.

[0016] The above-mentioned vehicle controller and vehicle both correspond to the above-mentioned method for detecting the risk of collision of objects in the vehicle. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1This is a schematic diagram of the structure of a cockpit hook provided according to an embodiment of the present application.

[0018] Figure 2 The present invention is a flowchart of a method for detecting collision risk of objects in a vehicle according to an embodiment of the present application.

[0019] Figure 3 for Figure 1 A simplified diagram of the cockpit hook being connected to the inside of the vehicle.

[0020] Figure 4 For personnel located Figure 1 A simplified structural diagram of the cockpit near the cockpit hook.

[0021] Figure 5 This is another step flow chart of a method for detecting collision risk of objects in a vehicle provided according to an embodiment of the present application.

[0022] Figure 6 A schematic diagram of the structure of a vehicle controller provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the implementation methods of the present application and the features in the implementation methods can be combined with each other without conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all the implementations.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0026] It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0027] In this application, "at least one" means one or more, and "more" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0028] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0029] With the popularization of vehicles, more and more families, companies, etc. choose to travel by car. When families or companies travel, they often need to carry a variety of items and hang items on the cockpit hooks in the vehicle.

[0030] However, during the driving process of the vehicle, the objects hanging in the cabin may shake due to the different roads and driving conditions of the vehicle at different times. The shaking of the objects may cause the risk of collision to people or other objects near the objects in the vehicle.

[0031] like Figure 1 The figure shows a simplified structural diagram of a cabin hook according to an embodiment of the present application. The cabin hook is arranged in the cabin, and is used to hang objects. The cabin hook comprises a hook base 1, a hook tongue 2, a retractable pull rope 3 and a driving member (not shown). One end of the retractable pull rope 3 is fixedly connected to the hook base 1, and the other end is fixedly connected to the hook tongue 2. The driving member drives the retractable pull rope 3 to be wound around the outer peripheral side of the hook base 1, so that the retractable pull rope 3 is used to adjust the distance between the object and the preset plane. Specifically, the driving member drives the retractable pull rope 3 to be wound around the outer peripheral side of the hook base 1 along the rotation direction. The preset plane may be the bottom surface of the vehicle cabin or the ground plane.

[0032] In this embodiment, the cockpit hook also has a weighing function, that is, when an object is hung on the hook tongue 2, the cockpit hook can automatically obtain the weight of the hung object. Among them, the object hung on the cockpit hook can be a pendant ornament, food or clothing, etc.

[0033] In order to solve the above problems, an embodiment of the present application provides a method for detecting the risk of collision of objects in a vehicle, which can be applied to a vehicle. Specifically, the method for detecting the risk of collision of objects in a vehicle is applied to a vehicle controller of the vehicle. At least one cockpit hook can be set in the cockpit. For example, a cockpit hook can be set near each of the four seats, or only near the rear seats.

[0034] The number and position of the cockpit hooks can be set according to the actual needs of hanging items, and this application does not limit it.

[0035] The vehicle may be a fuel vehicle, a new energy vehicle or an engineering vehicle, etc., and the present application does not limit the type of specific vehicle to which the method is applied.

[0036] The following is a detailed description of the specific steps of the method for detecting the risk of collision of objects in the vehicle. Figure 2 , Figure 2 This is a flowchart of the steps of an embodiment of the in-vehicle object collision risk detection method of the present application. According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. The in-vehicle object collision risk detection method can include the following steps.

[0037] Step 101: Acquire attribute information of items suspended in the cabin of the vehicle while the vehicle is traveling.

[0038] In some embodiments, during the driving process of a vehicle, the swing amplitude of an item hung on a hook in the cabin of the vehicle is different due to different road conditions, driving speeds, and attribute information of the item in different time periods. Therefore, the attribute information of the item hung on the hook in the cabin is obtained so that the shaking of the item can be determined based on the attribute information.

