Human body collision protection system and execution method thereof
By using sensors in the vehicle to detect the blind spot target of the field of vision and calculate the wheel binding pressure and steering wheel angle, the problem of insufficient blind spot monitoring of the existing pedestrian protection system when turning the vehicle is solved, and the effective reduction of the human body impulse is achieved.
Patent Information
- Application Number
- CN202311826733.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-27
- Publication Date
- 2025-06-27
AI Technical Summary
The existing pedestrian protection system has insufficient blind spot monitoring and alarms when the vehicle turns, and has failed to take practical measures to reduce the impact of the vehicle on the human body.
Through sensor input (camera and radar sensor), the target in the blind spot of the vehicle's field of view is detected, and the target wheel cylinder pressure and/or the target steering wheel angle are calculated based on the collision alarm level between the target and the vehicle to reduce the impulse of the human body during a collision.
It effectively reduces the impact the human body bears during a collision and improves the actual effect of pedestrian protection, especially in the blind spots when the vehicle turns.
Smart Images
Figure CN120207318A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of pedestrian protection, and more particularly, to a human collision protection system for a vehicle, a method executed thereby, a computer-readable storage medium, a computer program product, and a vehicle braking system. Background Art
[0002] When a vehicle turns at an intersection, there are generally blind spots in the field of vision. For example, when the vehicle turns right, the driver is very likely to overlook electric bicycles, bicycles, and pedestrians traveling forward from the right rear, resulting in collisions.
[0003] Existing pedestrian protection systems mostly focus on longitudinal collisions of vehicles. When the vehicle turns, the pedestrian protection system only provides blind spot (such as the right rear) monitoring and alerts, and does not take any actual measures to reduce the impact of the vehicle. Summary of the Invention
[0004] According to one aspect of the present application, there is provided a method executed by a human collision protection system for a vehicle, the method comprising: detecting a target in a blind spot of the vehicle's field of vision based on sensor inputs; determining, for the target, a collision warning level between the target and the vehicle; and calculating a target wheel cylinder pressure and / or a target steering wheel angle of the vehicle according to the collision warning level so as to reduce the impulse suffered by a human body during a collision.
[0005] As a supplement or replacement to the above solution, in the above method, detecting a target in a blind spot of the vehicle's field of vision based on sensor inputs includes: detecting a position and an absolute speed of the target based on inputs from a camera and a radar sensor.
[0006] As a supplement or replacement to the above solution, in the above method, determining, for the target, a collision warning level between the target and the vehicle includes: determining an impulse suffered by a human body during a collision according to a relative speed between the vehicle and the target, the absolute speed of the target, and a predicted collision angle; and matching a corresponding collision warning level based on the impulse.
[0007] As a supplement or replacement for the above solution, in the above method, according to the collision warning level, the target wheel cylinder pressure and / or the target steering wheel angle of the vehicle are calculated to reduce the impulse borne by the human body during a collision, including: when the collision warning level is the first level, only a collision warning is issued for reminder; when the collision warning level is the second level and the wheel cylinder has not been depressurized after a predetermined time after the collision warning is issued, the target wheel cylinder pressure is calculated to be provided to the actuator for braking; and when the collision warning level is the third level and there is no driving action after a predetermined time after the collision warning is issued, the target wheel cylinder pressure and the target steering wheel angle are calculated to be provided to the actuator, so as to make the vehicle steer while braking to reduce the collision angle.
[0008] As a supplement or replacement for the above solution, in the above method, the first level indicates that the impulse received by the human body is below 80, the second level indicates that the impulse received by the human body is 80 - 120.4, and the third level indicates that the impulse received by the human body is above 120.4.
[0009] As a supplement or replacement for the above solution, in the above method, when the collision warning level is the third level and there is no driving action after a predetermined time after the collision warning is issued, the target wheel cylinder pressure is such that the actuator builds the maximum pressure in one side wheel cylinder of the vehicle, while no pressure is built in the other side wheel cylinder.
