Vehicle, control method of safety air bag and electronic equipment

Abstract

The invention discloses a vehicle, a safety air bag control method and electronic equipment, and belongs to the technical field of vehicles. The vehicle includes: an airbag module including at least one airbag; the sensor module is used for detecting collision sensing information of the vehicle; and the controller is configured to control the safety air bag to ignite earlier when the collision sensing information meets a first preset collision condition than when the collision sensing information meets a second preset collision condition. The popping opportunity of the safety air bag under different collision working conditions can be adjusted, and popping of the safety air bag is accurately controlled.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular relates to a vehicle, an airbag control method, and an electronic device. Background Art

[0002] Airbags are safety devices installed inside vehicles, primarily designed to deploy in the event of a traffic accident to minimize occupant injuries. In related technologies, airbags typically deploy after a fixed time (approximately 30 milliseconds) after a collision to protect the occupants. However, the speed requirements for airbag deployment can vary depending on the vehicle's collision conditions, making related technologies difficult to adapt to diverse collision scenarios. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a vehicle, an airbag control method, and an electronic device that can adjust the timing of airbag deployment under different collision conditions and accurately control airbag deployment.

[0004] In a first aspect, the present application provides a vehicle, comprising:

[0005] an airbag module comprising at least one airbag;

[0006] A sensor module, configured to detect collision sensing information of the vehicle;

[0007] The controller is configured to: when the collision sensing information satisfies a first preset collision condition, control the airbag to ignite earlier than when the collision sensing information satisfies a second preset collision condition.

[0008] According to the vehicle of the present application, by controlling the airbag to ignite earlier when the collision sensor information of the vehicle meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0009] According to one embodiment of the present application, the airbag includes a side airbag;

[0010] The collision sensing information includes: longitudinal acceleration information, yaw angular velocity information and lateral acceleration information;

[0011] The first preset collision condition includes: a first preset sub-collision condition; the second preset collision condition includes: a second preset sub-collision condition;

[0012] The controller is configured to, when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a first preset sub-crash condition, control the side airbag to fire earlier than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-crash condition.

[0013] According to one embodiment of the present application, the controller is further configured to: determine an offset ratio of the vehicle based on the longitudinal acceleration information; and when the offset ratio and the yaw angular velocity information satisfy a third preset collision condition, determine whether the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition, or satisfy the second preset sub-collision condition, wherein the third preset collision condition is that the offset ratio is greater than a ratio threshold, and the absolute value of the yaw angular velocity information is less than an angular velocity threshold, but not both.

[0014] According to one embodiment of the present application, the lateral acceleration information includes first lateral acceleration information of the left side of the vehicle, second lateral acceleration information of the center of the vehicle, and third lateral acceleration information of the right side of the vehicle;

[0015] The first preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the second lateral acceleration information is not less than a second threshold, or the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than a third threshold;

[0016] The second preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met, or the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met.

[0017] According to one embodiment of the present application, the controller is configured to: when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information meet the first preset sub-collision condition, control the side airbag on the side opposite to the yaw direction of the vehicle to ignite earlier than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information meet the second preset sub-collision condition.

[0018] According to one embodiment of the present application, the yaw direction of the vehicle is determined based on the yaw rate information and the longitudinal acceleration information.

[0019] According to one embodiment of the present application, the airbag includes a frontal airbag;

[0020] The collision sensing information includes: longitudinal acceleration information;

[0021] The first preset collision condition includes: a third preset sub-collision condition; the second preset collision condition includes: a fourth preset sub-collision condition;

[0022] The controller is further configured to, when the longitudinal acceleration information satisfies the third preset sub-crash condition, control the front airbag to fire earlier than when the longitudinal acceleration information satisfies the fourth preset sub-crash condition.

[0023] According to one embodiment of the present application, the sensor module includes a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, and a bidirectional acceleration sensor, wherein the first longitudinal acceleration sensor, the second longitudinal acceleration sensor, and the bidirectional acceleration sensor are used to collect the longitudinal acceleration information, where the longitudinal acceleration information is information corresponding to the forward longitudinal acceleration of the vehicle;

[0024] The third preset sub-collision condition is that the longitudinal acceleration information is greater than a fourth threshold;

[0025] The fourth preset sub-collision condition is that the longitudinal acceleration information is less than the fourth threshold.

[0026] In a second aspect, the present application provides a method for controlling an airbag, wherein the airbag is provided in a vehicle, the method comprising:

[0027] Acquiring collision sensor information of the vehicle;

[0028] When the collision sensing information satisfies a first preset collision condition, the airbag is controlled to be ignited earlier than when the collision sensing information satisfies a second preset collision condition.

[0029] According to the airbag control method of the present application, by controlling the airbag to ignite earlier when the collision sensor information of the vehicle meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0030] According to one embodiment of the present application, obtaining collision sensor information of the vehicle includes:

[0031] Obtaining yaw rate information, longitudinal acceleration information, and lateral acceleration information of the vehicle within a first period;

[0032] When the collision sensor information satisfies a first preset collision condition, controlling the airbag to ignite earlier than when the collision sensor information satisfies a second preset collision condition includes:

[0033] A side airbag firing timing of the vehicle is controlled based on the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information.

[0034] According to one embodiment of the present application, controlling the ignition timing of the side airbag of the vehicle based on the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information includes:

[0035] When the longitudinal acceleration information and the yaw angular velocity information satisfy a third preset collision condition, performing a collision check based on the lateral acceleration information to obtain a collision check result of the vehicle;

[0036] Based on the collision verification result, the yaw rate information, and the longitudinal acceleration information, an ignition timing of a side airbag of the vehicle is controlled.

[0037] According to one embodiment of the present application, the first preset collision condition includes a first preset sub-collision condition and the second preset collision condition includes a second preset sub-collision condition, and adjusting the ignition timing of the side airbag of the vehicle based on the collision verification result, the yaw angular velocity information, and the longitudinal acceleration information includes:

[0038] When it is determined, based on the collision verification result, that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition, the side airbag is controlled to be ignited earlier based on the yaw angular velocity information and the longitudinal acceleration information than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the second preset sub-collision condition.