[0039] The attribute information may include the weight of the item. In this embodiment, since the cockpit hook has a weighing function, after the user hangs the item on the cockpit hook, the cockpit hook can weigh the weight of the item. In other embodiments, the attribute information may also include the volume of the item. The present application does not limit the specific content of the attribute information. When the attribute information includes the volume, an image acquisition component disposed in the vehicle may acquire an image containing the item and send the image to the vehicle controller. The vehicle controller processes the image to obtain the volume of the item. The image acquisition component may be a camera component.

[0040] It should be noted that the above is only an example of a method for obtaining the weight or volume of an item. If there are other methods for obtaining the weight or volume of an item, the specific value of the weight or volume can also be obtained by other methods. This application does not limit the method for obtaining the specific value of the weight or volume.

[0041] Step 102: Obtain the current road information and driving information of the vehicle.

[0042] In this embodiment, the road information includes multiple road conditions. The multiple road conditions include uphill conditions, downhill conditions, speed bump conditions, bumpy conditions, curved road conditions, roundabout conditions, tunnel conditions, congested conditions, and rainy, snowy, and foggy conditions. In other embodiments, the road conditions may also include construction section conditions, etc. The present application does not limit the specific content of the road conditions.

[0043] The driving information represents the driving speed and steering wheel angle of the vehicle. Specifically, the steering wheel angle includes a left turn state, a straight state, and a right turn state.

[0044] In this embodiment, a forward-view acquisition component and an electronic stability system are provided in the vehicle, and both the forward-view acquisition component and the electronic stability system are communicatively connected to the vehicle controller. The forward-view acquisition component can acquire road images or videos in the direction of travel of the vehicle, and obtain road information by performing image analysis on the road images or videos. The electronic stability system can directly obtain the driving information of the vehicle.

[0045] Step 103: predict the vehicle sway coefficient after a preset time period based on the road information and the driving information.

[0046] In this embodiment, the vehicle sway coefficient represents the sway amplitude of the object. In order to predict the vehicle sway coefficient after a preset time, the vehicle can be simulated in multiple simulation scenarios to obtain multiple simulated sway coefficients. Based on multiple simulation scenarios, multiple simulated sway coefficients, and road information and driving information during the actual driving of the vehicle, the vehicle sway coefficient after a preset time is predicted. The preset time can be 3 seconds or 5 seconds.

[0047] A possible specific step may include: obtaining a simulated sway coefficient of the vehicle in different simulation scenarios and after a preset time. There are multiple simulation scenarios, each of which corresponds to a simulated sway coefficient, and the simulation scenario is a scenario in which the vehicle is simulated to travel on different road conditions under different driving information. A target simulation scenario matching the current road information and driving information of the vehicle is determined from the multiple simulation scenarios. The simulated sway coefficient corresponding to the target simulation scenario is used as the vehicle sway coefficient.

[0048] In this embodiment, the multiple simulation scenarios are scenarios obtained by combining multiple road simulation conditions and multiple driving simulation information. Among them, the multiple road simulation conditions correspond to the aforementioned multiple road conditions. That is, the multiple simulation scenarios include uphill conditions, downhill conditions, speed bump conditions, bumpy conditions, curved conditions, roundabout conditions, tunnel conditions, congested conditions, and rainy, snowy, and foggy conditions. The multiple driving simulation information corresponds to the aforementioned multiple driving information. That is, the multiple driving simulation information includes information obtained by combining multiple driving speeds and multiple steering wheel directions.

[0049] For example, simulation scene 1 is an uphill road condition, a driving speed of 1 and a left turn; simulation scene 2 is a bumpy road condition, a driving speed of 2 and a straight state...

[0050] In this embodiment, the simulated sway coefficients of the vehicle in simulation scene 1, simulation scene 2, etc., after a preset time are obtained. In this way, the simulated sway coefficient corresponding to each simulation scene can be obtained. During the actual driving of the vehicle, based on the current road information and driving information of the vehicle, a target simulation scene corresponding to the current road information and driving information of the vehicle is matched from multiple simulation scenes. Finally, the simulated sway coefficient corresponding to the target simulation scene is the vehicle sway coefficient.