[0010] According to another aspect of the present application, a human body collision protection system for a vehicle is provided. The system includes: a blind spot detection device configured to detect a target in the blind spot of vision of the vehicle based on sensor input and determine the collision warning level of the target with respect to the vehicle; and a control device configured to calculate the target wheel cylinder pressure and / or the target steering wheel angle of the vehicle according to the collision warning level to reduce the impulse borne by the human body during a collision.
[0011] As a supplement or replacement for the above solution, in the above system, the blind spot detection device is configured to detect the position and absolute speed of the target based on the input of a camera and a radar sensor.
[0012] As a supplement or replacement for the above solution, in the above system, the blind spot detection device is further configured to: determine the impulse received by the human body during a collision according to the relative speed between the vehicle and the target, the absolute speed of the target, and the predicted collision angle; and match the corresponding collision warning level based on the impulse.
[0013] As a supplement or replacement to the above solution, in the above system, the system further includes: an actuator, and the control device is configured to: when the collision warning level is the first level, only issue a collision warning for reminder; when the collision warning level is the second level and the wheel cylinder has not been depressurized within a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure to be provided to the actuator for braking; and when the collision warning level is the third level and there is no driving action within a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator, so as to make the vehicle steer while braking to reduce the collision angle.
[0014] As a supplement or replacement to the above solution, in the above system, the first level means that the impulse received by the human body is 80 or less, the second level means that the impulse received by the human body is 80 - 120.4, and the third level means that the impulse received by the human body is 120.4 or more.
[0015] As a supplement or replacement to the above solution, in the above system, the actuator is configured to: when the collision warning level is the third level and there is no driving action within a predetermined time after the collision warning is issued, establish the maximum pressure in the wheel cylinders on one side of the vehicle based on the target wheel cylinder pressure, and do not build pressure in the wheel cylinders on the other side.
[0016] According to another aspect of the present application, there is provided a computer-readable storage medium, the medium includes instructions, and the instructions execute the method as described above when running.
[0017] According to another aspect of the present application, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the method as described above.
[0018] According to another aspect of the present application, there is provided a vehicle braking system, and the vehicle braking system includes the human body collision protection system as described above.
[0019] The human body collision protection system for a vehicle according to one or more embodiments of the present application is based on sensor input, detects a target (such as a bicycle, motorcycle, etc.) in the blind spot of the field of vision of the vehicle itself, determines its collision warning level with the vehicle itself, and finally calculates the target wheel cylinder pressure and / or the target steering wheel angle of the vehicle itself according to the collision warning level, so as to reduce the impulse received by the human body (the driver of the vulnerable party, such as a cyclist) during a collision. In this way, through the human body collision protection system, the posture of the vehicle can be adjusted in a timely manner to minimize the impact force on the human body during a collision. For example, when the vehicle collides with an electric bicycle, a bicycle, or a pedestrian approaching from the right side, the safety of the human body can be protected by reducing the impact force on the human body. Brief Description of the Drawings
[0020] The above and other objects and advantages of the present application will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, in which like or similar elements are denoted by like reference numerals.
[0021] Figure 1 FIG. shows a schematic flowchart of a method executed by a human collision protection system for a vehicle according to an embodiment of the present application;
[0022] Figure 2 FIG. shows a schematic structural diagram of a human collision protection system for a vehicle according to an embodiment of the present application;
[0023] Figure 3 FIG. shows a schematic diagram of a scenario where a vehicle is about to collide; and
[0024] Figure 4 FIG. shows a schematic control principle diagram of a human collision protection system according to an embodiment of the present application. Detailed Description of the Embodiments
[0025] Hereinafter, the solutions executed by the human collision protection system for a vehicle according to the exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings.
[0026] Figure 1 FIG. shows a schematic flowchart of a method 1000 executed by a human collision protection system for a vehicle according to an embodiment of the present application. As Figure 1 shown, the method 1000 includes:
[0027] In step S110, based on sensor input, a target in the blind spot of vision of the vehicle is detected;
[0028] In step S120, for the target, its collision warning level with the vehicle is determined; and
[0029] In step S130, according to the collision warning level, the target wheel cylinder pressure and / or the target steering wheel angle of the vehicle are calculated to reduce the impulse borne by the human body during a collision.