[0039] According to one embodiment of the present application, controlling the ignition timing of the side airbag to be earlier based on the yaw rate information and the longitudinal acceleration information than when the longitudinal acceleration information, the yaw rate information, and the lateral acceleration information satisfy a second preset sub-crash condition includes:

[0040] determining a yaw direction of the vehicle based on the yaw rate information and the longitudinal acceleration information;

[0041] Compared to when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the second predetermined sub-collision condition, the ignition timing of the side airbag on the side opposite to the yaw direction of the vehicle is controlled to be earlier.

[0042] According to one embodiment of the present application, determining the yaw direction of the vehicle based on the yaw angular velocity information and the longitudinal acceleration information includes:

[0043] When the yaw information of the vehicle determined based on the yaw rate information is consistent with the yaw information of the vehicle determined based on the longitudinal acceleration information, it is determined that the vehicle has yawed in a direction corresponding to the yaw information.

[0044] According to one embodiment of the present application, determining the yaw direction of the vehicle based on the yaw angular velocity information and the longitudinal acceleration information includes:

[0045] When the yaw information of the vehicle determined based on the yaw rate information is inconsistent with the yaw information of the vehicle determined based on the longitudinal acceleration information, the yaw direction of the vehicle is determined based on the vehicle model information.

[0046] According to one embodiment of the present application, controlling the ignition timing of the side airbag of the vehicle based on the collision verification result, the yaw angular velocity information, and the longitudinal acceleration information includes:

[0047] When it is determined, based on the collision verification result, that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-collision condition, the ignition timing of the side airbag is controlled to be later than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition.

[0048] According to one embodiment of the present application, the third preset collision condition is determined based on the following steps:

[0049] determining a bias ratio of the vehicle based on the longitudinal acceleration information;

[0050] If the offset ratio is greater than the ratio threshold and the absolute value of the yaw angular velocity information is less than the angular velocity threshold, but the conditions are not met at the same time, it is determined that the third preset collision condition is met.

[0051] According to one embodiment of the present application, the longitudinal acceleration information includes first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle. Determining the offset ratio of the vehicle based on the longitudinal acceleration information includes:

[0052] The offset ratio is determined as a ratio of a sum of the first longitudinal acceleration information and the second longitudinal acceleration information to a maximum value between the first longitudinal acceleration information and the second longitudinal acceleration information.

[0053] According to one embodiment of the present application, the lateral acceleration information includes first lateral acceleration information of the left side of the vehicle, second lateral acceleration information of the center of the vehicle, and third lateral acceleration information of the right side of the vehicle. The collision verification based on the lateral acceleration information to obtain the collision verification result of the vehicle includes:

[0054] determining that the first preset sub-collision condition is satisfied when a third preset collision condition is satisfied and the absolute value of the second lateral acceleration information is not less than a second threshold, or when the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than a third threshold;

[0055] If the third preset collision condition is satisfied and both the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold, or if both the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold, it is determined that the second preset sub-collision condition is satisfied.

[0056] According to one embodiment of the present application, obtaining collision sensor information of the vehicle includes:

[0057] Acquiring longitudinal acceleration information of the vehicle during a second time period, where the second time period is shorter than the first time period;

[0058] When the collision sensing information satisfies a first preset collision condition, controlling the airbag to fire earlier than when the collision sensing information satisfies a second preset collision condition includes:

[0059] Based on the longitudinal acceleration information during the second period, a front airbag ignition timing of the vehicle is controlled.

[0060] According to one embodiment of the present application, the first preset collision condition includes a third preset sub-collision condition, the second preset collision condition includes a fourth preset sub-collision condition, and controlling the ignition timing of the frontal airbag of the vehicle based on the longitudinal acceleration information within the second time period includes:

[0061] When the longitudinal acceleration information within the second time period satisfies a third preset sub-crash condition, the front airbag is controlled to be ignited earlier than when the longitudinal acceleration information within the second time period satisfies a fourth preset sub-crash condition, the third preset sub-crash condition being that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition being that the longitudinal acceleration information is less than the fourth threshold.

[0062] According to one embodiment of the present application, controlling the ignition timing of the front airbag of the vehicle based on the longitudinal acceleration information in the second time period includes:

[0063] When the longitudinal acceleration information within the second time period satisfies a fourth preset sub-crash condition, the front airbag is controlled to be ignited later than when the longitudinal acceleration information within the second time period satisfies a third preset sub-crash condition, the third preset sub-crash condition being that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition being that the longitudinal acceleration information is less than the fourth threshold.

[0064] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the airbag control method as described in the second aspect above is implemented.

[0065] In a fourth aspect, the present application provides a vehicle, comprising:

[0066] An airbag module, the airbag module including side airbags and front airbags;

[0067] A sensor module, the sensor module is used to collect yaw rate information, longitudinal acceleration information and lateral acceleration information of the vehicle;

[0068] As described in the third aspect above, the electronic device is connected to the airbag module and the sensor module.

[0069] According to the vehicle of the present application, by controlling the airbag to ignite earlier when the collision sensor information of the vehicle meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0070] According to one embodiment of the present application, the sensor module includes a yaw angular velocity sensor, a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, a first lateral acceleration sensor, a second lateral acceleration sensor, and a bidirectional acceleration sensor;

[0071] The yaw angular velocity sensor is used to collect the yaw angular velocity information, the first longitudinal acceleration sensor, the second longitudinal acceleration sensor and the bidirectional acceleration sensor are used to collect the longitudinal acceleration information, and the first lateral acceleration sensor, the second lateral acceleration sensor and the bidirectional acceleration sensor are used to collect the lateral acceleration information.

[0072] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0074] Figure 1 This is one of the structural diagrams of the vehicle provided in the embodiment of the present application;

[0075] Figure 2 This is one of the flow charts of the airbag control method provided in the embodiment of the present application;

[0076] Figure 3 This is the second flow chart of the airbag control method provided in the embodiment of the present application;

[0077] Figure 4 is a structural diagram of an electronic device provided in an embodiment of the present application;

[0078] Figure 5 This is the second structural diagram of the vehicle provided in the embodiment of the present application;

[0079] Figure 6 This is the third structural schematic diagram of the vehicle provided in the embodiment of the present application.

[0080] Reference numerals:

[0081] Airbag module 110 , sensor module 120 , controller 130 , electronic device 400 . DETAILED DESCRIPTION

[0082] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0083] The terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than that illustrated or described herein, and that the objects distinguished by "first," "second," and the like are generally of the same type, and do not limit the number of objects; for example, the first object can be one or more. In addition, the term "and / or" in the specification and claims refers to at least one of the connected objects, and the character " / " generally indicates that the objects connected are in an "or" relationship.