[0051] Step 104: Determine a collision risk coefficient of the object based on the attribute information of the object and the vehicle sway coefficient, wherein the collision risk coefficient represents the risk of the object colliding with a person in the vehicle or other objects in the vehicle.

[0052] (1) Before executing this step, it is necessary to detect the attribute information and the vehicle sway coefficient, and determine whether to execute this step according to the detection result. The step of detecting the attribute information and the vehicle sway coefficient includes: detecting whether the attribute information is within a preset attribute range and detecting whether the vehicle sway coefficient is within a preset coefficient range. When it is detected that at least one of the attribute information is within the preset attribute range and the vehicle sway coefficient is within the preset coefficient range, the collision risk coefficient is determined according to the attribute information and the vehicle sway coefficient.

[0053] In this embodiment, the attribute information includes weight, and the preset attribute range includes a preset total amount range. Whether the weight is within the preset weight range and whether the vehicle sway coefficient is within the preset coefficient range are detected. When at least one of the weight being within the preset weight range and the vehicle sway coefficient being within the preset coefficient range is detected, the collision risk coefficient is determined according to the weight and the vehicle sway coefficient.

[0054] In other embodiments, the current first drawstring length of the retractable drawstring is obtained, and at the same time, whether the weight is within a preset weight range, whether the first drawstring length is within a preset length range, and whether the vehicle sway coefficient is within a preset coefficient range are detected. When at least one of the weight being within the preset weight range, the first drawstring length being within the preset length range, and the vehicle sway coefficient being within the preset coefficient range is detected, the collision risk coefficient is determined according to the weight, the first drawstring length, and the vehicle sway coefficient.

[0055] In other embodiments, if the attribute information includes volume, and the preset attribute range includes a preset volume range, then it is detected whether the volume is within the preset volume range and whether the vehicle sway coefficient is within the preset coefficient range. When it is detected that at least one of the volume is within the preset volume range and the vehicle sway coefficient is within the preset coefficient range, the collision risk coefficient is determined according to the volume and the vehicle sway coefficient.

[0056] Alternatively, it is simultaneously detected whether the volume is within a preset volume range, whether the length of the first pull rope is within a preset length range, and whether the vehicle sway coefficient is within a preset coefficient range. When it is detected that at least one of the volume is within the preset volume range, the length of the first pull rope is within the preset length range, and the vehicle sway coefficient is within the preset coefficient range, the collision risk coefficient is determined according to the volume, the length of the first pull rope, and the vehicle sway coefficient.

[0057] When at least one of the weight being within the preset weight range and the vehicle sway coefficient being within the preset coefficient range is detected, it indicates that the object is shaking, which may cause a collision risk to persons or objects near the cabin hook, and a collision risk coefficient needs to be determined.

[0058] In this embodiment, the left and right endpoint values ​​of the preset weight range are determined according to the result of whether objects of different weights cause collision risks to people or objects located near the cockpit hook when simulating the vehicle in step 103. Similarly, the left and right endpoint values ​​of the preset length range and the left and right endpoint values ​​of the preset coefficient range are determined in the same manner as the left and right endpoint values ​​of the preset weight range. The present application does not limit the specific values ​​of the left and right endpoints of the preset weight range, the specific values ​​of the left and right endpoints of the preset length range, and the specific values ​​of the left and right endpoints of the preset coefficient range.

[0059] Furthermore, when it is detected that the attribute information is greater than an upper threshold of a preset attribute range, an attribute non-compliance reminder is issued.

