Vehicle control method and vehicle

Abstract

The invention discloses a vehicle control method and a vehicle, and the vehicle control method comprises the following steps: obtaining road condition information; according to the road condition information, whether the vehicle has a lateral collision risk or not is judged; if the lateral collision risk exists, a side collision strategy is executed, and the side collision strategy specifically comprises the steps that the vehicle is controlled to steer so as to change the collision area of the vehicle. According to the control method of the vehicle, the collision area is reduced, or the collision range of the passenger compartment is reduced, the protection effect on passengers is improved, and the control flexibility is also improved so as to cope with different collision positions.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a vehicle control method and a vehicle. Background Art

[0002] With the increase in car users, there are more and more vehicles on the road, and the frequency of traffic accidents is also increasing. Therefore, the driving and passenger protection performance of the vehicle is one of the issues that car users are concerned about.

[0003] In the related art, when the front and rear ends of a vehicle are hit during driving, both the front and rear ends of the vehicle have energy-absorbing space to protect the occupants. However, when the side of the vehicle is hit, the energy-absorbing space on the side of the vehicle is small, which reduces the protection effect on the occupants and makes the occupants more vulnerable to injury. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a vehicle control method, which improves the protection of passengers and the flexibility of control to cope with different collision positions by changing the collision area, reducing the collision area, or reducing the impact range of the passenger compartment.

[0005] Another object of the present invention is to provide a vehicle controlled by the above-mentioned vehicle control method.

[0006] A vehicle control method according to a first embodiment of the present invention comprises the following steps: Get traffic information; Determining whether the vehicle has a risk of side collision according to the road condition information; If there is a risk of side collision, the side collision strategy is executed, and the side collision strategy specifically includes: The vehicle is controlled to steer to change a collision zone of the vehicle.

[0007] According to the vehicle control method of the present invention, when the risk of a lateral collision is detected, the collision area is changed by controlling the vehicle steering to reduce the collision area, or reduce the range of the vehicle passenger compartment directly impacted, thereby effectively reducing the range of the occupants in the vehicle passenger compartment directly impacted, improving the protection of the occupants in the vehicle, and reducing the degree of injury to the occupants. In addition, the flexibility of control is also improved to cope with different collision positions, further improving the protection effect of the occupants.

[0008] According to some embodiments of the present invention, controlling the steering of the vehicle to change the collision area of ​​the vehicle specifically includes: Determining, based on the road condition information, an expected collision area between the vehicle and a vehicle traveling sideways; The vehicle is controlled to turn toward a collision side or a non-collision side according to the expected collision area.

[0009] According to some embodiments of the present invention, controlling the vehicle to turn toward the collision side or the non-collision side according to the expected collision area specifically includes: When the expected collision area is the first area, controlling the vehicle to rotate toward the non-collision side; When the expected collision area is a second area, the vehicle is controlled to rotate toward the collision side, wherein the first area is located behind the second area.

[0010] According to some embodiments of the present invention, when the expected collision area is the second area, controlling the vehicle to rotate toward the collision side specifically includes: When the expected collision area is the first sub-area, controlling the vehicle to decelerate, and controlling the vehicle to rotate toward the collision side before the collision; When the expected collision area is the second sub-area, controlling the vehicle to rotate toward the collision side before the collision; The first sub-region is located behind the second sub-region.

[0011] According to some embodiments of the present invention, a rectangular coordinate system is established with one end point of the collision side of the rear of the vehicle as the origin, the length direction of the vehicle as the x-axis, and the width direction of the vehicle as the y-axis. The side coordinate of the door of the vehicle close to the rear of the vehicle close to the rear of the vehicle is (X 1 , 0), the coordinates of the midpoint of the front of the sideways vehicle are (X, Y), the sideways vehicle and the vehicle are expected to collide after time T, and the speed of the vehicle is V 0 ; when When , the expected collision area is the first area; when , the expected collision area is the second area.

[0012] According to some embodiments of the present invention, the coordinates of the side of the door of the vehicle close to the head of the vehicle close to the head of the vehicle are (X 2 , 0), when When , the expected collision area is the first sub-area; when When , the expected collision area is the second sub-area, The first sub-region is located behind the second sub-region.

[0013] According to some embodiments of the present invention, when the expected collision area is the first area, the vehicle is controlled to rotate toward the non-collision side by a first angle θ 1 ; When the expected collision area is the second area, the vehicle is controlled to rotate toward the collision side by a second angle θ 2 , Wherein, the width of the vehicle is W 0 , the distance between the vehicle and the lane line on the collision side is D 1 , the distance between the vehicle and the lane line on the non-collision side is D 2 , the θ 1 ,θ 2 , D 1 , D 2 and W 0 satisfy: ,or, .

[0014] According to some embodiments of the present invention, the side collision strategy further specifically includes adjusting a suspension height of the vehicle.

[0015] According to some embodiments of the present invention, adjusting the suspension height of the vehicle specifically includes: When the vehicle turns toward the non-collision side, the height of the non-collision side suspension is increased, and the height of the collision side suspension is decreased; When the vehicle turns toward the collision side, the height of the collision side suspension is increased, and the height of the non-collision side suspension is decreased.

[0016] According to some embodiments of the present invention, the side collision strategy further specifically includes controlling a seat belt of the vehicle to apply a pre-tensioning force.

[0017] According to some embodiments of the present invention, controlling the seat belt of the vehicle to apply a pre-tensioning force specifically includes: While controlling the steering of the vehicle, controlling the seat belt to apply a first pre-tightening force; If the vehicle collides, the seat belt is controlled to apply a second pre-tensioning force.

[0018] According to some embodiments of the present invention, the side collision strategy further specifically includes: The brake lights of the vehicle are turned on to alert the vehicles behind.

[0019] According to some embodiments of the present invention, judging whether the vehicle has a side collision risk according to the road condition information specifically includes: According to the road condition information, determining whether the motion trajectory of the sideways vehicle coincides with the motion trajectory of the vehicle; If they overlap, there is a risk of side collision; If they do not overlap, there is no risk of a side collision.