[0084] The vehicle, airbag control method, electronic device 400 and readable storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0085] like Figure 1 As shown, the vehicle includes an airbag module 110 , a sensor module 120 , and a controller 130 .

[0086] Among them, the airbag module 110 includes at least one airbag, the sensor module 120 is used to detect the collision sensing information of the vehicle, and the controller 130 is configured to: when the collision sensing information meets the first preset collision condition, control the airbag to ignite earlier than when the collision sensing information meets the second preset collision condition.

[0087] Airbags can include airbags installed on the outside of the vehicle's seats or inside the vehicle's doors to protect the occupants' torsos, air curtains and distal airbags installed on the inside of the vehicle's roof to cover the side window area, as well as airbags set in front of the driver and on the knees, and airbags set in front of the occupants and on the knees, etc.

[0088] The sensor module 120 may include an angular velocity sensor and an acceleration sensor, etc. The sensor module 120 may detect collision sensing information of the vehicle. The collision sensing information is information characterizing the acceleration and angular velocity of the vehicle, etc. The collision condition of the vehicle may be detected based on the collision sensing information.

[0089] In this embodiment, the first preset collision condition and the second preset collision condition are pre-set conditions. If the collision sensor information satisfies the first preset collision condition, it can indicate that the vehicle has experienced a violent frontal collision or an offset collision, and if the collision sensor information satisfies the second preset collision condition, it can indicate that the vehicle has experienced a minor frontal collision or no offset collision, and other conditions.

[0090] According to the vehicle provided in the embodiment of the present application, by controlling the airbag to ignite earlier when the collision sensor information of the vehicle meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0091] In some embodiments, the airbags include side airbags;

[0092] The collision sensing information includes: longitudinal acceleration information, yaw angular velocity information and lateral acceleration information;

[0093] The first preset collision condition includes: a first preset sub-collision condition; the second preset collision condition includes: a second preset sub-collision condition;

[0094] The controller 130 is configured to control the side airbag to fire earlier when the longitudinal acceleration information, yaw angular velocity information, and lateral acceleration information meet a first preset sub-crash condition than when the longitudinal acceleration information, yaw angular velocity information, and lateral acceleration information meet a second preset sub-crash condition.

[0095] It should be noted that side airbags may include airbags installed on the outside of the vehicle's seats or inside the vehicle's doors to protect the occupant's torso, air curtains and remote airbags installed on the inside of the vehicle's roof to cover the side window area, etc.

[0096] Depending on the configuration of different vehicles, the number of side airbags is different. The vehicle may include only airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, only include air curtains installed on the inside of the roof of the vehicle to cover the side window area, include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants and air curtains installed on the inside of the roof of the vehicle to cover the side window area, or include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, air curtains installed on the inside of the roof of the vehicle to cover the side window area and remote airbags.

[0097] In this embodiment, yaw rate information, longitudinal acceleration information, and lateral acceleration information may be acquired within a first period.

[0098] The first time period is a time period corresponding to the receipt of the collision input. For example, the moment when the collision input is received is T0. The first time period can be a period between T0 and T0+50ms. The collision input is an input used to characterize that a vehicle may collide. When it is detected that the acceleration of the vehicle's driving direction suddenly changes in a short period of time, it can be determined that the collision input has been received.

[0099] The yaw rate information is information about the change in the yaw rate of the vehicle during the first period. The yaw rate information can be expressed as the integral of the yaw rate of the vehicle during the first period. The yaw rate is the angular velocity of the vehicle rotating around a vertical axis pointing to the center of the earth.

[0100] The longitudinal acceleration information is information about the change in the vehicle's forward longitudinal acceleration during a first period of time, where the forward direction is the direction in which the vehicle is traveling forward. The longitudinal acceleration information can be expressed as the integral of the vehicle's forward longitudinal acceleration during the first period of time.

[0101] The lateral acceleration information is information about changes in the lateral acceleration of the vehicle during a first period of time. The lateral acceleration information may be expressed as the integral of the lateral acceleration of the vehicle during the first period of time. The lateral acceleration is the acceleration perpendicular to the vehicle's traveling direction.

[0102] In this embodiment, an acceleration sensor can be set at the front end of the vehicle to collect longitudinal acceleration information, an acceleration sensor can be set on the side of the vehicle to collect lateral acceleration information, and a gyroscope can be set at the top center of the vehicle to collect yaw angular velocity information.

[0103] In this embodiment, the first preset sub-crash condition and the second preset sub-crash condition are conditions for adjusting the ignition timing of the side airbag.

[0104] If the longitudinal acceleration information, yaw angular velocity information and lateral acceleration information satisfy a first preset sub-collision condition, it can be indicated that the vehicle has experienced an offset collision. If the longitudinal acceleration information, yaw angular velocity information and lateral acceleration information satisfy a second preset sub-collision condition, it can be indicated that the vehicle has not experienced an offset collision. When the vehicle has experienced an offset collision, the side airbags are controlled to ignite earlier than when the vehicle has not experienced an offset collision.

[0105] In some embodiments, the controller 130 is further configured to: determine the offset ratio of the vehicle based on the longitudinal acceleration information; and when the offset ratio and the yaw angular velocity information meet the third preset collision condition, determine whether the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information meet the first preset sub-collision condition, or meet the second preset sub-collision condition, where the third preset collision condition is that the offset ratio is greater than the ratio threshold, and the absolute value of the yaw angular velocity information is less than the angular velocity threshold, but is not met at the same time.

[0106] The bias ratio is used to preliminarily characterize the bias condition of the vehicle, and the ratio threshold and the angular velocity threshold are pre-set values.

[0107] In this embodiment, the longitudinal acceleration information may include first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle. The first longitudinal acceleration information and the second longitudinal acceleration information may be compared or mathematically operated to obtain an offset ratio.

[0108] In this embodiment, the offset ratio and yaw rate information satisfying the third preset collision condition indicates that the vehicle may experience an offset collision. Further verification is required to determine whether the longitudinal acceleration information, yaw rate information, and lateral acceleration information satisfy the first preset sub-collision condition or the second preset sub-collision condition.

[0109] In some embodiments, the lateral acceleration information includes first lateral acceleration information of a left side of the vehicle, second lateral acceleration information of a center of the vehicle, and third lateral acceleration information of a right side of the vehicle;

[0110] The first preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the second lateral acceleration information is not less than the second threshold, or the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than the third threshold;

[0111] The second preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met, or the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met.