[0030] In the context of the present application, the term "human collision protection system for a vehicle" refers to a vehicle control system for reducing the risk of human injury to a vulnerable driver (such as a cyclist, a motorcycle rider, or a pedestrian, etc.) when a collision occurs. In other words, the purpose of this system is different from simply avoiding a collision, but rather to reduce the risk of human injury to a vulnerable driver when a collision occurs. Therefore, a series of operations when this system intervenes, such as building pressure in the target wheel cylinder and inputting the target steering wheel angle, are all based on the principle of how to reduce the risk of human injury.
[0031] In step S110, based on sensor inputs, a target in the blind spot of vision of the vehicle is detected. Here, "sensor inputs" may include: inputs from a camera and a radar sensor. Thus, in one embodiment, step S110 may include: based on the inputs from the camera and the radar sensor, detecting the position and absolute speed of the target.
[0032] In one embodiment, the blind spot of vision of a vehicle refers to the right rear area when the vehicle turns right. As Figure 3 shown, vehicle 310 turns right at an intersection, and there is a straight - going motorcycle 320 behind the right rear of vehicle 310. This motorcycle 320 is in the blind spot of vision of vehicle 310 and thus is prone to collision. In one embodiment, vehicle 310 equipped with a human collision protection system can detect the target (i.e., motorcycle 320) in the blind spot of vision based on sensor inputs and accordingly perform control to reduce the risk of injury to the driver of motorcycle 320 when a collision occurs.
[0033] Continuing to refer to Figure 3 , assuming that motorcycle 320 always goes straight, reference numeral 330 shows the predicted collision angle between vehicle 310 and motorcycle 320, for example, the included angle between the traveling directions of vehicle 310 and motorcycle 320.
[0034] In step S120, for the detected target, a collision warning level between the target and the vehicle is determined. In one embodiment, this step S120 may include: determining the impulse received by the human body during the collision according to the relative speed between the vehicle and the target, the absolute speed of the target, and the predicted collision angle; and matching a corresponding collision warning level based on the impulse.
[0035] In the context of the present application, the term "collision warning level" is used to indicate the magnitude of the risk of human injury to a vulnerable driver (such as a cyclist, a motorcycle rider, or a pedestrian, etc.) when a collision occurs. In the foregoing embodiment, the greater the impulse received by the human body during the collision, the higher the matched collision warning level.
[0036] In one embodiment, the collision warning level can be determined through the following dimensions: (1) the relative vehicle speed and the absolute vehicle speed of both vehicles; (2) the predicted collision time and collision angle based on the current positions and speeds of both parties. In one embodiment, according to the relative vehicle speed (e.g., 15 kph), the absolute vehicle speed (e.g., 40 kph), and the collision angle (e.g., 45 degrees), the impulse received by the human body during the collision can be calculated by synthesizing the above conditions (calculated based on a general human body of 70 KG, with the collision time counted as 0.01 s, and both colliding parties regarded as rigid bodies). Based on the calculated impulse received by the human body, the corresponding collision warning level can be matched.
[0037] In one or more embodiments, the human collision protection system adopts different degrees of intervention operations based on different collision warning levels. For example, step S130 may include: when the collision warning level is the first level (e.g., the impulse received by the human body is below 80), only issue a collision warning for reminder; when the collision warning level is the second level (e.g., the impulse received by the human body is 80 - 120.4) and the wheel cylinder has not been depressurized after a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure to be provided to the actuator for braking; and when the collision warning level is the third level (e.g., the impulse received by the human body is above 120.4) and there is no driving action after a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator, so as to make the vehicle steer while braking to reduce the collision angle.
[0038] In the above embodiment, when the collision warning level is the lowest, only a collision warning reminder can be issued (e.g., the icon on the rearview mirror flashes or lights up, the warning icon is displayed on the instrument panel, there is a prompt sound from the in-vehicle speaker, the in-vehicle atmosphere light changes color, there is a warning icon on the central control interaction interface, etc.). As the collision warning level increases, for example, when it reaches the second level, if the wheel cylinder has not been depressurized after a predetermined time (e.g., 0.5 s) after the collision warning is issued, calculate the target wheel cylinder pressure to be provided to the actuator for braking (i.e., perform active braking). When the collision warning level reaches the highest level, i.e., the third level, if there is no driving action after a predetermined time (e.g., 0.5 s) after the collision warning is issued, calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator, so as to make the vehicle steer while braking (change the body posture) to reduce the collision angle. Here, the calculation of the target wheel cylinder pressure and the target steering wheel angle can be performed based on the input of one or more sensors, including but not limited to, wheel speed sensors, steering wheel angle sensors, etc.