[0020] According to some embodiments of the present invention, a rectangular coordinate system is established with one end point of the collision side of the rear of the vehicle as the origin, the length direction of the vehicle as the x-axis, and the width direction of the vehicle as the y-axis. The road condition information includes the vehicle information and the lateral driving information, and the vehicle information includes the speed V of the vehicle 0 , the length of the vehicle is L 0 The lateral driving information includes the coordinates of the midpoint of the front of the lateral driving vehicle (X, Y), the speed V of the lateral driving vehicle 1 , the width W of the sideways vehicle 1 , the sideways vehicle and the vehicle are expected to collide after time T; , , , When the X, Y, V 0 , T, L 0 , W 1 、V 1 When equations (1), (2) and (3) are satisfied at the same time, there is a risk of side collision.

[0021] According to some embodiments of the present invention, before executing the side collision strategy, the method further includes: If there is a risk of side collision, determining whether the vehicle can avoid it; If the vehicle can avoid, executing the avoidance strategy; If the vehicle cannot evade, the collision strategy is executed.

[0022] According to some embodiments of the present invention, the avoidance strategy specifically includes steering or accelerating avoidance.

[0023] According to some embodiments of the present invention, the road condition information includes the front vehicle information, and the front vehicle information includes the distance D between the vehicle and the front vehicle, the speed V of the front vehicle, and the distance D between the vehicle and the front vehicle. 2 , When the avoidance strategy specifically includes acceleration avoidance, the acceleration avoidance specifically includes: when , the vehicle cannot accelerate to avoid; when , then the vehicle can accelerate to avoid; Among them, the expected collision area length ΔL when the vehicle collides with the side-moving vehicle, and the braking distance S of the vehicle after acceleration.

[0024] According to some embodiments of the present invention, when the avoidance strategy specifically includes steering avoidance, the steering avoidance specifically includes: Determine whether there is an obstacle on the non-collision side; If there is no obstacle, the vehicle turns to avoid it; If there is the obstacle, it is determined whether the vehicle can avoid the obstacle.

[0025] According to some embodiments of the present invention, determining whether the vehicle can avoid the obstacle specifically includes: The driving path of the vehicle is planned according to the current driving speed of the vehicle and the relative position of the vehicle and the obstacle to determine whether the vehicle can avoid the obstacle.

[0026] The vehicle according to the second embodiment of the present invention is controlled by using the control method of the vehicle according to the first embodiment of the present invention.

[0027] According to some embodiments of the invention, the vehicle comprises: Control module; A detection system, the detection system communicates with the control module, and the detection system detects driving information of the vehicle and road condition information when the vehicle is driving; a suspension system in communication with the control module; a travel system, the travel system communicating with the control module; A steering system is in communication with the control module.

[0028] According to some embodiments of the present invention, the detection system comprises: A camera, the camera is in communication with the control module, and the camera is suitable for detecting road condition information when the vehicle is traveling; an acceleration sensor, the acceleration sensor communicating with the control module, the acceleration sensor being used to detect the speed of the vehicle; A collision sensor is communicated with the control module, and the collision sensor is used to identify a collision signal of the vehicle.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a vehicle control method according to an embodiment of the present invention; Figure 2 is a schematic diagram of a collision between a vehicle and a side-moving vehicle according to an embodiment of the present invention, wherein the expected collision area is the first area; Figure 3 is a schematic diagram of a collision between a vehicle and a side-moving vehicle according to an embodiment of the present invention, wherein the expected collision area is the second area; Figure 4 is a schematic diagram of coordinates of a vehicle and a vehicle traveling sideways according to an embodiment of the present invention; Figure 5 is a schematic diagram of turning to a first angle and a second angle when a vehicle collides with a side-moving vehicle according to an embodiment of the present invention; Figure 6 is a schematic diagram of a suspension system for a vehicle according to an embodiment of the present invention, wherein the expected collision area is a first area; Figure 7 is a schematic diagram of a suspension system for a vehicle according to an embodiment of the present invention, wherein the expected collision area is the second area; Figure 8 is a schematic diagram of a safety belt of a vehicle according to an embodiment of the present invention; Fig. 9 1 is a schematic diagram of a suspension system after a vehicle collides with a side vehicle according to an embodiment of the present invention; Fig.10 is a schematic diagram of a vehicle, a lateral vehicle and an obstacle according to an embodiment of the present invention; Fig.11 is a schematic diagram of a vehicle according to an embodiment of the present invention.

[0031] Reference numerals: 100. Vehicles; 101. Suspension system; 102. Safety belt; 103. Control system; 104. detection system; 1041. camera; 1043. collision sensor; 106. Steering system; 200, sideways driving; 300, Traffic ahead; 1. The first area; 2. Second area; 21. First sub-area; 22. Second sub-area; 3. Lane lines; 4. Obstacles. DETAILED DESCRIPTION

[0032] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Figure 1-Figure 10 A control method of the vehicle 100 according to an embodiment of the first aspect of the present invention will be described.

[0033] like Figure 1-Figure 3 As shown, the control method of the vehicle 100 according to the first embodiment of the present invention includes the following steps: Get traffic information; Determine whether the vehicle 100 has a risk of side collision according to the road condition information; If there is a risk of side collision, the side collision strategy is implemented. The side collision strategy specifically includes: The vehicle 100 is controlled to steer to change the collision area of ​​the vehicle 100 .

[0034] Combination Figure 1-Figure 3 During the driving process of the vehicle 100, it is necessary to obtain road information, and determine whether the sideways vehicle 200 will collide with the vehicle 100 according to the obtained road information. If there is a risk of sideways collision, the vehicle 100 is controlled to execute the side collision strategy, that is, the collision area of ​​the vehicle 100 is changed by controlling the steering of the vehicle 100, that is, the vehicle 100 turns around on the spot. Therefore, when a collision occurs, the sideways vehicle 200 is automatically controlled to collide with the area of ​​the vehicle 100 to reduce the collision area, and the range of the passenger compartment of the vehicle 100 that is directly impacted is as small as possible, or the passenger compartment of the vehicle 100 is avoided, thereby effectively reducing the range of the occupants in the passenger compartment of the vehicle 100 that are directly impacted, improving the protection of the occupants in the vehicle 100, and reducing the degree of injury to the occupants. In addition, during actual driving, the position where the vehicle 100 is hit by the side-moving vehicle 200 is not fixed. By controlling the steering of the vehicle 100, the collision area of ​​the vehicle 100 can be changed to cope with the non-fixed collision position, thereby improving the flexibility in dealing with collisions and effectively protecting users.