[0112] Among them, the first threshold, the second threshold and the third threshold are pre-set values. The first threshold, the second threshold and the third threshold can be determined according to the vehicle model, etc. The values of the first threshold, the second threshold and the third threshold can be the same or different.

[0113] In this embodiment, if the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold, or if the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold, it indicates that the vehicle has not experienced an offset collision and meets the second preset sub-collision condition.

[0114] If the absolute value of the second lateral acceleration information is not less than the second threshold, or the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than the third threshold, so that the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold are not simultaneously satisfied, and the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold are not simultaneously satisfied, it indicates that the vehicle has experienced an offset collision and the first preset sub-collision condition is satisfied.

[0115] For example, the first lateral acceleration is LBLYSY, and the first lateral acceleration information is the integral of LBLYSY in the first time period from T0 to T0+n; the second lateral acceleration is RBLYSY, and the second lateral acceleration information is the integral of RBLYSY in the first time period from T0 to T0+n; the third lateral acceleration is ECUY, and the third lateral acceleration information is the integral of ECUY in the first time period from T0 to T0+n.

[0116] The lateral acceleration threshold corresponding to the first lateral acceleration information and the second lateral acceleration information may be TH3, and the lateral acceleration threshold corresponding to the third lateral acceleration information may be TH4.

[0117] Can be satisfied , it is determined that the vehicle does not have an offset collision and meets the second preset sub-collision condition.

[0118] In some embodiments, the controller 130 is configured to control the side airbag on the side opposite to the vehicle's yaw direction to ignite earlier when the longitudinal acceleration information, yaw angular velocity information, and lateral acceleration information meet a first preset sub-collision condition than when the longitudinal acceleration information, yaw angular velocity information, and lateral acceleration information meet a second preset sub-collision condition.

[0119] In this embodiment, when an offset collision occurs to the vehicle, the deflection direction of the vehicle may be determined, where the deflection direction may include deflection to the left or to the right.

[0120] When the vehicle veers to the left, the side airbag on the right side of the vehicle is adjusted to ignite earlier than when no offset collision occurs. When the vehicle veers to the right, the side airbag on the left side of the vehicle is adjusted to ignite earlier than when no offset collision occurs.

[0121] In this embodiment, when the vehicle deflects, the occupants generally collide with the side of the vehicle opposite to the deflection direction. The side airbag on the side opposite to the deflection direction of the vehicle is adjusted to ignite earlier than when the vehicle does not have an offset collision, which can ensure that the side airbag on the side of the occupant's collision pops out in time to protect the occupants.

[0122] In some embodiments, the yaw direction of the vehicle is determined based on the yaw rate information and the longitudinal acceleration information.

[0123] In this embodiment, the deflection information of the vehicle can be obtained based on the yaw angular velocity information, and the deflection information of the vehicle can also be obtained based on the longitudinal acceleration information. The deflection information can indicate that the vehicle may deflect to the left or the vehicle may deflect to the right. The two deflection information can be combined to determine whether the vehicle deflects to the left or the right.

[0124] In some embodiments, the airbag comprises a frontal airbag;

[0125] The collision sensing information includes: longitudinal acceleration information;

[0126] The first preset collision condition includes: a third preset sub-collision condition; the second preset collision condition includes: a fourth preset sub-collision condition;

[0127] The controller 130 is further configured to control the front airbag to fire earlier when the longitudinal acceleration information satisfies the third preset sub-crash condition than when the longitudinal acceleration information satisfies the fourth preset sub-crash condition.

[0128] In this embodiment, the front airbags may include airbags provided in front of and on the knees of the driver and airbags provided in front of and on the knees of the passenger.

[0129] In this embodiment, the third preset sub-crash condition and the fourth preset sub-crash condition are conditions for adjusting the ignition timing of the front airbag.

[0130] In this embodiment, longitudinal acceleration information may be obtained within a second period, which is a period corresponding to receiving a collision input. The first period and the second period may be different, and the second period is shorter than the first period.

[0131] In this embodiment, when the longitudinal acceleration information satisfies the third preset sub-collision condition, it indicates that the vehicle has experienced a violent frontal collision. When the longitudinal acceleration information satisfies the fourth preset sub-collision condition, it indicates that the vehicle has experienced a minor frontal collision. When the vehicle has experienced a violent frontal collision, the front airbag is controlled to ignite earlier than when the vehicle has experienced a minor frontal collision, thereby providing timely protection for the occupants.

[0132] In some embodiments, the sensor module 120 includes a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, and a bidirectional acceleration sensor. The first longitudinal acceleration sensor, the second longitudinal acceleration sensor, and the bidirectional acceleration sensor are used to collect longitudinal acceleration information. The longitudinal acceleration information is information corresponding to the forward longitudinal acceleration of the vehicle.

[0133] The third preset sub-collision condition is that the longitudinal acceleration information is greater than a fourth threshold;

[0134] The fourth preset sub-collision condition is that the longitudinal acceleration information is less than a fourth threshold.

[0135] The fourth threshold is a preset value, and the fourth threshold can be set according to the vehicle model and relevant laws and regulations.

[0136] In this embodiment, the longitudinal acceleration information being greater than the fourth threshold indicates that the vehicle has experienced a violent frontal collision that meets the third preset sub-collision condition, and the longitudinal acceleration information being less than the fourth threshold indicates that the vehicle has experienced a minor frontal collision that meets the fourth preset sub-collision condition.

[0137] The embodiment of the present application further provides a method for controlling an airbag, wherein the method for controlling an airbag can be applied to a terminal, and specifically can be executed by hardware or software in the terminal.

[0138] The airbag control method provided in the embodiment of the present application may be executed by an electronic device 400 or a functional module or functional entity in the electronic device 400 that can implement the airbag control method. The electronic device 400 mentioned in the embodiment of the present application includes but is not limited to a computer, etc. The airbag control method provided in the embodiment of the present application is described below using the electronic device 400 as an example of the execution entity.

[0139] Airbags are installed in vehicles.

[0140] like Figure 2 As shown, the airbag control method includes: step 210 and step 220.

[0141] Step 210: Acquire collision sensor information of the vehicle.

[0142] Step 220 : When the collision sensor information satisfies the first preset collision condition, the airbag is controlled to be ignited earlier than when the collision sensor information satisfies the second preset collision condition.