[0039] As described above, the relative vehicle speed and the absolute vehicle speed of the two vehicles at the time of collision, the predicted collision time and the collision angle based on the current positions and speeds of the two parties determine the impulse borne by the human body at the final collision. It can be understood that the smaller the relative vehicle speed and the absolute vehicle speed of the two vehicles at the time of collision, and the smaller the collision angle at the collision time, the smaller the impulse borne by the human body.
[0040] In one embodiment, the target wheel cylinder pressure is calculated based on the yaw moment required to achieve the target vehicle body attitude.
[0041] In one embodiment, considering that the vehicle speed during turning (e.g., turning right) is not particularly high, relying solely on wheel cylinder pressure buildup to affect the vehicle body attitude may have very limited effects. Therefore, for the control to achieve the maximum braking and steering effect, the maximum pressure is established in one side wheel cylinder, and no pressure is built in the other side wheel cylinder. That is to say, the target wheel cylinder pressure is such that the actuator establishes the maximum pressure in one side wheel cylinder of the vehicle (along with active steering at the maximum speed), while no pressure is built in the other side wheel cylinder. Taking 20 kph as an example, when braking and steering act simultaneously, the maximum braking force is applied on one side, and no braking force is applied on the other side. At this time, the vehicle obtains a certain deceleration, and the braking time is about 1 s. The vehicle body attitude can be adjusted to a certain extent during this 1 s deceleration process, so that the drivers of electric bicycles and electric motorcycles can contact the vehicle body at a less harmful angle at the moment of collision.
[0042] Figure 4 Shows the control schematic diagram of the human collision protection system according to an embodiment of the present application. As Figure 4 shown, the collision angle 420 after a series of intervention operations (such as braking and steering) by the human collision protection system is smaller than the collision angle 410 without intervention, which plays a role in protecting the human body.
[0043] In addition, those skilled in the art can easily understand that the method 1000 executed by the human collision protection system for vehicles provided in one or more embodiments of the present application can be implemented by a computer program. For example, the computer program is included in a computer program product, and when the computer program is executed by a processor, it implements the method 1000 executed by the human collision protection system for vehicles in one or more embodiments of the present application. Another example is that when a computer-readable storage medium (such as a USB flash drive) storing the computer program is connected to a computer, running the computer program can execute the method 1000 executed by the human collision protection system for vehicles in one or more embodiments of the present application.
[0044] Refer to Figure 2 , which shows the structural schematic diagram of the human collision protection system 2000 for vehicles according to an embodiment of the present application. As Figure 2As shown, the vehicle occupant crash protection system 2000 includes a blind spot detection device 210 and a control device 220. Among them, the blind spot detection device 210 is configured to detect a target in a blind spot of vision of the vehicle (such as the right rear of the vehicle) based on sensor inputs, and determine a collision warning level for the target; and the control device 220 is configured to calculate a target wheel cylinder pressure and / or a target steering wheel angle of the vehicle according to the collision warning level, so as to reduce the impulse borne by the human body during a collision.
[0045] In one embodiment, the blind spot detection device 210 is configured to detect the position and absolute speed of the target based on inputs from a camera and a radar sensor.
[0046] In one embodiment, the blind spot detection device 210 is further configured to: determine the impulse received by the human body during a collision according to the relative speed between the vehicle and the target, the absolute speed of the target, and the predicted collision angle; and match a corresponding collision warning level based on the impulse.
[0047] It should be noted that the existing blind spot detection system BSD does not distinguish the collision warning level, but only makes some differences in the reminder method, so it is different from the blind spot detection device 210 of the present application.