[0060] For example, when the attribute information includes weight, if the weight is greater than the upper threshold of the preset weight range, it indicates that the item is too heavy and may damage the cabin hook, thereby injuring people or objects near the cabin hook. In this case, it is necessary to issue an attribute non-compliance reminder in time to remind the user to place the item in another location. The method of issuing the attribute non-compliance reminder may be an audio-visual reminder or a vibration reminder.

[0061] When the weight detected is less than the lower threshold of the preset weight range, it indicates that the object is light and no matter how it shakes, it will not cause a collision risk to people or objects near the cockpit hook.

[0062] Similarly, when the attribute information includes volume, a test will be performed between the volume and the preset volume range, and based on the test results, it will be determined whether to issue an attribute non-compliance reminder.

[0063] When the vehicle sway coefficient is less than the lower threshold of the preset coefficient range, it indicates that the sway amplitude of the object is very small and there is no risk of collision with people or objects near the cabin hook.

[0064] (2) The step of determining the collision risk coefficient of the object according to the attribute information of the object and the vehicle sway coefficient includes: calculating a third product of the attribute information, the length of the first pull rope, and the vehicle sway coefficient, and using a third difference between the third product and the first coefficient as the collision risk coefficient, or using a fourth difference between a fourth product between the third product and the second coefficient and the first coefficient as the collision risk coefficient.

[0065] In this embodiment, when the attribute information includes weight, the third product between the weight, the length of the first draw rope and the vehicle sway coefficient is calculated. The third difference between the third product and the first coefficient is used as the collision risk coefficient. Alternatively, the fourth difference between the fourth product between the third product and the second coefficient and the first coefficient is used as the collision risk coefficient. Among them, the first coefficient can be 1.2 or 1.5, and the second coefficient can be 1.8 or 2. The specific values ​​of the first coefficient and the second coefficient are not limited in this application, and the specific values ​​of the first coefficient and the second coefficient can be adjusted according to the actual collision risk detection situation.

[0066] In other embodiments, when the attribute information includes volume, a third product between the volume, the first pull rope length, and the vehicle sway coefficient is calculated. A third difference between the third product and the first coefficient is used as the collision risk coefficient. Alternatively, a fourth difference between a fourth product between the third product and the second coefficient and the first coefficient is used as the collision risk coefficient.

[0067] After determining the collision risk coefficient of the object, in order to avoid the situation where the existing objects cause collision damage to the people or other objects in the car when the collision risk coefficient is large, it is necessary to further detect whether the collision risk coefficient is greater than the preset risk threshold. When the collision risk coefficient is greater than the preset risk threshold, it indicates that the object is shaking with a large amplitude, and the risk of causing a collision to the people or objects near the cockpit hook is also large. In order to avoid the object colliding with people or other objects, it is necessary to issue a collision warning message, and / or adjust the current first rope length of the retractable rope 3. Among them, the collision warning information can be issued by means of sound, light or vibration reminders. For example, the collision warning information is issued by means of the central control screen or audio of the dashboard in the vehicle, or by means of vibration of the steering wheel, seat, etc. to remind the user that there is a possibility of a collision warning. This application does not limit the method of issuing a collision warning message.

[0068] For example, the first pull cord length of the retractable pull cord 3 is reduced so that the length after the first pull cord length of the retractable pull cord 3 is reduced is less than the first preset length. Alternatively, the first pull cord length of the retractable pull cord 3 is increased so that the length after the first pull cord length of the retractable pull cord 3 is increased is greater than the second preset length. The second preset length is greater than the first preset length.

[0069] The specific steps for adjusting the length of the retractable pull cord 3 to prevent objects from causing collision damage to people or other objects in the vehicle are described below, and will not be repeated here.

[0070] It should be noted that, as mentioned above, when it is necessary to detect whether the length of the first pull rope is within the preset length range, it is necessary to first determine the endpoint value of the preset length range. In this embodiment, the preset length range includes a first preset length and a second preset length, the first preset length is the left endpoint of the preset length range, and the second preset length is the right endpoint of the preset length range.