[0143] According to the airbag control method provided in the embodiment of the present application, by controlling the airbag to ignite earlier when the vehicle's collision sensor information meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0144] In some embodiments, obtaining collision sensor information of the vehicle includes:

[0145] Obtaining yaw rate information, longitudinal acceleration information, and lateral acceleration information of the vehicle within a first period;

[0146] When the collision sensor information satisfies the first preset collision condition, controlling the airbag to fire earlier than when the collision sensor information satisfies the second preset collision condition includes:

[0147] The vehicle's side airbag firing timing is controlled based on the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information.

[0148] In this embodiment, when a collision input is received, the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information of the vehicle in the first time period may be obtained.

[0149] The collision input is an input used to indicate that a vehicle may collide.

[0150] In this embodiment, it may be determined that a collision input has been received when it is detected that the acceleration of the vehicle's traveling direction changes suddenly within a short period of time.

[0151] In this embodiment, the first time period is a time period corresponding to when the collision input is received. For example, the time when the collision input is received is T0, and the first time period may be a time period between T0 and T0+50ms.

[0152] The yaw rate information is information about the change in the yaw rate of the vehicle during the first period. The yaw rate information can be expressed as the integral of the yaw rate of the vehicle during the first period. The yaw rate is the angular velocity of the vehicle rotating around a vertical axis pointing to the center of the earth.

[0153] The longitudinal acceleration information is information about the change in the vehicle's forward longitudinal acceleration during a first period of time, where the forward direction is the direction in which the vehicle is traveling forward. The longitudinal acceleration information can be expressed as the integral of the vehicle's forward longitudinal acceleration during the first period of time.

[0154] The lateral acceleration information is information about changes in the lateral acceleration of the vehicle during a first period of time. The lateral acceleration information may be expressed as the integral of the lateral acceleration of the vehicle during the first period of time. The lateral acceleration is the acceleration perpendicular to the vehicle's traveling direction.

[0155] In this embodiment, an acceleration sensor can be set at the front end of the vehicle to collect longitudinal acceleration information, an acceleration sensor can be set on the side of the vehicle to collect lateral acceleration information, and a gyroscope can be set at the top center of the vehicle to collect yaw angular velocity information.

[0156] It should be noted that side airbags may include airbags installed on the outside of the vehicle's seats or inside the vehicle's doors to protect the occupant's torso, air curtains and remote airbags installed on the inside of the vehicle's roof to cover the side window area, etc.

[0157] Depending on the configuration of different vehicles, the number of side airbags is different. The vehicle may include only airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, only include air curtains installed on the inside of the roof of the vehicle to cover the side window area, include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants and air curtains installed on the inside of the roof of the vehicle to cover the side window area, or include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, air curtains installed on the inside of the roof of the vehicle to cover the side window area and remote airbags.

[0158] In this step, whether the vehicle has an offset collision can be determined based on the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information. When the vehicle has an offset collision, the side airbag ignition timing is earlier than when the vehicle has not an offset collision.

[0159] The direction of the vehicle's offset collision can also be determined based on the yaw angular velocity information, longitudinal acceleration information, and lateral acceleration information. According to the direction of the vehicle's offset collision, the ignition timing of the left side airbag or the ignition timing of the right side airbag can be adjusted to be advanced.

[0160] In this step, the yaw angular velocity information, longitudinal acceleration information and lateral acceleration information can be subjected to mathematical operations or logical operations, or the yaw angular velocity information, longitudinal acceleration information and lateral acceleration information can be compared with corresponding set thresholds. Based on the operation or comparison results, it is determined whether the vehicle has an offset collision and the direction of the offset collision.

[0161] In related technologies, whether to deploy the side airbags of a vehicle is usually determined based solely on the vehicle's lateral acceleration. However, due to the complexity and diversity of collision conditions during vehicle driving, it is difficult to restore them one by one during the research and development and calibration stages. Determining whether to deploy the side airbags of a vehicle solely based on lateral acceleration cannot meet the deployment requirements of various collision conditions, and the control of airbag deployment is not accurate.

[0162] In this embodiment, the yaw rate information, longitudinal acceleration information and lateral acceleration information are used to determine whether the vehicle has been involved in an offset collision. The ignition timing of the side airbag is advanced or delayed based on the determination result. The left side airbag or the right side airbag can be adjusted based on the yaw rate information and longitudinal acceleration information. The ignition timing of the side airbag on the corresponding side can be adjusted according to whether the vehicle has been involved in an offset collision and the deflection direction when an offset collision occurs, thereby ensuring that the timing of the side airbag popping out under different collision conditions is adjusted accordingly, thereby accurately controlling the airbag popping out.

[0163] In some embodiments, controlling the firing timing of a side airbag of a vehicle based on yaw rate information, longitudinal acceleration information, and lateral acceleration information includes:

[0164] When the longitudinal acceleration information and the yaw angular velocity information satisfy a third preset collision condition, performing a collision check based on the lateral acceleration information to obtain a collision check result of the vehicle;

[0165] Based on the collision verification results, yaw rate information and longitudinal acceleration information, the ignition timing of the vehicle's side airbags is controlled.

[0166] In this embodiment, the longitudinal acceleration information and the yaw angular velocity information meet the third preset collision condition, indicating that the vehicle may have an offset collision and further verification is required, and collision verification is performed based on the lateral acceleration information.

[0167] In this embodiment, whether the vehicle meets the third preset collision condition can be determined based on the magnitude of the yaw angular velocity information and the change in the longitudinal acceleration represented by the longitudinal acceleration information.

[0168] In this embodiment, the longitudinal acceleration information may include longitudinal acceleration information on the left side of the front end of the vehicle and longitudinal acceleration information on the right side of the front end of the vehicle. The longitudinal acceleration information on the left side may be compared with the acceleration information on the right side. Based on the comparison result and the size of the yaw angular velocity information, it is determined whether the vehicle meets the third preset collision condition.

[0169] In this step, when it is determined that the vehicle may have an offset collision and meets the third preset collision condition, a collision check is further performed based on the lateral acceleration information to determine whether the vehicle has an offset collision and obtain a collision check result. The collision check result includes whether the vehicle has an offset collision and whether the vehicle has not an offset collision.

[0170] In this embodiment, a collision check can be performed based on the size of the lateral acceleration information. For example, when the lateral acceleration information is less than a set threshold, it can be determined that the vehicle has not experienced an offset collision. When the lateral acceleration information is greater than or equal to the set threshold, it can be determined that the vehicle has experienced an offset collision.