[0048] In the context of the present application, the term "collision warning level" is used to indicate the magnitude of the risk of injury to the human body of a driver of a vulnerable party (such as a cyclist, a motorcycle driver, or a pedestrian, etc.) during a collision. In the foregoing embodiment, the greater the impulse received by the human body during a collision, the higher the matched collision warning level. In one embodiment, the blind spot detection device 210 determines the collision warning level through the following dimensions: (1) the relative vehicle speed and the absolute vehicle speed of the two vehicles; (2) the predicted collision time and collision angle based on the current positions and speeds of the two parties.
[0049] Continue to refer to Figure 2, in one embodiment, the vehicle collision protection system 2000 further includes an actuator 230. In this embodiment, the control device 220 is configured to: when the collision warning level is the first level (for example, the impulse received by the human body is below 80), only issue a collision warning for reminder; when the collision warning level is the second level (for example, the impulse received by the human body is 80 - 120.4) and the wheel cylinder has not been depressurized after a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure to be provided to the actuator 230 for braking; and when the collision warning level is the third level (for example, the impulse received by the human body is above 120.4) and there is no driving action after a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator 230, so as to make the vehicle steer while braking to reduce the collision angle.
[0050] In the above embodiment, the control device 220 is configured to only issue a collision warning reminder (for example, the icon on the rearview mirror blinks or lights up, the warning icon is displayed on the instrument panel, the in-vehicle speaker has a prompt sound, the in-vehicle ambient light changes color, the central control interaction interface has a warning icon, etc.) when the collision warning level is the lowest. As the collision warning level increases, for example, when it reaches the second level, the control device 220 is configured to calculate the target wheel cylinder pressure to be provided to the actuator 230 for braking (i.e., perform active braking) when the wheel cylinder has not been depressurized after a predetermined time (for example, 0.5 s) after the collision warning is issued. When the collision warning level reaches the highest level, that is, the third level, if there is no driving action after a predetermined time (for example, 0.5 s) after the collision warning is issued, the control device 220 is configured to calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator 230, so as to make the vehicle steer (change the body posture) while braking to reduce the collision angle. Here, the calculation of the target wheel cylinder pressure and the target steering wheel angle can be performed based on the input of one or more sensors, including but not limited to, wheel speed sensors, steering wheel angle sensors, etc.
[0051] In one embodiment, considering that the vehicle speed during turning (for example, turning right) is not particularly high, simply relying on wheel cylinder pressure build-up to affect the body posture may have very limited effects. Therefore, in order to achieve the maximum effect control of braking and steering, the actuator 230 is configured to build the maximum pressure in one side wheel cylinder and not build pressure in the other side wheel cylinder. That is to say, the actuator 230 is configured to: when the collision warning level is the third level and there is no driving action after a predetermined time after the collision warning is issued, the target wheel cylinder pressure is to build the maximum pressure in one side wheel cylinder of the vehicle by the actuator 230 (and accompanied by active steering at the maximum speed), while not building pressure in the other side wheel cylinder.
[0052] In one or more embodiments, a vehicle occupant collision protection system 2000 can be integrated into various types of vehicle braking systems.
[0053] In summary, the vehicle occupant collision protection system according to one or more embodiments of the present application detects a target (such as a bicycle, motorcycle, etc.) in the blind spot of the host vehicle based on sensor inputs, determines the collision warning level for the target, and finally calculates the target wheel cylinder pressure and / or the target steering wheel angle of the host vehicle according to the collision warning level, so as to reduce the impulse suffered by the human body (the driver of the vulnerable party, such as a cyclist) during a collision. In this way, through the vehicle occupant collision protection system, the attitude of the vehicle can be adjusted in a timely manner to minimize the impact force on the human body during a collision. For example, when the vehicle collides with an electric bicycle, a bicycle, or a pedestrian approaching from the right, the safety of the human body can be protected by reducing the impact force on the human body.
[0054] The above examples mainly illustrate the solutions implemented by the vehicle occupant collision protection system according to the embodiments of the present application. Although only some of the embodiments of the present application have been described, those of ordinary skill in the art should understand that the present application can be implemented in many other forms without departing from its gist and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present application may cover various modifications and substitutions without departing from the spirit and scope of the present application as defined by the various claims.
