Vehicle safety system and vehicle

Abstract

The invention discloses a vehicle safety system and a vehicle, and the vehicle safety system comprises a collision pre-detection module which is used for detecting the abnormal deceleration condition in the vehicle movement process and carrying out the collision risk grade judgment; the collision detection module is used for detecting whether the vehicle is collided or not; the vehicle body control module is used for receiving signals sent by the collision pre-detection module and the collision detection module, storing the collision state of the vehicle and sending an action instruction according to the collision state of the vehicle; the door lock control module is used for receiving the action instruction sent by the vehicle body control module and controlling a door lock to be unlocked or locked according to the action instruction; and the door handle control module is used for receiving the action instruction sent by the vehicle body control module and controlling a door handle to be unfolded or folded according to the action instruction. According to the scheme, the safety coefficient of passengers in the vehicle in a collision accident can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a vehicle safety system and a vehicle. Background Art

[0002] The safety performance of automobile collision has received extensive attention. Automobile collisions are generally divided into frontal collisions, side collisions, rear collisions, rollovers, and pedestrian collisions. After a collision occurs, the car doors need to be unlocked to facilitate the escape of passengers and external rescue.

[0003] At present, when a car collides, it generally sends an unlocking command to the door motor after receiving the collision information signal, controlling the door to automatically unlock, making it easier for the passengers to escape.

[0004] However, after a collision, it is very likely that the doors of existing cars will not be able to be opened due to special circumstances, which will cause great difficulties for the escape of passengers in the vehicle and external rescue. Summary of the invention

[0005] The main technical problem solved by the present application is to provide a vehicle safety system and a vehicle, which can improve the safety factor of the passengers in the vehicle in a collision accident.

[0006] In order to solve the above-mentioned technical problems, the first aspect of the present application provides a vehicle safety system, including: a collision pre-detection module, used to detect abnormal deceleration during vehicle movement and to judge the collision risk level; a collision detection module, used to detect whether the vehicle has a collision; a body control module, used to receive signals sent by the collision pre-detection module and the collision detection module, store the collision status of the vehicle, and issue action instructions according to the collision status of the vehicle; a door lock control module, used to receive the action instructions sent by the body control module, and control the door lock to unlock or lock according to the action instructions; a door handle control module, used to receive the action instructions sent by the body control module, and control the door handle to expand or retract according to the action instructions.

[0007] Optionally, the body control module further includes an execution feedback module, and the execution feedback module is used to detect the execution status of the door lock and / or the door handle.

[0008] Optionally, detecting the execution status of the door lock and / or the door handle includes: detecting whether the door lock and / or the door handle receives the action instruction, and whether the door lock and / or the door handle executes the action instruction.

[0009] Optionally, when the door lock and / or the door handle does not receive the action command or the door lock and / or the door handle does not execute the action command, the execution feedback module will issue the action command again to drive the door lock and / or the door handle to execute the action command again until the door lock and / or the door handle successfully executes the action command.

[0010] Optionally, the abnormal deceleration condition includes: a deceleration change value of the vehicle within a preset time period is greater than a preset deceleration threshold.

[0011] Optionally, when the vehicle experiences the abnormal deceleration condition, the collision risk level is calculated according to a preset algorithm.

[0012] Optionally, the preset algorithm includes: generating the collision risk level according to a relative speed and a relative distance between the vehicle and the target and a braking distance of the vehicle.

[0013] Optionally, the collision risk level includes no collision risk, triggered collision risk, and imminent collision.

[0014] Optionally, issuing action instructions based on the collision status of the vehicle includes: when the vehicle does not have a collision risk, issuing an action instruction to keep the door lock and the door handle in a current state; when the vehicle triggers a collision risk, issuing an action instruction to keep the door lock in a current state and to extend the door handle; when the vehicle is about to collide or has already collided, issuing an action instruction to unlock the door lock and to extend the door handle.

[0015] In order to solve the above technical problems, the second aspect of the present application provides a vehicle, including the vehicle safety system as described above.