[0171] In this embodiment, the adjustment direction of the side airbag ignition timing can be determined according to the collision verification result.

[0172] One deflection information of the vehicle can be determined based on the yaw angular velocity information, and another deflection information of the vehicle can be determined based on the longitudinal acceleration information. By combining the two deflection information, the ignition timing of the left side airbag or the ignition timing of the right side airbag can be adjusted.

[0173] It should be noted that side airbags may include airbags installed on the outside of the vehicle's seats or inside the vehicle's doors to protect the occupant's torso, air curtains and remote airbags installed on the inside of the vehicle's roof to cover the side window area, etc.

[0174] Depending on the configuration of different vehicles, the number of side airbags is different. The vehicle may include only airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, only include air curtains installed on the inside of the roof of the vehicle to cover the side window area, include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants and air curtains installed on the inside of the roof of the vehicle to cover the side window area, or include airbags on the outside of the seats or inside of the doors to protect the torso of the occupants, air curtains installed on the inside of the roof of the vehicle to cover the side window area and remote airbags.

[0175] In some embodiments, the first predetermined collision condition includes a first predetermined sub-collision condition, the second predetermined collision condition includes a second predetermined sub-collision condition, and adjusting the ignition timing of the side airbag of the vehicle based on the collision verification result, the yaw rate information, and the longitudinal acceleration information includes:

[0176] When it is determined based on the collision verification result that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a first preset sub-collision condition, the side airbag is controlled to be ignited earlier based on the yaw angular velocity information and the longitudinal acceleration information than if the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-collision condition.

[0177] In this embodiment, the first preset sub-crash condition and the second preset sub-crash condition are conditions for adjusting the ignition timing of the side airbag.

[0178] If the longitudinal acceleration information, yaw angular velocity information and lateral acceleration information satisfy a first preset sub-collision condition, it can be indicated that the vehicle has experienced an offset collision. If the longitudinal acceleration information, yaw angular velocity information and lateral acceleration information satisfy a second preset sub-collision condition, it can be indicated that the vehicle has not experienced an offset collision. When the vehicle has experienced an offset collision, the side airbags are controlled to ignite earlier than when the vehicle has not experienced an offset collision.

[0179] In this embodiment, in the event of an offset collision of the vehicle, the vehicle's deflection direction and degree can be determined based on the yaw angular velocity information and the longitudinal acceleration information. According to the deflection direction and degree, the side airbag on one side is determined, and the corresponding ignition time is advanced to ensure that the side airbag pops out in time when the vehicle collides head-on and causes an offset collision, thereby protecting the occupants.

[0180] In this embodiment, when the vehicle is involved in an offset collision, the ignition timing of the side airbag is advanced to ensure that the side airbag pops out in time when the vehicle is involved in a frontal collision, which causes an offset collision, to protect the occupants.

[0181] In some embodiments, based on the yaw rate information and the longitudinal acceleration information, controlling the ignition timing of the side airbag to be earlier than when the longitudinal acceleration information, the yaw rate information, and the lateral acceleration information satisfy the second predetermined sub-crash condition includes:

[0182] Determine the vehicle's yaw direction based on the yaw rate information and the longitudinal acceleration information;

[0183] Compared to when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-collision condition, the ignition timing of the side airbag on the side opposite to the yaw direction of the vehicle is controlled to be earlier.

[0184] In this embodiment, the deflection information of the vehicle can be obtained based on the yaw angular velocity information, and the deflection information of the vehicle can also be obtained based on the longitudinal acceleration information. The deflection information can indicate that the vehicle may deflect to the left or the vehicle may deflect to the right. The two deflection information can be combined to determine whether the vehicle deflects to the left or the right.

[0185] When the vehicle turns to the left, the ignition timing of the side airbag on the right side of the vehicle is advanced. When the vehicle turns to the right, the ignition timing of the side airbag on the left side of the vehicle is advanced.

[0186] In this embodiment, when the vehicle deflects, the occupants generally collide with the side opposite to the deflection direction of the vehicle. Advancing the ignition time of the side airbag on the side opposite to the deflection direction of the vehicle can ensure that the side airbag on the side impacted by the occupants pops out in time to protect the occupants.

[0187] In some embodiments, determining a yaw direction of the vehicle based on the yaw rate information and the longitudinal acceleration information includes:

[0188] When the yaw information of the vehicle determined based on the yaw rate information matches the yaw information of the vehicle determined based on the longitudinal acceleration information, it is determined that the vehicle has yawed in a direction corresponding to the yaw information.

[0189] In this embodiment, when it is determined based on the yaw rate information that the vehicle is likely to yaw to the left and simultaneously determined based on the longitudinal acceleration information that the vehicle is likely to yaw to the left, it is determined that the vehicle is yawed to the left.

[0190] In a case where it is determined based on the yaw rate information that the vehicle is likely to yaw to the right, and simultaneously based on the longitudinal acceleration information that the vehicle is likely to yaw to the right, it is determined that the vehicle is yawed to the right.

[0191] In some embodiments, determining a yaw direction of the vehicle based on the yaw rate information and the longitudinal acceleration information includes:

[0192] When the yaw information of the vehicle determined based on the yaw rate information is inconsistent with the yaw information of the vehicle determined based on the longitudinal acceleration information, the yaw direction of the vehicle is determined based on the vehicle model information.

[0193] In this embodiment, when it is determined based on the yaw rate information that the vehicle may deflect to the left and based on the longitudinal acceleration information that the vehicle may deflect to the right, or when it is determined based on the yaw rate information that the vehicle may deflect to the right and based on the longitudinal acceleration information that the vehicle may deflect to the left, based on vehicle type information such as the vehicle body type, it is determined that the deflection direction determined by the yaw rate information is determined as the deflection direction of the vehicle, or the deflection direction determined by the longitudinal acceleration information is determined as the deflection direction of the vehicle.

[0194] In some embodiments, controlling the firing timing of a side airbag of a vehicle based on the collision verification result, the yaw rate information, and the longitudinal acceleration information includes:

[0195] When it is determined based on the collision verification result that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the second preset sub-collision condition, the ignition timing of the side airbag is controlled to be later than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition.

[0196] When the vehicle does not experience an offset collision, delaying the ignition timing of the side airbags can reduce the probability of the side airbags on both sides accidentally deploying.