[0035] According to the control method of the vehicle 100 of the present invention, when a risk of collision is detected, the collision area is changed by controlling the steering of the vehicle 100 to reduce the collision area, or reduce the range of the passenger compartment of the vehicle 100 that is directly impacted, thereby effectively reducing the range of the occupants in the passenger compartment of the vehicle 100 that are directly impacted, thereby improving the protection of the occupants in the vehicle 100 and reducing the degree of injury to the occupants. In addition, the flexibility of control is also improved to cope with different collision positions, further improving the protection effect on the occupants.

[0036] According to some embodiments of the present invention, referring to Figure 1-Figure 3 , controlling the vehicle 100 to turn to change the collision area of ​​the vehicle 100 specifically includes: According to the road condition information, the expected collision area between the vehicle 100 and the side-moving vehicle 200 is determined; The vehicle 100 is controlled to turn toward the collision side or the non-collision side according to the expected collision area.

[0037] For example, in Figure 1-Figure 3 In the example, the road condition information includes the size and speed of the vehicle 100 itself, as well as the size and speed of the side-moving vehicle 200 itself. The position where the side-moving vehicle 200 hits the vehicle 100 is determined in combination with the road condition information, that is, the expected collision area. The turning direction of the vehicle 100 is determined based on the expected collision area. The vehicle 100 can turn in the direction from which the side-moving vehicle 200 is coming, that is, turning toward the collision side. The vehicle 100 can also turn in the opposite direction from which the side-moving vehicle 200 is coming, that is, turning toward the non-collision side. Therefore, the steering of the vehicle 100 can be determined based on the specific position of the pre-collision area, thereby further improving the control flexibility of the vehicle 100 when responding to a collision, thereby further reducing the collision area, or avoiding the passenger compartment of the vehicle 100, and effectively further protecting the occupants in the vehicle 100. The road condition information is not limited to this.

[0038] According to some embodiments of the present invention, referring to Figure 2-Figure 4 According to the expected collision area, controlling the vehicle 100 to turn toward the collision side or the non-collision side specifically includes: When the expected collision area is the first area 1, the vehicle 100 is controlled to rotate toward the non-collision side; When the expected collision area is the second area 2 , the vehicle 100 is controlled to rotate toward the collision side, wherein the first area 1 is located behind the second area 2 .

[0039] For example, when the expected collision area is the first area 1, the expected collision position is at the rear side of the vehicle 100 (eg Figure 2 and Figure 4 When the sideways vehicle 200 hits the rear of the vehicle 100, the vehicle 100 turns to the non-collision side so that the collision position after the collision avoids the passenger compartment of the vehicle 100 to protect the occupants. When the expected collision area is the second position, the expected collision position is in the middle and front of the side of the vehicle 100 (as shown in FIG. Figure 3 and Figure 4 As shown in the figure, that is, when the sideways vehicle 200 hits the middle or head of the vehicle 100, the vehicle 100 turns to the collision side so that the collision position after the collision avoids the passenger compartment of the vehicle 100 to protect the occupants. Therefore, after the vehicle 100 is hit at different collision positions, it can avoid the passenger compartment of the vehicle 100 to achieve a better protection effect on the occupants in the vehicle 100.

[0040] According to some embodiments of the present invention, referring to Figure 3 and Figure 4When the expected collision area is the second area 2, controlling the vehicle 100 to rotate toward the collision side specifically includes: When the expected collision area is the first sub-area 21, the vehicle 100 is controlled to decelerate, and before the collision, the vehicle 100 is controlled to turn toward the collision side; When the expected collision area is the second sub-area 22, the vehicle 100 is controlled to rotate toward the collision side before the collision; The first sub-region 21 is located behind the second sub-region 22 .

[0041] For example, in Figure 3 and Figure 4 In the example of , when the expected collision area is the first sub-area 21, that is, when the expected collision position is in the middle of the vehicle 100, the vehicle 100 is controlled to decelerate so that the expected collision position of the vehicle 100 is forward compared with the original speed, that is, the expected collision position is adjusted to be located at the head of the vehicle 100, and the vehicle 100 is controlled to rotate toward the collision side before the collision to avoid the passenger compartment of the vehicle 100 during the collision, thereby protecting the occupants in the passenger compartment. When the expected collision area is the second sub-area 22, that is, when the expected collision position is at the head of the vehicle 100, the vehicle 100 is controlled to rotate toward the collision side before the collision to avoid the passenger compartment of the vehicle 100 during the collision, thereby protecting the occupants in the passenger compartment. In addition, the expected collision area is further subdivided, which further improves the ability of the vehicle 100 to effectively respond to the position of random collisions, thereby reducing the range of the collision area or avoiding the passenger compartment, thereby improving the flexibility and usability of the control method of the vehicle 100.

[0042] According to some embodiments of the present invention, referring to Figure 4 A rectangular coordinate system is established with one end point of the collision side of the rear end of the vehicle 100 as the origin, the length direction of the vehicle 100 as the x-axis, and the width direction of the vehicle 100 as the y-axis. The coordinate of the side of the door of the vehicle 100 near the rear of the vehicle 100 near the rear of the vehicle 100 is (X 1 , 0), the coordinates of the midpoint of the front of the lateral vehicle 200 are (X, Y), the lateral vehicle 200 and the vehicle 100 are expected to collide after time T, and the speed of the vehicle 100 is V 0 ; when When , the expected collision area is the first area 1; when When , the expected collision area is the second area 2.