[0016] Beneficial effects of the present application: The present application sets up a collision pre-detection module, which can timely determine whether there is a collision risk and the collision risk level when an abnormal deceleration occurs during the movement of the vehicle. When it is determined that a collision is about to occur and cannot be avoided, the door lock is unlocked and the door handle is unfolded in advance, reducing the occurrence of the door lock cannot be unlocked and the door handle cannot be unfolded after the collision occurs. In addition, the body control module of the present application can store the collision state of the vehicle, that is, when the collision pre-detection module detects that the vehicle is about to collide or the collision detection module detects that the vehicle has collided, the body control module will store the collision state of the vehicle and send action instructions to the door lock control module and the door handle control module according to the collision state of the vehicle, thereby enabling the door lock to be unlocked and the door handle to be unfolded in advance, which helps the occupants escape before the collision and avoids the situation where the door lock cannot be unlocked and the door handle cannot be unfolded after the collision, thereby greatly improving the safety factor of the occupants in the vehicle in a collision accident. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the framework of an embodiment of the vehicle safety system of the present application;

[0018] Figure 2 is a flow chart of another embodiment of the vehicle safety system of the present application;

[0019] Figure 3 It is a schematic diagram of the framework of a vehicle embodiment of the present application. DETAILED DESCRIPTION

[0020] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0021] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0022] The terms "system" and "network" are often used interchangeably in this article. The term "and / or" in this article is only a description of 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. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship. In addition, "many" in this article means two or more than two.

[0023] See also Figure 1 and Figure 2 , Figure 1 1 is a schematic diagram of a framework of an embodiment of a vehicle safety system 100 of the present application. Figure 2 It is a flowchart of another embodiment of the vehicle safety system 100 of the present application.

[0024] like Figure 1 As shown, the present application provides a vehicle safety system 100 , including a collision pre-detection module 10 , a collision detection module 20 , a body control module 30 , a door lock control module 40 and a door handle control module 50 .

[0025] The collision pre-detection module 10 is used to detect abnormal deceleration during vehicle movement and to determine the collision risk level. Optionally, the abnormal deceleration includes: the change in deceleration of the vehicle within a preset time period is greater than a preset deceleration threshold.

[0026] It is worth noting that the preset duration and the preset deceleration threshold can be set according to the actual situation of the vehicle. For example, the preset duration can be 150ms, the preset deceleration threshold can be 8km / h, etc. This application does not make specific limitations here.

[0027] That is, the pre-collision detection module 10 uses the abnormal deceleration change within a specific period of time during the vehicle's movement as a pre-collision detection judgment. If it is determined that a collision is about to occur and cannot be avoided, the door locks are unlocked and the door handles are deployed in advance, thereby reducing the occurrence of situations where the door locks cannot be unlocked or the door handles cannot be deployed after a collision occurs.

[0028] Optionally, when the vehicle experiences abnormal deceleration, the collision risk level is calculated according to a preset algorithm.

[0029] Specifically, when the vehicle decelerates abnormally, it can be inferred that the vehicle has encountered an abnormal situation, and there may be a risk of collision. Therefore, a preset algorithm needs to be called to calculate the collision risk level of the vehicle. The preset algorithm in this application can be various algorithms for calculating the collision risk level of the vehicle, and this application does not make specific limitations here.

[0030] Optionally, the preset algorithm includes: generating a collision risk level according to a relative speed and a relative distance between the vehicle and the target and a braking distance of the vehicle.

[0031] Specifically, in one embodiment of the present application, the collision risk level of the vehicle can be generated based on data such as the relative speed and relative distance between the vehicle and the target, and the braking distance of the vehicle, wherein the target refers to various obstacles around the vehicle, such as other vehicles, pedestrians, roadblocks, etc.

[0032] In addition, in some embodiments of the present application, the collision risk level may be further calculated based on data such as the relative angle between the vehicle and the target, the length and width of the vehicle, and the length and width of the target.