[0071] When the length of the first pull rope is detected to be greater than the second preset length, it indicates that the distance between the object and the chassis of the vehicle is the shortest, and no matter how the object shakes, it will not cause a collision risk to the person or object near the cockpit hook. On the contrary, when the length of the first pull rope is detected to be less than the first preset length, it indicates that the distance between the object and the chassis of the vehicle is the farthest, and no matter how the object shakes, it will not cause a collision risk to the person or object near the cockpit hook.

[0072] Furthermore, in order to calculate the specific values ​​of the first preset length and the second preset length, it is necessary to first determine a plurality of center points. Figure 3 and Figure 4The center point of the connection surface between the hook base 1 and the vehicle is taken as the first center point, the center point of the torso of the person in the cabin closest to the cabin hook is taken as the second center point, and the center point of the person's head is taken as the third center point.

[0073] In this embodiment, a driver monitoring system and a cockpit monitoring system are also provided in the vehicle. The driver monitoring system is used to collect images or videos containing the driver and the cockpit hook, and by performing image analysis on the images or videos containing the driver and the cockpit hook, the center point of the driver's body in the driving cockpit and the center point of the connection surface between the hook base 1 and the vehicle are obtained. The cockpit monitoring system is used to collect images or videos containing vehicle passengers and the cockpit hook, and by performing image analysis on the images or videos containing vehicle passengers and the cockpit hook, the center point of the body of the person in other cockpits and the center point of the connection surface between the hook base 1 and the vehicle are obtained.

[0074] The step of obtaining the first preset length includes: calculating a first distance between the first center point and the third center point, and taking the sum of the first distance and the first preset distance as the first preset length. The first preset distance may be 7 cm, 7.5 cm, 8 cm, or 8.5 cm. The specific value of the first preset distance is determined according to the volume of the person's head and the volume of the hook base.

[0075] The step of obtaining the second preset length includes: calculating a second distance between the first center point and the second center point, and taking the sum of the second distance and the second preset distance as the second preset length. The second preset distance may be 8 cm, 8.5 cm, 9 cm or 9.5 cm. The specific value of the second preset distance is determined according to the volume of the torso of the person and the volume of the hook base.

[0076] Compared with the prior art, this embodiment has at least the following advantages: First, after obtaining the attribute information, road information and driving information of the object, a target simulation scene corresponding to the road information and driving information of the vehicle during actual driving is matched from multiple simulation scenes, and the simulated sway coefficient corresponding to the target simulation scene is used as the vehicle sway coefficient, and the sway amplitude of the object is determined by the vehicle sway coefficient. Then, when it is detected that at least one of the attribute information is within the preset attribute range and the vehicle sway coefficient is within the preset coefficient range, it indicates that when the object is shaking, it will cause a collision risk to the person or object near the cockpit hook, and the collision risk coefficient needs to be determined. Finally, when the collision risk coefficient is greater than the preset risk threshold, it indicates that the current object is at a greater risk of colliding with a person or object. In order to avoid the object colliding with a person or object, the length of the retractable pull rope needs to be adjusted in time to improve the safety of people and objects.

[0077] See also Figure 5 , Figure 5 Another flow chart of the method for detecting the collision risk of objects in a vehicle provided in an embodiment of the present application. This embodiment is a detailed description after determining the collision risk coefficient. The steps for determining the collision risk coefficient can refer to Figure 2 The relevant content description of the embodiments of this application will not be repeated again.

[0078] Step 201: When the collision risk coefficient is greater than a preset risk threshold, obtain an adjustment length that matches the collision risk coefficient.

[0079] In some embodiments, when the collision risk coefficient is greater than a preset risk threshold, it indicates that the object is shaking with a large amplitude, and the risk of causing a collision with a person or object near the cockpit hook is also large. In order to prevent the object from colliding with a person or other object, it is necessary to adjust the length of the retractable pull cord 3. In this embodiment, the example of reducing the length of the retractable pull cord 3 to prevent the object from causing a collision risk with a person or other object in the vehicle is used for explanation.