[0043] For example, in Figure 4In the example, the example of the sideways vehicle 200 colliding with the vehicle 100 from the left side is used for explanation. The direct coordinate system established takes the rear end point on the left side of the vehicle 100 as the origin, the left-right direction as the x-axis, and the front-back direction as the y-axis. The origin is established at the time when the vehicle 100 detects that the sideways vehicle 200 and the vehicle 100 are expected to collide after time T. The side coordinate of the rear door of the vehicle 100 near the rear of the vehicle 100 is (X 1 , 0).

[0044] After time T, along the x-axis direction, the difference between the X value of the center point of the front of the side-moving vehicle 200 and the distance traveled by the vehicle 100 in time T is less than or equal to X 1 When , the expected collision area is the first area 1, that is, after time T, the sideways vehicle 200 hits the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the rear end of the vehicle 100, that is, the first area is the area between the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the rear end of the vehicle 100.

[0045] After time T, along the x-axis direction, the difference between the X value of the center point of the front of the side-moving vehicle 200 and the distance traveled by the vehicle 100 in time T is greater than X 1 When When the vehicle 100 is at a certain position, the expected collision area is the second area 2, that is, after time T, the sideways vehicle 200 hits the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the front end of the vehicle 100, that is, the second area is the area between the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the front end of the vehicle 100. According to the information of the vehicle 100 and the sideways vehicle 200, the position where the sideways vehicle 200 hits the vehicle 100 after time T can be accurately determined, so that the vehicle 100 can accurately determine the direction of the turn (that is, the direction of the vehicle 100 turning around on the spot) within time T, so that the collision overlap area is far away from the passenger compartment to a large extent, thereby improving the protection of the occupants.

[0046] According to some embodiments of the present invention, referring to Figure 4 , the coordinate of the side of the door of the vehicle 100 close to the head of the vehicle 100 close to the head of the vehicle 100 is (X 2 , 0), when When , the expected collision area is the first sub-area 21; when When , the expected collision area is the second sub-area 22, The first sub-region 21 is located behind the second sub-region 22 .

[0047] For example, in Figure 4In the example, the example of the sideways vehicle 200 colliding with the vehicle 100 from the left side is used for explanation. The direct coordinate system established takes the rear end point on the left side of the vehicle 100 as the origin, the left-right direction as the x-axis, and the front-back direction as the y-axis. The origin is established at the time when the vehicle 100 detects that the sideways vehicle 200 and the vehicle 100 are expected to collide after time T. The side coordinate of the rear door of the vehicle 100 near the rear of the vehicle 100 is (X 1 , 0), the coordinate of the side of the front door of the vehicle 100 close to the head of the vehicle 100 is (X 2 , 0).

[0048] After time T, along the x-axis direction, the difference between the X value of the center point of the front of the side-moving vehicle 200 and the distance traveled by the vehicle 100 in time T is greater than X 1 and less than X 2 When The expected collision area is the first sub-area 21, that is, after time T, the sideways vehicle 200 hits the area between the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the side of the front door close to the head of the vehicle 100, that is, the first sub-area is the area between the side of the rear door of the vehicle 100 close to the rear of the vehicle 100 and the side of the front door close to the head of the vehicle 100.

[0049] After time T, along the x-axis direction, the difference between the X value of the center point of the front of the side-moving vehicle 200 and the distance traveled by the vehicle 100 in time T is greater than or equal to X. 2 When , the expected collision area is the second sub-area 22, that is, after time T, the side-traveling vehicle 200 hits the area between the side of the front door of the vehicle 100 close to the head of the vehicle 100 and the front end of the vehicle 100, that is, the second sub-area is the area between the side of the front door of the vehicle 100 close to the head of the vehicle 100 and the front end of the vehicle 100.

[0050] Based on the information of vehicle 100 and the side-traveling vehicle 200, the position of the side-traveling vehicle 200 that hits the vehicle 100 after time T can be accurately determined, so that the vehicle 100 can accurately determine the turning direction within time T (that is, the direction in which the vehicle 100 turns around on the spot), and accurately determine whether the vehicle 100 needs to slow down before turning to further avoid the passenger compartment, thereby improving the accuracy of control over the vehicle 100 and helping to further improve the protection of the occupants.

[0051] According to some embodiments of the present invention, referring to Figure 5 When the expected collision area is the first area 1, the vehicle 100 is controlled to rotate toward the non-collision side by a first angle θ 1 ; When the expected collision area is the second area 2, the vehicle 100 is controlled to rotate toward the collision side by a second angle θ 2 , The width of the vehicle 100 is W. 0 , the distance between the vehicle 100 and the lane line 3 on the collision side is D 1 , the distance between the vehicle 100 and the lane line 3 on the non-collision side is D 2 ,θ 1 ,θ 2 , D 1 , D 2 and W 0 satisfy: ,or, .

[0052] For example, in Figure 5 In the example of FIG. 1 , the width of the vehicle 100 in the left-right direction is W. 0 , the distance between the left side of the vehicle 100 and the left lane line 3 is D 1 , the distance between the right side of vehicle 100 and the right lane line 3 is D 2 . Take the case where the side-moving vehicle 200 collides with the vehicle 100 from the left side of the vehicle 100 as an example. The turning angle of the vehicle 100 is determined according to the width of the vehicle 100 and the distance between one side of the vehicle 100 and the corresponding lane line 3. During the turning process of the vehicle 100, the turning angle of the vehicle 100 cannot cause the body posture of the vehicle 100 to deviate from the lane, that is, the first angle and the second angle cannot be too large to avoid collision with other parts beside the lane, thereby improving the safety of the vehicle 100 and the safety of the occupants in the vehicle 100. It should be noted that the turning angle of the vehicle 100 is related to the collision overlap range, that is, the overlap range of the expected collision area and the passenger compartment. The more the overlap range of the expected collision area and the passenger compartment, the greater the angle that the vehicle 100 needs to turn, but the body posture cannot deviate from the lane.

[0053] According to some embodiments of the present invention, the side collision strategy further specifically includes adjusting the height of the suspension 1011 of the suspension system 101 of the vehicle 100. Thus, during the turning process of the vehicle 100, the height of the suspension 1011 of the vehicle 100 is adjusted to cooperate with the turning of the vehicle 100, thereby improving the stability of the vehicle 100 during driving and facilitating the vehicle 100 to turn around on the spot.