[0033] Optionally, the collision risk level includes no collision risk, triggered collision risk, and imminent collision. That is, the collision risk level is subdivided by a preset algorithm for calculating the collision risk level, thereby reducing the occurrence of collision pre-detection errors caused by emergency braking and the like.

[0034] Specifically, in one embodiment of the present application, the collision pre-detection module 10 obtains the real-time motion state of the vehicle and determines the collision risk state level according to the deceleration change value of the vehicle within a preset time period:

[0035] Level 0 (no collision risk): deceleration change within 150ms is less than 8km / h;

[0036] Level 1 (triggering collision risk): deceleration change within 150ms 8km / h≤x≤25km / h;

[0037] Level 2 (impending collision): deceleration change within 150ms> 25km / h.

[0038] When the collision risk level of the vehicle is Level 2 (collision is about to occur), it is further determined whether the time required for the collision to occur is greater than or equal to the time required to complete the collision unlocking (including door lock unlocking and door handle unfolding), and whether the distance between the vehicle and the target is less than or equal to the safe distance of the vehicle's maximum braking capacity. If the time required for the collision to occur is greater than or equal to the time required to complete the collision unlocking, and the distance between the vehicle and the target is less than or equal to the safe distance of the vehicle's maximum braking capacity, it means that the vehicle will collide and the vehicle has enough time to complete the collision unlocking (including door lock unlocking and door handle unfolding) operation before the collision. At the same time, the collision pre-detection module 10 will send a signal to the body control module 30:

[0039] Y (the time required for Level 2 to detect a collision) ≥ X (the time required to complete collision unlocking);

[0040] Z (the distance between the vehicle and the target) ≤ the safe distance of the vehicle's maximum braking capacity.

[0041] The collision judgment provided by the collision pre-detection module 10 is an algorithmic calculation judgment on the occurrence of the collision event. The actual collision risk level calculation needs to take into account the differences between different vehicles, including the setting and the actual required door lock drive response and door handle drive response time, which can be set according to the specific circumstances of the actual vehicle.

[0042] It is worth noting that the collision pre-detection module 10 can be a single independent processing module or integrated into a suitable controller for judgment and processing, for example, it can be integrated into a body control function association module or an ADAS (Advanced Driver Assistance System) intelligent driving association module for judgment and processing.

[0043] The collision detection module 20 is used to detect whether a collision occurs with the vehicle.

[0044] Specifically, in one embodiment of the present application, the collision detection module 20 can detect whether the vehicle actually collides through real-time sensing data from various sensors installed on the vehicle, and send a corresponding collision status signal to the body control module 30 as a basis for judging whether an actual collision of the vehicle has occurred.

[0045] It is worth noting that the collision detection module 20 may be an airbag controller or any control unit that can actually detect the occurrence of a vehicle collision, and this application does not make any specific limitation here.

[0046] The body control module 30 is used to receive signals from the collision pre-detection module 10 and the collision detection module 20, store the collision state of the vehicle, and issue action instructions according to the collision state of the vehicle.

[0047] Specifically, the body control module 30 processes the signals sent by the collision pre-detection module 10 and the collision detection module 20, stores and memorizes the signals received and sends corresponding door lock and door handle action instructions to the door lock control module 40 and the door handle control module 50 according to the status of the signals received, and determines and records the execution status of the feedback door lock control module 40 and the door handle control module 50.

[0048] That is, the present application predicts the risk level of collision, performs corresponding response actions after determining the risk level of collision, and stores the collision status of the collision pre-detection module 10. If the subsequent collision detection module 20 detects that a collision actually occurs, it executes the corresponding collision action and stores the actual collision status. The process monitoring before and after the collision is achieved by detecting and judging the "prediction + actual" collision, and the collision status of the vehicle is stored. Even if the vehicle loses power or restarts during movement, it can be guaranteed that the unlocking action is performed according to the stored value in the storage module after recovery until the vehicle status meets the expected unlocking state, avoiding possible power-off clearing situations.

[0049] It is worth noting that the body control module 30 can be various forms of body domain associated controllers, such as a body controller, a regional controller, a body domain controller, and a door module.