[0080] In this embodiment, when simulating a vehicle, when there is a risk that an item will cause a collision with a person or object near the cockpit hook, the length of the retractable rope 3 can be adjusted so that, at the adjusted length of the retractable rope 3, the item hung on the cockpit hook will not cause a collision risk with the person or object. Adjusting the length of the retractable rope 3 is the adjustment length.

[0081] Among them, the preset risk threshold can be 0. In other embodiments, the preset risk threshold can also be 0.5. The present application does not limit the specific value of the preset risk threshold. The specific value of the preset risk threshold can be confirmed according to the degree of damage caused by the collision risk to people or objects.

[0082] In some embodiments, when the collision risk coefficient is not greater than the preset risk threshold, it indicates that the shaking amplitude of the object is small and will not cause a collision with a person or other object near the cabin hook. That is, there is no need to adjust the length of the retractable pull rope 3.

[0083] Step 202: Obtain the circumference of the outer peripheral side of the hook base, and use the quotient of the adjusted length and the circumference as the number of rotations.

[0084] In this embodiment, the quotient of the adjustment length and the circumference may be rounded down or rounded up to obtain data as the number of rotations.

[0085] Step 203: Control the number of times the retractable pull rope rotates around the hook base to adjust the length of the first pull rope.

[0086] In this embodiment, the retractable pull rope 3 is controlled to rotate around the hook base in a preset direction for a number of times to reduce the length of the first pull rope.

[0087] In other embodiments, the retractable pull rope 3 may be controlled to rotate around the hook base a number of times in a preset direction to increase the length of the first pull rope.

[0088] Step 204: Use the adjusted first pull rope length as the second pull rope length.

[0089] In some embodiments, after adjusting the length of the pull rope, how to determine whether the object will still cause a collision risk to a person or object near the cabin hook after adjusting the length of the retractable pull rope 3. For example, it is necessary to first obtain the second pull rope length of the retractable pull rope 3 after reducing the first pull rope length, so that a new collision risk coefficient can be determined based on the second pull rope length. Alternatively, it is necessary to first obtain the second pull rope length of the retractable pull rope 3 after increasing the first pull rope length, so that a new collision risk coefficient can be determined based on the second pull rope length.

[0090] Step 205: Calculate a first product of the attribute information, the second pull rope length, and the vehicle sway coefficient.

[0091] That is, the product of the attribute information, the second rope length, and the vehicle sway coefficient is taken as the first product.

[0092] Step 206: Use a first difference between the first product and the first coefficient as a new collision risk coefficient, or use a second difference between a second product between the first product and the second coefficient and the first coefficient as a new collision risk coefficient.

[0093] As described above, the first coefficient may be 1.2 or 1.5, and the second coefficient may be 1.8 or 2. The present application does not limit the specific values ​​of the first coefficient and the second coefficient, and the specific values ​​of the first coefficient and the second coefficient may be adjusted according to the actual collision risk detection situation.

[0094] Step 207: When the new collision risk coefficient is not greater than the preset risk threshold, control the length of the retractable rope to be a second rope length.

[0095] When the new collision risk coefficient is not greater than the preset risk threshold, it indicates that the object will not cause a collision risk to a person or object, and there is no need to adjust the current length of the retractable pull cord 3, that is, control the length of the retractable pull cord 3 to be the second pull cord length.

[0096] When the new collision risk coefficient is greater than the preset risk threshold, a new adjustment length matching the new collision risk coefficient is obtained again, and the rope length of the retractable rope 3 is adjusted again based on the new adjustment length, until the calculated new collision risk coefficient is not greater than the preset risk threshold, and the length of the retractable rope 3 is controlled to be a new second rope length.