[0054] According to some embodiments of the present invention, adjusting the height of the suspension 1011 of the vehicle 100 specifically includes: When the vehicle 100 turns toward the non-collision side (eg Figure 6 As shown), the height of the non-collision side suspension 1011 is raised, and the height of the collision side suspension 1011 is lowered; When the vehicle 100 turns toward the collision side (eg Figure 7 As shown), the height of the collision-side suspension 1011 is raised, and the height of the non-collision-side suspension 1011 is lowered.

[0055] For example, in Figure 6 and Figure 7 In the example, the left side of the vehicle 100 is taken as the collision side. With such a configuration, during the turning process of the vehicle 100, the risk of the vehicle 100 rolling over is effectively reduced, thereby improving the safety and stability of the vehicle 100 and the safety of the passengers in the vehicle 100.

[0056] According to some embodiments of the present invention, the side collision strategy further specifically includes controlling the seat belt 102 of the vehicle 100 to apply a pre-tightening force. Thus, the seat belt applies a pre-tightening force to the occupant to limit the occupant's posture, thereby improving the restraint of the seat belt 102 on the user, thereby restraining the user's movement on the seat, thereby reducing the collision between the user and other parts of the vehicle 100, and providing the safety of the user in the vehicle 100 when the vehicle 100 collides with the vehicle 100.

[0057] According to some embodiments of the present invention, referring to Figure 8 , controlling the seat belt 102 of the vehicle 100 to apply a pre-tightening force specifically includes: While controlling the vehicle 100 to turn, the seat belt 102 is controlled to apply a first pre-tightening force; If the vehicle 100 collides, the seat belt 102 is controlled to apply a second pre-tensioning force.

[0058] For example, in Figure 8 In the schematic example, along the arrow direction, there are the normal state of the seat belt 102, the first preload applied by the seat belt 102, and the second preload applied by the seat belt 102. With such a configuration, different degrees of preload are provided to the user according to the driving state of the vehicle 100. When controlling the steering of the vehicle 100, the seat belt 102 applies the first preload, which is greater than the preload of the seat belt 102 in the normal state. When the vehicle 100 collides, the seat belt 102 applies the second preload, which is greater than the first preload, to cope with different degrees of shaking of the vehicle 100, thereby further improving the stability of the user on the seat.

[0059] According to some embodiments of the present invention, the side collision strategy further specifically includes: turning on the brake lights of the vehicle 100 to alert the rear vehicle. Thus, the first preload force is activated in the seat belt 102 of the vehicle 100, and the brake lights of the vehicle 100 are turned on to alert the rear vehicle behind the vehicle 100 to avoid the rear vehicle from colliding with the vehicle 100, thereby further improving the safety of the vehicle 100. Through the side collision strategy, different collision strategies can be selected according to the collision position, reducing the collision overlap range between the sideward vehicle 200 and the passenger compartment of the vehicle 100 during the collision, avoiding the passenger compartment from being directly exposed in the collision area, thereby reducing the risk of occupant injury and improving the occupant survival rate.

[0060] According to some embodiments of the present invention, judging whether the vehicle 100 has a side collision risk based on the road condition information specifically includes: According to the road condition information, determine whether the motion trajectory of the side-traveling vehicle 200 coincides with the motion trajectory of the vehicle 100; If they overlap, there is a risk of side collision; If they do not overlap, there is no risk of a side collision.

[0061] Therefore, according to the road condition information, that is, the information of the vehicle 100 and the side-traveling vehicle 200, it is determined whether the motion trajectory of the side-traveling vehicle 200 overlaps with the motion trajectory of the vehicle 100 after time T. If they overlap, there is a risk of side collision. If they do not overlap, there is no risk of side collision. In this way, when the vehicle 100 faces the risk of collision after time T, measures can be taken in time to reduce the injury of the vehicle 100 or the occupants.

[0062] According to some embodiments of the present invention, referring to Figure 4 A rectangular coordinate system is established with one end point of the collision side of the rear end of the vehicle 100 as the origin, the length direction of the vehicle 100 as the x-axis, and the width direction of the vehicle 100 as the y-axis. The road condition information includes vehicle 100 information and lateral vehicle 200 information. The vehicle 100 information includes the speed V of the vehicle 100. 0 , the length of vehicle 100 is L 0 The information of the lateral vehicle 200 includes the coordinates of the midpoint of the front of the lateral vehicle 200 (X, Y), the speed V of the lateral vehicle 200 1 , Width W of the side vehicle 200 1 , the sideways vehicle 200 and the vehicle 100 are expected to collide after time T; , , , When X, Y, V 0 , T, L 0, W 1 、V 1 When equations (1), (2) and (3) are satisfied at the same time, there is a risk of side collision.

[0063] For example, in Figure 4 In the example, the example of the side-moving vehicle 200 colliding with the vehicle 100 from the left side is used for explanation. The direct coordinate system established takes the rear end point on the left side of the vehicle 100 as the origin, the left-right direction as the X axis, and the front-back direction as the Y axis. The origin is established at the moment when the vehicle 100 detects the side-moving vehicle 200 and the vehicle 100 are expected to collide after time T. Combined with the information of the vehicle 100 and the side-moving vehicle 200, when X, Y, V 0 , T, L 0 , W 1 、V 1 The relationship between satisfies the above three equations at the same time, and it is judged that there is a risk of collision between the side-driving vehicle 200 and the vehicle 100 after time T, so that the vehicle 100 can take a side collision strategy in time to improve the collision situation. Figure 4 , Formula (1) indicates that after T time, the front side (i.e., upper side) of the side-moving vehicle 200 overlaps and collides with the head (i.e., front end) of the vehicle 100 in the front-back direction. Formula (2) indicates that after T time, the rear side (i.e., upper side) of the side-moving vehicle 200 overlaps and collides with the tail (i.e., rear end) of the vehicle 100 in the front-back direction. Formula (3) indicates that after T time, the right side of the side-moving vehicle 200 does not overlap with the left side of the vehicle 100 in the left-right direction, so as to ensure that when the above three formulas are satisfied at the same time, it is the side-moving vehicle 200 that collides with the vehicle 100, rather than the vehicle 100 colliding with the side-moving vehicle 200.