[0050] In a specific embodiment of the present application, the collision pre-detection module 10 feeds back the detected collision risk level to the body control module 30 in real time, and the body control module 30 issues an action instruction according to the collision risk level, as follows:

[0051] When the collision pre-detection module 10 determines that the collision risk level is Level 0 (no collision risk), because the vehicle does not have a collision risk at this time, the body control module 30 will not issue an action command, and the door lock and door handle remain in the current state.

[0052] When the collision pre-detection module 10 determines that the collision risk level is Level 1 (triggering collision risk), the vehicle has a certain collision risk at this time, but the collision risk level is not high. Therefore, the body control module 30 issues an action instruction of "the door handle is driven to unfold and the door lock maintains the current state". At this time, the door handle executes the action of driving to unfold and the door lock maintains the current state.

[0053] When the collision pre-detection module 10 determines that the collision risk level is Level 2 (imminent collision), at this time, the vehicle has a high collision risk. Therefore, the body control module 30 issues an action instruction of "drive and deploy the door handle, and the door lock performs unlocking". At this time, the door handle performs the action of driving and deploying, and the door lock performs the action of unlocking.

[0054] Meanwhile, the body control module 30 stores the collision risk level of the vehicle in the storage unit.

[0055] It should be noted that the general driving and completion time of the door handle is longer than that of the door lock. The collision is an event triggered in a shorter time. Therefore, when the collision risk level is Level 1 (collision risk triggered), the vehicle can deploy the door handle in advance to avoid the inability to complete the deployment due to insufficient driving time. Meanwhile, if Level 2 or an actual collision is not triggered after Level 1 is triggered, the door handle can be retracted again after the vehicle speed reaches a set value.

[0056] In addition, in an embodiment of the present application, the body control module 30 further includes an execution feedback module (not shown). The execution feedback module is used to detect the execution status of the door lock and / or the door handle, including: detecting whether the door lock and / or the door handle receive the action instruction, and whether the door lock and / or the door handle execute the action instruction.

[0057] Specifically, when the collision pre-detection module 10 determines that there is no collision risk and the collision detection module 20 does not detect a collision, at this time, the body control module 30 does not issue an action instruction, and the door lock control module 40 and the door handle control module 50 maintain the current actual state.

[0058] When the collision pre-detection module 10 detects that the vehicle is about to collide or the collision detection module 20 detects that the vehicle has collided, at this time, the body control module 30 issues an action instruction and uses the execution feedback module to record the execution status. At this time, if the door lock control module 40 and the door handle control module 50 respond normally and execute the action instruction, the body control module 30 will clear the stored collision status.

[0059] When the door lock and / or the door handle do not receive the action instruction or the door lock and / or the door handle do not execute the action instruction, the execution feedback module will issue the action instruction again to drive the door lock and / or the door handle to execute the action instruction again until the door lock and / or the door handle successfully execute the action instruction.

[0060] That is, when the collision pre-detection module 10 detects that a vehicle is about to collide or the collision detection module 20 detects that a vehicle has collided, the body control module 30 will issue an action command and use the execution feedback module to record the execution status. At this time, if the feedback status is "collision not responded or collision response execution not completed" due to an abnormality, the body control module 30 will issue an action command again until the response is normally completed and then clear the stored collision status. Since there is a possibility that the collision pre-detection module 10 fails or the collision pre-detection module 10 is effective but the unlocking fails due to the loss of battery power, this application stores the collision pre-detection and actual collision detection statuses in memory, and further combines the actual statuses of the vehicle's door locks and door handles to ensure execution and re-judgment after the power is restored, so as to ensure that the vehicle is in an ideal escape and rescue state with the door locks unlocked and the door handles deployed after a collision occurs.

[0061] More specifically, in an embodiment of the present application, the body control module 30 not only needs to implement the memory storage and response control of the collision status, but also needs to monitor the actual execution situation of the whole process and handle the abnormal situations that occur during the actual execution process in a targeted manner.