[0097] It should be noted that the way to adjust the length of the retractable drawstring 3 again should be the same as the way to adjust the length of the retractable drawstring 3 last time. That is, when the way to adjust the length of the drawstring for the first time is to reduce the length of the retractable drawstring 3, the way to adjust the length of the drawstring for the second time also needs to be controlled to reduce the length of the retractable drawstring 3.

[0098] Compared with the prior art, this embodiment has at least the following advantages: After determining the collision risk coefficient, it is necessary to detect whether the collision risk coefficient is greater than the preset risk threshold, and determine whether the item will cause a collision with the person or other objects in the car based on the detection result. When the collision risk coefficient is greater than the preset risk threshold, it indicates that the current item has a greater risk of colliding with a person or object. In order to avoid the item colliding with a person or object, it is necessary to adjust the length of the pull rope in time, and recalculate the new collision risk coefficient based on the adjusted second pull rope length. Detect again whether the new collision risk coefficient is greater than the preset risk threshold, and determine whether the item will cause a collision with the person or other objects in the car based on the new detection result. Until the new collision risk coefficient is not greater than the preset risk threshold, it indicates that no matter how the item shakes, it will not cause a collision with the person or other objects in the car. At this time, the length of the retractable pull rope is controlled to be the second pull rope length. Thereby, the safety of the people and other objects in the car is improved.

[0099] like Figure 6 As shown, the embodiment of the present application also provides a schematic diagram of the hardware structure of a vehicle controller. The vehicle controller may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above method in the vehicle controller.

[0100] It is understood that the structure illustrated in this embodiment does not constitute a specific limitation on the vehicle controller. In other embodiments, the vehicle controller may include more or fewer components than shown, or combine some components, or separate some components, or arrange the components differently.

[0101] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor 1001 (application processor, AP), a modem, a graphics processor 1001 (graphics processing unit, GPU), an image signal processor 1001 (image signal processor, ISP), a controller, a video codec, a digital signal processor 1001 (digital signal processor, DSP), a baseband processor 1001, and / or a neural-network processing unit 1001 (neural-network processing unit, NPU), etc. Among them, different processing units may be independent devices, or may be integrated in one or more processors 1001.

[0102] The processor 1001 may also be provided with a memory 1002 for storing instructions and data. In some embodiments, the memory 1002 in the processor 1001 is a cache memory 1002. The memory 1002 may store instructions or data that the processor 1001 has just used or cyclically used. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory 1002. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0103] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0104] In some embodiments, processor 1001 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

[0105] In some embodiments, the memory 1002 may include a high-speed random access memory 1002, and may also include a non-volatile memory 1002, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage 1002 piece, a flash memory device, or other volatile solid-state storage 1002 piece.

[0106] This embodiment also provides a vehicle in which computer instructions are stored. When the instructions are executed on a vehicle controller, the vehicle controller executes the above-mentioned related method steps to implement the method in the above-mentioned embodiment.

[0107] Among them, the vehicle controller and vehicle provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0108] In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0109] In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. 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. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0110] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0111] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0112] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0113] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A method for detecting collision risk of objects in a vehicle, characterized in that: The method comprises: During the driving of the vehicle, acquiring attribute information of an object suspended in the cabin of the vehicle, the attribute information including the weight and / or volume of the object; Acquiring the current road information and driving information of the vehicle, wherein the driving information includes the driving speed and steering wheel angle of the vehicle; Based on the road information and the driving information, predicting a vehicle sway coefficient after a preset time period; A collision risk coefficient of the object is determined according to the attribute information of the object and the vehicle sway coefficient, wherein the collision risk coefficient represents the risk of the object colliding with a person in the vehicle or other objects in the vehicle.

2. The method for detecting the risk of collision of objects in a vehicle according to claim 1, characterized in that: At least one cabin hook is provided in the cabin, and the cabin hook includes a retractable drawstring, and the retractable drawstring is used to adjust the distance between the object and the preset plane; after determining the collision risk coefficient of the object, the method further includes: When the collision risk coefficient is greater than a preset risk threshold, a collision warning message is issued, and / or the current first pull rope length of the retractable pull rope is adjusted.