[0064] According to some embodiments of the present invention, before executing the side collision strategy, the method further includes: If there is a risk of side collision, it is determined whether the vehicle 100 can avoid it; If the vehicle 100 can avoid the collision, the avoidance strategy is executed; If the vehicle 100 cannot avoid the collision, the collision strategy is executed.

[0065] Therefore, it is determined whether avoidance is possible based on the collision situation. If avoidance is possible, it helps to further avoid the collision between the side-traveling vehicle 200 and the vehicle 100, thereby effectively improving the safety of the vehicle 100 and the passengers.

[0066] According to some embodiments of the present invention, the avoidance strategy specifically includes steering or accelerating to avoid. Therefore, after determining that the vehicle 100 can avoid, the vehicle 100 is steered or accelerated to avoid the lateral formation, which is simple to operate and easy to implement, thereby improving the efficiency of avoidance. Among them, the steering can be steered toward the non-collision side of the vehicle 100, but is not limited thereto.

[0067] According to some embodiments of the present invention, the road condition information includes information about the vehicle 300 ahead, and the information about the vehicle 300 ahead includes a distance D between the vehicle 100 and the vehicle 300 ahead, a speed V of the vehicle 300 ahead, and a 2 , When the avoidance strategy specifically includes accelerated avoidance, the accelerated avoidance specifically includes: At that time, vehicle 100 cannot accelerate to avoid the collision; when When , the vehicle 100 can accelerate to avoid; The expected collision area length ΔL when the vehicle 100 collides with the side-moving vehicle 200 and the braking distance S after the vehicle 100 accelerates are shown in FIG.

[0068] For example, the length of the expected collision area in the front-to-back direction of the vehicle 100 when it collides with the side-moving vehicle 200 is ΔL, and the distance that the vehicle 100 travels after accelerating and decelerating to the original speed is S. When the vehicle 100 accelerates, it collides with the vehicle 300 in front of the vehicle 100, making it impossible for the vehicle 100 to drive safely, so the vehicle 100 cannot accelerate to avoid the collision. When the vehicle 100 accelerates and then decelerates within the time T, the vehicle 100 does not collide with the vehicle 100 in front, and the vehicle 100 can accelerate to avoid the collision.

[0069] According to some embodiments of the present invention, when the avoidance strategy specifically includes steering avoidance, the steering avoidance specifically includes: Determine whether there is an obstacle on the non-collision side 4; If there is no obstacle 4, the vehicle 100 turns to avoid it; If there is an obstacle 4 , it is determined whether the vehicle 100 can avoid the obstacle 4 .

[0070] Combination Fig.10 , based on whether there is an obstacle 4 outside the vehicle 100, it is determined whether the vehicle 100 can turn to avoid it, which further improves the accuracy of the analysis and avoidance, thereby improving the flexibility of the control direction of the vehicle 100.

[0071] According to some embodiments of the present invention, determining whether the vehicle 100 can avoid the obstacle 4 specifically includes: The driving path of the vehicle 100 is planned according to the current driving speed of the vehicle 100 and the relative position of the vehicle 100 and the obstacle 4 to determine whether the vehicle 100 can avoid the obstacle 4.

[0072] Therefore, in the case of obstacle 4, the current speed of vehicle 100 and the distance between vehicle 100 and obstacle 4 in the front-to-back direction and the left-to-right direction are combined to determine whether the path after vehicle 100 turns can avoid obstacle 4. If obstacle 4 cannot be avoided, vehicle 100 cannot adopt an avoidance strategy. If obstacle 4 can be avoided, vehicle 100 adopts an avoidance strategy to avoid it by turning.

[0073] The vehicle 100 according to the second embodiment of the present invention is controlled by using the control method of the vehicle 100 according to the first embodiment of the present invention.

[0074] According to the vehicle 100 of the present invention, by adopting the control method of the vehicle 100, the safety of the vehicle 100 when encountering a sideways vehicle 200 is improved, and injuries to passengers are effectively avoided or reduced.

[0075] According to some embodiments of the present invention, referring to Fig.11 The vehicle 100 includes a control module 103 , a detection system 104 , a suspension system 101 , a driving system (not shown) and a steering system 106 .

[0076] Specifically, the detection system 104 communicates with the control module 103 , the detection system 104 detects the driving information of the vehicle 100 and the road condition information when the vehicle 100 is driving, the suspension system 101 communicates with the control module 103 , the driving system communicates with the control module 103 , and the steering system 106 communicates with the control module 103 .

[0077] For example, in Fig.11 In the example, the detection system 104 transmits the detected information to the control system 103, and the detection system 104 is installed on the vehicle body. After analyzing and calculating the information, the control system 103 determines the collision situation, and then transmits the information to the suspension system 101, the driving system and the steering system 106 to control the height of multiple suspensions 1011 (for example, four suspensions 1011, two suspensions 1011 are located on the left side of the vehicle 100, and two suspensions 1011 are located on the right side of the vehicle 100) in the suspension system 101, and adjusts the speed of the vehicle 100 through the driving system to achieve acceleration or deceleration of the vehicle 100. The control system 103 controls the steering direction of the vehicle 100 through the steering system 106 to avoid or change the position of the collision, so that the vehicle 100 can execute an avoidance strategy or a side collision strategy according to the actual road conditions. In the description of the present invention, the meaning of "multiple" is two or more.

[0078] According to some embodiments of the present invention, referring to Fig.11 The detection system 104 includes a camera 1041 , an acceleration sensor (not shown) and a collision sensor 1043 .

[0079] Specifically, the camera 1041 communicates with the control module 103, and the camera 1041 is suitable for detecting the road condition information when the vehicle 100 is traveling. The acceleration sensor communicates with the control module 103, and the acceleration sensor is used to detect the speed of the vehicle 100. The collision sensor 1043 communicates with the control module 103, and the collision sensor 1043 is used to identify the collision signal of the vehicle 100.