Claims
1. A method performed by a human collision protection system for a vehicle, characterized in that, The method includes: Detecting a target in a blind spot of the vehicle based on sensor input; Determining, for the target, a collision warning level therewith; and Calculating a target wheel cylinder pressure and / or a target steering wheel angle of the vehicle according to the collision warning level so as to reduce the impulse borne by a human body during a collision.
2. The method according to claim 1, wherein Detecting a target in a blind spot of the vehicle based on sensor input includes: Detecting the position and the absolute speed of the target based on inputs of a camera and a radar sensor.
3. The method according to claim 2, wherein Determining, for the target, a collision warning level therewith includes: Determining the impulse borne by a human body during a collision according to a relative speed between the vehicle and the target, the absolute speed of the target, and a predicted collision angle; and Matching a corresponding collision warning level based on the impulse.
4. The method according to claim 1, wherein, Calculating a target wheel cylinder pressure and / or a target steering wheel angle of the vehicle according to the collision warning level so as to reduce the impulse borne by a human body during a collision includes: When the collision warning level is a first level, only issuing a collision warning for reminder; When the collision warning level is a second level and the wheel cylinder has not been depressurized after a predetermined time after issuing the collision warning, calculating a target wheel cylinder pressure to be provided to an actuator for braking; and When the collision warning level is a third level and there is no driving action after a predetermined time after issuing the collision warning, calculating a target wheel cylinder pressure and a target steering wheel angle to be provided to the actuator so as to steer the vehicle while braking to reduce the collision angle.
5. The method according to claim 4, wherein, The first level indicates that the impulse borne by a human body is below 80, the second level indicates that the impulse borne by a human body is 80 - 120.4, and the third level indicates that the impulse borne by a human body is above 120.
4.
6. The method according to claim 4, wherein When the collision warning level is a third level and there is no driving action after a predetermined time after issuing the collision warning, the target wheel cylinder pressure is such that the actuator builds a maximum pressure in one side wheel cylinder of the vehicle, and does not build pressure in the other side wheel cylinder.
7. A human collision protection system for a vehicle, characterized in that, The system includes: A blind spot detection device configured to detect a target in a blind spot of the vehicle based on sensor input, and determine, for the target, a collision warning level therewith; and A control device configured to calculate a target wheel cylinder pressure and / or a target steering wheel angle of the vehicle according to the collision warning level so as to reduce the impulse borne by a human body during a collision.
8. The system according to claim 7, wherein, The blind spot detection device is configured to detect the position and the absolute speed of the target based on inputs of a camera and a radar sensor.
9. The system according to claim 8, wherein, The blind spot detection device is further configured to: Determine the impulse borne by a human body during a collision according to a relative speed between the vehicle and the target, the absolute speed of the target, and a predicted collision angle; and Match a corresponding collision warning level based on the impulse.
10. The system according to claim 7, wherein, The system further includes: an actuator, and the control device is configured to: When the collision warning level is a first level, only issue a collision warning for reminder; When the collision warning level is the second level and the wheel cylinder has not been depressurized within a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure to be provided to the actuator for braking; and When the collision warning level is the third level and there is no driving action within a predetermined time after the collision warning is issued, calculate the target wheel cylinder pressure and the target steering wheel angle to be provided to the actuator, so as to steer the vehicle while braking to reduce the collision angle.
11. The system according to claim 10, wherein, The first level indicates that the impulse received by the human body is below 80, the second level indicates that the impulse received by the human body is 80 - 120.4, and the third level indicates that the impulse received by the human body is above 120.
4.
12. The system according to claim 10, wherein, The actuator is configured to: when the collision warning level is the third level and there is no driving action within a predetermined time after the collision warning is issued, establish the maximum pressure in the wheel cylinders on one side of the vehicle based on the target wheel cylinder pressure, and not build pressure in the wheel cylinders on the other side.
13. A computer-readable storage medium, characterized in that, The medium includes instructions that, when running, execute the method according to any one of claims 1 to 6.
14. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 6.
15. A vehicle braking system, characterized in that, The vehicle braking system includes the human collision protection system according to any one of claims 7 to 12.