[0062] Specifically, there is an EEPROM ("Electrically Erasable Programmable read only memory", electrically erasable programmable read-only memory) module inside the body control module 30 that is not cleared when the power is off and is used for storage functions. When receiving a collision signal sent by the collision pre-detection module 10 or the collision detection module 20, for example, the status flag sent by the collision pre-detection module 10 is collision status A, and the status flag sent by the collision detection module 20 is collision status B, the body control module 30 memorizes the two received collision statuses in the register unit EEPROM.

[0063] Furthermore, in addition to performing corresponding collision unlocking and deployment responses when a vehicle collides, it is necessary to additionally judge the collision status stored in the EEPROM. That is, when collision status A indicates that the vehicle is about to collide or collision status B indicates that a collision has occurred, an action command to execute door lock unlocking and door handle deployment is sent, and then the collision execution status is recorded through the feedback status of the door locks and door handles. If an abnormal situation such as abnormal power loss of the vehicle causes the action command not to be executed, the body control module 30 will classify the execution status and then judge whether to issue an action command again.

[0064] Among them, the collision execution status can be further divided into:

[0065] 1. Collision not responded: A collision signal is received, but the corresponding control response has not been executed yet;

[0066] 2. Collision response execution completed: the collision signal is received and the corresponding control response is completed;

[0067] 3. Collision response execution is not completed: A collision signal is received, and the corresponding control has been executed but the action execution is not completed.

[0068] It is worth noting that the division of collision execution status can be determined according to the actual situation of the vehicle, not limited to the feedback status of the door locks and door handles, but can also be comprehensively judged by detecting the driving current of the door locks and door handles, controlling the driving time, etc. When the collision execution status feedback is "no collision response" or "collision response execution is not completed", the action command is reissued until the execution is completed.

[0069] Furthermore, in a specific embodiment of the present application, when the collision execution status feedback is "no collision response", it is necessary to determine whether the current state of the door lock and door handle has met the requirements. If the current state of the door lock and door handle has met the requirements, the collision state in the storage unit is restored to normal, and it is deemed that the response to this collision is completed. If the current state of the door lock and door handle still does not meet the requirements, the collision state in the storage unit is not cleared, the judgment of the collision state is maintained, and an action instruction is issued again, and then the state of the door lock and door handle is judged again, until the action instruction is completed and the collision state in the storage unit is restored to normal.

[0070] In one embodiment of the present application, the body control module 30 issues action instructions based on the collision status of the vehicle, including: when the vehicle does not have a collision risk, issuing an action instruction to keep the door locks and door handles in the current state; when the vehicle triggers a collision risk, issuing an action instruction to keep the door locks in the current state and extend the door handles; when the vehicle is about to collide or has already collided, issuing an action instruction to unlock the door locks and extend the door handles.

[0071] The door lock control module 40 is used to receive the action command sent by the body control module 30 and control the door lock to unlock or lock according to the action command.

[0072] Specifically, after receiving the action command issued by the body control module 30, the door lock control module 40 will execute the action command of the body control module 30, that is, control the door lock to unlock or lock. That is, when the collision pre-detection module 10 detects that the vehicle is about to collide or the collision detection module 20 detects that the vehicle has already collided, the body control module 30 will issue a control command to unlock the door lock. At this time, the door lock control module 40 will execute the command to unlock the door lock, which can facilitate the escape of the occupants in the vehicle, thereby improving the safety factor of the occupants in the vehicle in a collision accident.

[0073] The door handle control module 50 is used to receive the action command sent by the body control module 30, and control the door handle to expand or retract according to the action command.

[0074] Specifically, after receiving the action command from the body control module 30, the door handle control module 50 will execute the action command from the body control module 30, that is, control the door handle to expand or retract. That is, when the collision pre-detection module 10 detects that the vehicle is about to collide or the collision detection module 20 detects that the vehicle has already collided, the body control module 30 will issue a control command to expand the door handle. At this time, the door handle control module 50 will execute the command to expand the door handle, which can facilitate the escape of the occupants in the vehicle, thereby improving the safety factor of the occupants in the vehicle in a collision accident.