[0080] For example, the camera 1041 is also suitable for detecting information such as the position of the vehicle 100, the length of the vehicle 100, and the width of the vehicle 100. The camera 1041 transmits the detected information to the control system 103. Thus, the information detected by the camera 1041 and the acceleration sensor is used to determine whether the vehicle 100 needs to execute an avoidance strategy or a side collision strategy, so that the vehicle 100 can be used flexibly and the safety of the vehicle 100 is improved. In addition, the collision sensor 1043 is used to identify the collision signal of the vehicle 100, and the control system 103 controls the seat belt 102 to turn on the second preload and start the brake light to further control the vehicle 100 to further improve the safety of the occupants. Moreover, after the collision sensor 1043 is used to identify the collision signal of the vehicle 100, it can timely lower the height of the collision side suspension 101, reduce the risk of rollover, and improve the survival rate of the occupants under the side collision condition.

[0081] Combination Figure 1 The specific steps of the control method of the vehicle 100 are as follows: S1. Obtain road condition information and related information of the lateral driving 200 through the camera 1041. The acceleration sensor is used to detect the speed of the vehicle 100. The camera 1041 and the acceleration sensor are transmitted to the control system 103.

[0082] S2. The control system 103 combines the acquired information with the information of the vehicle 100 to determine whether the motion trajectory of the lateral vehicle 200 overlaps with the motion trajectory of the vehicle 100 after a period of time T.

[0083] S21. If there is no overlap, there is no risk of side collision.

[0084] S22: If they overlap, there is a risk of side collision, and it is determined whether the vehicle 100 can avoid it.

[0085] S221. If the vehicle 100 can avoid the obstacle, the avoidance strategy is executed. The avoidance strategy specifically includes steering or accelerating to avoid the obstacle.

[0086] s1. When the avoidance strategy specifically includes accelerated avoidance, the accelerated avoidance specifically includes: when , vehicle 100 cannot accelerate to avoid.

[0087] when , the vehicle 100 can accelerate to avoid it.

[0088] s2. When the avoidance strategy specifically includes steering avoidance, the steering avoidance specifically includes: determining whether there is an obstacle on the non-collision side 4; If there is no obstacle 4, the vehicle 100 turns to avoid it; If there is an obstacle 4, the driving path of the vehicle 100 is planned according to the current driving speed of the vehicle 100 and the relative position of the vehicle 100 and the obstacle 4 to determine whether the vehicle 100 can avoid the obstacle 4.

[0089] S222 . If the vehicle 100 cannot avoid the collision, a side collision strategy is executed. The side collision strategy specifically includes: controlling the vehicle 100 to turn so as to change the collision area of ​​the vehicle 100 .

[0090] s1. Determine the expected collision area between the vehicle 100 and the side-moving vehicle 200 according to the road condition information.

[0091] s2. According to the expected collision area, when When the expected collision area is the first area 1, the vehicle 100 is controlled to rotate toward the non-collision side before the collision, and the body of the vehicle 100 rotates by a first angle θ 1 , and at the same time, the height of the non-collision side suspension 101 is raised, the height of the collision side suspension 101 is lowered, and the seat belt 102 is controlled to apply a first preload, and the brake lights of the vehicle 100 are turned on to warn the rear vehicle. After the collision sensor 1043 receives the collision signal, the control system 103 controls the seat belt 102 to apply a second preload.

[0092] when When , the expected collision area is the second area 2, where exist When the expected collision area is the first sub-area 21, the vehicle 100 is controlled to decelerate before the collision, and the vehicle 100 is controlled to rotate toward the collision side, and the body of the vehicle 100 rotates by a second angle θ 2 , and at the same time, the height of the suspension 101 on the collision side is raised, the height of the suspension 101 on the non-collision side is lowered, and the seat belt 102 is controlled to apply a first preload, and the brake lights of the vehicle 100 are turned on to warn the rear vehicle. After the collision sensor 1043 receives the collision signal, the control system 103 controls the seat belt 102 to apply a second preload, controls the suspension system 101 to lower the height of the suspension 1011 on the collision side (such as Fig. 9 as shown).

[0093] exist When the expected collision area is the second sub-area 22, the vehicle 100 is controlled to rotate toward the collision side before the collision, and the body of the vehicle 100 rotates by a second angle θ2 , and at the same time, the height of the suspension 101 on the collision side is raised, the height of the suspension 101 on the non-collision side is lowered, and the seat belt 102 is controlled to apply a first preload, and the brake lights of the vehicle 100 are turned on to warn the rear vehicle. After the collision sensor 1043 receives the collision signal, the control system 103 controls the seat belt 102 to apply a second preload, controls the suspension system 101 to lower the height of the suspension 1011 on the collision side (such as Fig. 9 as shown).

[0094] Other components and operations of the vehicle 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail here.

[0095] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or regional relationships are based on the orientations or regional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0097] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: The following steps are involved: Get traffic information; Determining whether the vehicle has a risk of side collision according to the road condition information; If there is a risk of side collision, the side collision strategy is executed, and the side collision strategy specifically includes: The vehicle is controlled to steer to change a collision zone of the vehicle.

2. The vehicle control method according to claim 1, characterized in that: The controlling the steering of the vehicle to change the collision area of ​​the vehicle specifically includes: Determining, based on the road condition information, an expected collision area between the vehicle and a vehicle traveling sideways; The vehicle is controlled to turn toward a collision side or a non-collision side according to the expected collision area.

3. The vehicle control method according to claim 2, characterized in that: According to the expected collision area, controlling the vehicle to turn toward the collision side or the non-collision side specifically includes: When the expected collision area is the first area, controlling the vehicle to rotate toward the non-collision side; When the expected collision area is a second area, the vehicle is controlled to rotate toward the collision side, wherein the first area is located behind the second area.

4. The vehicle control method according to claim 3, characterized in that: When the expected collision area is the second area, controlling the vehicle to rotate toward the collision side specifically includes: When the expected collision area is the first sub-area, controlling the vehicle to decelerate, and controlling the vehicle to turn toward the collision side before the collision; When the expected collision area is the second sub-area, controlling the vehicle to rotate toward the collision side before the collision; The first sub-region is located behind the second sub-region.