[0197] In some embodiments, the third predetermined collision condition is determined based on the following steps:

[0198] determining a vehicle offset ratio based on the longitudinal acceleration information;

[0199] When the offset ratio is greater than the ratio threshold and the absolute value of the yaw angular velocity information is less than the angular velocity threshold, it is determined that the third preset collision condition is satisfied.

[0200] The bias ratio is used to preliminarily characterize the bias condition of the vehicle, and the ratio threshold and the angular velocity threshold are pre-set values.

[0201] In this embodiment, the longitudinal acceleration information includes first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle. The first longitudinal acceleration information and the second longitudinal acceleration information can be compared or mathematically calculated to obtain an offset ratio.

[0202] In this embodiment, when the offset ratio is greater than the ratio threshold and the absolute value of the yaw rate information is less than the yaw rate threshold, it is determined that the vehicle may have an offset collision and the third preset collision condition is met.

[0203] In some embodiments, the longitudinal acceleration information includes first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle. Determining the offset ratio of the vehicle based on the longitudinal acceleration information includes:

[0204] The ratio of the sum of the first longitudinal acceleration information and the second longitudinal acceleration information to the maximum value of the first longitudinal acceleration information and the second longitudinal acceleration information is determined as the offset ratio.

[0205] It can be understood that the first longitudinal acceleration information is the information of the positive longitudinal acceleration change corresponding to the left front of the vehicle, which can be expressed as the integral of the positive longitudinal acceleration of the left front of the vehicle during the first time period; the second longitudinal acceleration information is the information of the positive longitudinal acceleration change corresponding to the right front of the vehicle, which can be expressed as the integral of the positive longitudinal acceleration of the right front of the vehicle during the first time period.

[0206] For example, the first longitudinal acceleration sensor set on the left front of the vehicle collects 5 acceleration data, which are 5m / s 2 、-5m / s 2 , 5m / s 2 、-5m / s 2 and -5m / s 2 The second longitudinal acceleration sensor set on the right front of the vehicle collected 5 acceleration data, which are 10m / s 2 、-10m / s 2 、10m / s 2 、-10m / s 2 and -10m / s 2 , remove the negative acceleration data and retain the positive acceleration data, then the first longitudinal acceleration information can be 5m / s 2 +5m / s 2 =10m / s 2 , the second longitudinal acceleration information can be 10m / s 2 +10m / s 2 =20m / s 2 , the bias ratio can be (10m / s 2 +20m / s 2 ) / 20m / s 2=1.5. For example, if the first longitudinal acceleration is USLX_Positive, the first longitudinal acceleration information is the integral of USLX_Positive in the first period from T0 to T0+n, and the second longitudinal acceleration is USRX_Positive, the second longitudinal acceleration information is the integral of USRX_Positive in the first period from T0 to T0+n, then the bias ratio is

[0207]

[0208] In some embodiments, the lateral acceleration information includes first lateral acceleration information of the left side of the vehicle, second lateral acceleration information of the center of the vehicle, and third lateral acceleration information of the right side of the vehicle. A collision check is performed based on the lateral acceleration information to obtain a collision check result of the vehicle, including:

[0209] determining that the first preset sub-collision condition is satisfied when the third preset collision condition is satisfied and the absolute value of the second lateral acceleration information is not less than the second threshold, or when the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than the third threshold;

[0210] If the third preset collision condition is satisfied and both the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold, or if both the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold, it is determined that the second preset sub-collision condition is satisfied.

[0211] In this embodiment, the first lateral acceleration information, the second lateral acceleration information, and the third lateral acceleration information may correspond to different lateral acceleration thresholds.

[0212] For example, the first lateral acceleration is LBLYSY, and the first lateral acceleration information is the integral of LBLYSY in the first time period from T0 to T0+n; the second lateral acceleration is RBLYSY, and the second lateral acceleration information is the integral of RBLYSY in the first time period from T0 to T0+n; the third lateral acceleration is ECUY, and the third lateral acceleration information is the integral of ECUY in the first time period from T0 to T0+n.

[0213] The lateral acceleration threshold corresponding to the first lateral acceleration information and the second lateral acceleration information may be TH3, and the lateral acceleration threshold corresponding to the third lateral acceleration information may be TH4.

[0214] Can be satisfied , it is determined that the vehicle meets the second preset sub-collision condition and no offset collision occurs.

[0215] In some embodiments, obtaining collision sensor information of the vehicle includes:

[0216] Obtaining longitudinal acceleration information of the vehicle during a second period, where the second period is shorter than the first period;

[0217] When the collision sensor information satisfies the first preset collision condition, controlling the airbag to fire earlier than when the collision sensor information satisfies the second preset collision condition includes:

[0218] Based on the longitudinal acceleration information during the second period, a front airbag ignition timing of the vehicle is controlled.

[0219] The second time period is a time period corresponding to receiving the collision input. The first time period and the second time period may be different, and the duration of the second time period is shorter than the duration of the first time period.

[0220] In this embodiment, the longitudinal acceleration information in the second period may be compared with a corresponding threshold value, and the front airbag ignition timing may be adjusted according to the comparison result.

[0221] It should be noted that the frontal airbags may include airbags provided in front of and on the knees of the driver and airbags provided in front of and on the knees of the passenger.

[0222] In this embodiment, the ignition timing of the vehicle's front airbag is adjusted based on the longitudinal acceleration information in the second time period, which can reduce the probability of the front airbag being accidentally deployed and ensure that the front airbag is deployed in time when needed to protect the occupants.

[0223] In some embodiments, the first preset collision condition includes a third preset sub-collision condition, the second preset collision condition includes a fourth preset sub-collision condition, and controlling the ignition timing of the frontal airbag of the vehicle based on the longitudinal acceleration information within the second time period includes:

[0224] When the longitudinal acceleration information within the second time period meets a third preset sub-crash condition, the front airbag is controlled to be ignited earlier than when the longitudinal acceleration information within the second time period meets a fourth preset sub-crash condition, where the third preset sub-crash condition is that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition is that the longitudinal acceleration information is less than the fourth threshold.

[0225] In this embodiment, when the longitudinal acceleration information in the second time period is greater than the fourth threshold value, it indicates that the vehicle has suffered a violent frontal collision. When the longitudinal acceleration information in the second time period is less than the fourth threshold value, it indicates that the vehicle has suffered a minor frontal collision. The front airbag ignition timing is adjusted earlier when the vehicle has suffered a violent collision than when the vehicle has suffered a minor collision.