[0075] In summary, the present application sets up a collision pre-detection module 10, which can timely determine whether there is a collision risk and the collision risk level when an abnormal deceleration occurs during the movement of the vehicle. When it is determined that a collision is about to occur and cannot be avoided, the door lock is unlocked and the door handle is unfolded in advance, thereby reducing the occurrence of the situation where the door lock cannot be unlocked and the door handle cannot be unfolded after the collision occurs. In addition, the body control module 30 of the present application can store the collision state of the vehicle, that is, when the collision pre-detection module 10 detects that the vehicle is about to collide or the collision detection module 20 detects that the vehicle has collided, the body control module 30 will store the collision state of the vehicle and send action instructions to the door lock control module 40 and the door handle control module 50 according to the collision state of the vehicle, thereby enabling the door lock to be unlocked and the door handle to be unfolded in advance, which helps the occupants escape before the collision and avoids the situation where the door lock cannot be unlocked and the door handle cannot be unfolded after the collision, thereby greatly improving the safety factor of the occupants in the vehicle in a collision accident.

[0076] See also Figure 3 , Figure 3 It is a schematic diagram of the framework of an embodiment of a vehicle 200 of the present application.

[0077] In order to solve the above technical problems, the present application also provides a vehicle 200, including the vehicle safety system 100 as described above.

[0078] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0079] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only 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 system, 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, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0081] 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.

[0082] 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 computer-readable storage medium. Based on this understanding, the technical solution 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. A vehicle safety system, characterized in that: include: The collision pre-detection module is used to detect abnormal deceleration during vehicle movement and determine the collision risk level; A collision detection module, used to detect whether the vehicle has collided; a body control module, configured to receive signals from the collision pre-detection module and the collision detection module, store the collision state of the vehicle, and issue an action instruction according to the collision state of the vehicle; A door lock control module, used for receiving the action instruction sent by the body control module, and controlling the door lock to unlock or lock according to the action instruction; The door handle control module is used to receive the action instruction sent by the body control module and control the door handle to expand or retract according to the action instruction.

2. The vehicle safety system according to claim 1, characterized in that: The body control module also includes an execution feedback module, The execution feedback module is used to detect the execution status of the door lock and / or the door handle.

3. The vehicle safety system according to claim 2, characterized in that: The detecting the execution status of the door lock and / or the door handle includes: Detect whether the door lock and / or the door handle receives the action instruction, and whether the door lock and / or the door handle executes the action instruction.

4. The vehicle safety system according to claim 3, characterized in that: When the door lock and / or the door handle does not receive the action instruction or the door lock and / or the door handle does not execute the action instruction, the execution feedback module will issue the action instruction again to drive the door lock and / or the door handle to execute the action instruction again until the door lock and / or the door handle successfully executes the action instruction.

5. The vehicle safety system according to claim 1, characterized in that: The abnormal deceleration conditions include: The deceleration change value of the vehicle within a preset time period is greater than a preset deceleration threshold.

6. The vehicle safety system according to claim 5, characterized in that: When the vehicle has the abnormal deceleration condition, the collision risk level is calculated according to a preset algorithm.

7. The vehicle safety system according to claim 6, characterized in that: The preset algorithm includes: The collision risk level is generated according to a relative speed and a relative distance between the vehicle and a target and a braking distance of the vehicle.

8. The vehicle safety system according to claim 1, characterized in that: The collision risk levels include no collision risk, triggered collision risk, and imminent collision.

9. The vehicle safety system according to claim 8, characterized in that: The issuing of an action instruction according to the collision state of the vehicle comprises: When there is no collision risk for the vehicle, issuing an action instruction for the door lock and the door handle to maintain the current state; When the vehicle triggers a collision risk, an action instruction is issued for the door lock to maintain a current state and the door handle to unfold; When the vehicle is about to collide or has collided, an action instruction is issued to unlock the door lock and unfold the door handle.

10. A vehicle, characterized in that: Comprising a vehicle safety system as described in any one of claims 1-9.

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