5. The vehicle control method according to claim 3, characterized in that: A rectangular coordinate system is established with one end point of the collision side of the rear end of the vehicle as the origin, the length direction of the vehicle as the x-axis, and the width direction of the vehicle as the y-axis. The side coordinates of the door of the vehicle near the rear of the vehicle near the rear of the vehicle are (X1, 0), the coordinates of the midpoint of the front of the sideways vehicle are (X, Y), the sideways vehicle and the vehicle are expected to collide after time T, and the speed of the vehicle is V0; when When , the expected collision area is the first area; when , the expected collision area is the second area.

6. The vehicle control method according to claim 5, characterized in that: The coordinates of the side of the door of the vehicle close to the head of the vehicle close to the head of the vehicle are (X2, 0), when When , the expected collision area is the first sub-area; when When , the expected collision area is the second sub-area, The first sub-region is located behind the second sub-region.

7. The vehicle control method according to claim 3, characterized in that: When the expected collision area is the first area, controlling the vehicle to rotate toward the non-collision side by a first angle θ1; When the expected collision area is the second area, the vehicle is controlled to rotate toward the collision side by a second angle θ2, Wherein, the width of the vehicle is W0, the distance between the vehicle and the lane line on the collision side is D1, the distance between the vehicle and the lane line on the non-collision side is D2, and θ1, θ2, D1, D2 and W0 satisfy: ,or, 。 8. The vehicle control method according to claim 1, characterized in that: The side collision strategy also specifically includes adjusting the suspension height of the vehicle.

9. The vehicle control method according to claim 8, characterized in that: The adjusting the suspension height of the vehicle specifically includes: When the vehicle turns toward the non-collision side, the height of the non-collision side suspension is increased, and the height of the collision side suspension is decreased; When the vehicle turns toward the collision side, the height of the collision side suspension is increased, and the height of the non-collision side suspension is decreased.

10. The vehicle control method according to claim 1, characterized in that: The side collision strategy further specifically includes controlling the seat belt of the vehicle to apply a pre-tensioning force.

11. The vehicle control method according to claim 10, characterized in that: The controlling the vehicle's seat belt to apply pre-tensioning force specifically includes: While controlling the steering of the vehicle, controlling the seat belt to apply a first pre-tightening force; If the vehicle collides, the seat belt is controlled to apply a second pre-tensioning force.

12. The vehicle control method according to claim 1, characterized in that: The side collision strategy also specifically includes: The brake lights of the vehicle are turned on to alert the vehicles behind.

13. The vehicle control method according to claim 1, characterized in that: The determining, based on the road condition information, whether the vehicle has a risk of side collision specifically includes: According to the road condition information, determining whether the motion trajectory of the sideways vehicle coincides with the motion trajectory of the vehicle; If they overlap, there is a risk of side collision; If they do not overlap, there is no risk of a side collision.

14. The vehicle control method according to claim 13, characterized in that: A rectangular coordinate system is established with one end point of the collision side of the rear end of the vehicle as the origin, the length direction of the vehicle as the x-axis, and the width direction of the vehicle as the y-axis. The road condition information includes the vehicle information and the lateral vehicle information, the vehicle information includes the speed V0 of the vehicle, the length of the vehicle is L0, the lateral vehicle information includes the coordinates of the midpoint of the front of the lateral vehicle is (X, Y), the speed V1 of the lateral vehicle, the width W1 of the lateral vehicle, and the lateral vehicle and the vehicle are expected to collide after time T; ， ， ， When X, Y, V0, T, L0, W1, and V1 satisfy equations (1), (2), and (3) at the same time, there is a risk of side collision.

15. The vehicle control method according to any one of claims 1 to 14, characterized in that: Before executing the side collision strategy, the method further includes: If there is a risk of side collision, determining whether the vehicle can avoid it; If the vehicle can avoid, executing the avoidance strategy; If the vehicle cannot evade, the collision strategy is executed.

16. The vehicle control method according to claim 15, characterized in that: The avoidance strategy specifically includes steering or accelerating avoidance.

17. The vehicle control method according to claim 16, characterized in that: The road condition information includes the vehicle ahead information, and the vehicle ahead information includes the distance D between the vehicle and the vehicle ahead, the speed V2 of the vehicle ahead, When the avoidance strategy specifically includes acceleration avoidance, the acceleration avoidance specifically includes: when , the vehicle cannot accelerate to avoid; when , then the vehicle can accelerate to avoid; Among them, the expected collision area length ΔL when the vehicle collides with the side-moving vehicle, and the braking distance S of the vehicle after acceleration.

18. The vehicle control method according to claim 16, characterized in that: When the avoidance strategy specifically includes steering avoidance, the steering avoidance specifically includes: Determine whether there is an obstacle on the non-collision side; If there is no obstacle, the vehicle turns to avoid it; If there is the obstacle, it is determined whether the vehicle can avoid the obstacle.

19. The vehicle control method according to claim 18, characterized in that: The determining whether the vehicle can avoid the obstacle specifically includes: The driving path of the vehicle is planned according to the current driving speed of the vehicle and the relative position of the vehicle and the obstacle to determine whether the vehicle can avoid the obstacle.

20. A vehicle, characterized in that: Control is performed using a vehicle control method according to any one of claims 1 to 19.

21. The vehicle according to claim 20, characterized in that The vehicle comprises: Control module; A detection system, the detection system communicates with the control module, and the detection system detects driving information of the vehicle and road condition information when the vehicle is driving; a suspension system in communication with the control module; a travel system, the travel system communicating with the control module; A steering system is in communication with the control module.

22. The vehicle according to claim 21, characterized in that The detection system comprises: A camera, the camera is in communication with the control module, and the camera is suitable for detecting road condition information when the vehicle is traveling; an acceleration sensor, the acceleration sensor communicating with the control module, the acceleration sensor being used to detect the speed of the vehicle; A collision sensor is communicated with the control module, and the collision sensor is used to identify a collision signal of the vehicle.

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