3. The method for detecting the risk of collision of objects in a vehicle according to claim 2, characterized in that: The cockpit hook further includes a hook base, and the retractable pull rope is wound around the outer peripheral side of the hook base; and the step of adjusting the current first pull rope length of the retractable pull rope includes: Acquiring an adjustment length matching the collision risk coefficient; Obtaining the circumference of the outer peripheral side of the hook base; The quotient of the adjustment length and the circumference is taken as the number of rotations, and the retractable pull cord is controlled to rotate around the hook base by the number of rotations to adjust the length of the first pull cord.

4. The method for detecting the risk of collision of objects in a vehicle according to claim 3, characterized in that: After controlling the retractable pull cord to rotate around the hook base for the number of rotations to adjust the length of the first pull cord, the method further includes: Using the adjusted length of the first drawstring as the length of the second drawstring; Calculating a first product of the attribute information, the second pull rope length, and the vehicle sway coefficient; using a first difference between the first product and the first coefficient as the new collision risk coefficient, or using a second difference between a second product between the first product and the second coefficient and the first coefficient as the new collision risk coefficient; When the new collision risk coefficient is not greater than the preset risk threshold, the length of the retractable pull rope is controlled to be the second pull rope length.

5. The method for detecting collision risk of objects in a vehicle according to claim 2, characterized in that: The determining the collision risk coefficient of the object according to the attribute information of the object and the vehicle sway coefficient includes: calculating a third product of the attribute information, the first pull rope length, and the vehicle sway coefficient; A third difference between the third product and the first coefficient is used as the collision risk coefficient, or a fourth difference between a fourth product between the third product and the second coefficient and the first coefficient is used as the collision risk coefficient.

6. The method for detecting the risk of collision of objects in a vehicle according to any one of claims 1 to 5, characterized in that: The road information includes a variety of road conditions; the predicting of the vehicle sway coefficient after a preset time period based on the road information and the driving information includes: Acquire a simulated sway coefficient of the vehicle in different simulation scenarios and after the preset time period, wherein there are multiple simulation scenarios, each of which corresponds to a simulated sway coefficient, and the simulation scenarios are scenarios in which the vehicle is simulated to be traveling on different road conditions under different driving information; Determine a target simulation scene that matches the road information and the driving information currently located by the vehicle from the plurality of simulation scenes; The simulated sway coefficient corresponding to the target simulation scene is used as the vehicle sway coefficient.

7. The method for detecting the risk of collision of objects in a vehicle according to any one of claims 1 to 5, characterized in that: Before determining the collision risk coefficient of the object according to the attribute information weight of the object and the vehicle sway coefficient, the method further includes: Detecting whether the attribute information weight is within a preset attribute range and detecting whether the vehicle sway coefficient is within a preset coefficient range; The step of determining the collision risk coefficient of the object according to the attribute information weight of the object and the vehicle sway coefficient includes: When it is detected that one or both of the attribute information weight is within the preset attribute range and the vehicle sway coefficient is within the preset coefficient range, the collision risk coefficient is determined according to the attribute information weight and the vehicle sway coefficient.

8. The method for detecting collision risk of objects in a vehicle according to claim 7, characterized in that: After detecting whether the attribute information weight is within a preset attribute range and detecting whether the vehicle sway coefficient is within a preset coefficient range, the method further includes: When it is detected that the attribute information weight is greater than the upper threshold of the preset attribute range, an attribute non-compliance reminder is issued.

9. A vehicle controller, characterized in that: The vehicle controller includes a processor and a memory, the memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the vehicle controller executes the in-vehicle object collision risk detection method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that: The vehicle stores computer instructions, and when the computer instructions are executed on a vehicle controller, the vehicle controller executes the in-vehicle object collision risk detection method according to any one of claims 1 to 8.

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