[0226] In some embodiments, controlling the ignition timing of a frontal airbag of the vehicle based on the longitudinal acceleration information during the second time period includes:

[0227] When the longitudinal acceleration information within the second time period meets a fourth preset sub-crash condition, the front airbag is controlled to be ignited later than when the longitudinal acceleration information within the second time period meets a third preset sub-crash condition, where the third preset sub-crash condition is that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition is that the longitudinal acceleration information is less than the fourth threshold.

[0228] In this embodiment, the front airbag ignition timing is adjusted to be later when the vehicle is in a minor collision than when the vehicle is in a violent collision, thereby reducing the probability of the front airbag being accidentally deployed.

[0229] A specific embodiment of an airbag control method is introduced below.

[0230] like Figure 3 As shown, step 1, when a collision input is received, the left and right front collision positive acceleration integrals, that is, longitudinal acceleration information, are calculated within a first time period from the collision time T0 to T0+50ms, including first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle, and the IMUAVZ angular velocity information, that is, yaw angular velocity information, and side acceleration Y and central acceleration Y, that is, lateral acceleration information, including first lateral acceleration information on the left side of the vehicle, second lateral acceleration information on the center of the vehicle, and third lateral acceleration information on the right side of the vehicle, are obtained.

[0231] Step 2: When the following equations are not satisfied at the same time, the pre-identification flag Pr_NoOffset_Flag is valid, that is, the third preset collision condition is satisfied.

[0232]

[0233] Where USLX_Positive is the first longitudinal acceleration, USRX_Positive is the second longitudinal acceleration, IMUAVZ is the yaw angular velocity, TH1 and TH2 are the set thresholds, and n is 50ms.

[0234] Step 3: When it is determined that the vehicle meets the third preset collision condition, a collision check is performed based on the lateral acceleration information to obtain the vehicle's collision check result, that is, whether the check pass flag Front_Side_Flag is valid. When the following formula is met, Front_Side_Flag is valid.

[0235]

[0236] Wherein, LBSISY is the first lateral acceleration, RBSISY is the second lateral acceleration, ECUY is the third lateral acceleration, and TH3 and TH4 are set thresholds.

[0237] Step 4: If the flag bit Front_Side_Flag is valid, it is determined that the vehicle has not experienced an offset collision, that is, the non-offset collision flag bit NoOffset_Flag is valid, and the ignition time of the side airbag is delayed.

[0238] Step 5. If the verification flag Front_Side_Flag is invalid, determine that the vehicle has an offset collision, that is, the offset collision flag Offset_Flag is valid, calculate whether the left integral sum is greater than the right integral sum, that is, whether the first longitudinal acceleration information is greater than the second longitudinal acceleration information. If the first longitudinal acceleration information is greater than the second longitudinal acceleration information, the result is 1; otherwise, it is 0. Calculate whether the IMUAVZ integral sum is positive. If it is positive, the result is 1; otherwise, it is 0, where rightward deviation is positive.

[0239] Step 6. Add the two results generated in step 5 to obtain three results, namely 0, 1 and 2. When the result is 0, the right bias flag Right_Front_Flag is determined to be valid, indicating that the vehicle deviates to the left and the ignition time of the right side airbag is advanced. When the result is 2, the left bias flag Left_Front_Flag is determined to be valid, indicating that the vehicle deviates to the right and the ignition time of the left side airbag is advanced.

[0240] When the result is 2, it is determined that there may be an input abnormality. According to the result of calculating whether the sum of the IMUAVZ integral is positive, when the result is 0, it is determined that the right bias flag Right_Front_Flag is valid, and the ignition time of the right side airbag is advanced. When the result is 1, it is determined that the left bias flag Left_Front_Flag is valid, and the ignition time of the left side airbag is advanced.

[0241] Step 7. Calculate whether the sum of the positive integrals of the front collision during the second period from T0 to T0+10ms is greater than a set value, that is, whether the longitudinal acceleration information during the second period is greater than the longitudinal acceleration threshold. When the following equation is satisfied, the medium- and high-speed collision flag H_Crash_Flag is valid, and the ignition timing of the front airbag is advanced. When the following equation is not satisfied, the low-speed collision flag L_Crash_Flag is valid, and the ignition timing of the front airbag is delayed.

[0242]

[0243] Wherein, USLX_Positive is the first longitudinal acceleration, USRX_Positive is the second longitudinal acceleration, TH5 is the fourth threshold, and n is 10ms.

[0244] In the related art, the timing of the front and left and right airbags deploying cannot be adjusted. For the front airbag, the ignition timing of the airbag may be late at high and medium speeds, and the margin for non-ignition is low at low speeds. For the side airbag control strategy, it depends entirely on whether the lateral acceleration generated during the collision reaches the side ignition threshold. However, the lateral acceleration generated by the vehicle during each collision is less consistent, and the side airbag ignition logic cannot be stably implemented relying solely on the side ignition threshold.

[0245] In the embodiment of the present application, the vehicle body posture and acceleration sensor are fused to stably identify almost all front collision conditions, improve the ignition performance of the airbag under front collision conditions, and achieve the stability of the side airbag ignition judgment logic. It can be adapted to mid-to-high-end models without adding new sensors.

[0246] By performing comprehensive calculations based on the generated flag bits, the ignition timing of the airbag in the front collision direction at medium and high speeds can be advanced, the occupant protection performance is better, the margin for non-ignition at low speeds is increased, the maintenance economy is better, and the control strategy of the side airbag is more precise, stable and reliable.

[0247] In some embodiments, as Figure 4 As shown, an embodiment of the present application further provides an electronic device 400, including a processor 401, a memory 402, and a computer program stored in the memory 402 and executable on the processor 401. When the program is executed by the processor 401, each process of the above-mentioned airbag control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0248] It should be noted that the electronic device 400 in the embodiment of the present application includes the mobile electronic device 400 and the non-mobile electronic device 400 described above.

[0249] An embodiment of the present application also provides a vehicle.

[0250] like Figure 5 As shown, the vehicle includes an airbag module 110 , a sensor module 120 and the aforementioned electronic device 400 .

[0251] The airbag module 110 includes side airbags and front airbags.

[0252] The sensor module 120 is used to collect the vehicle's yaw rate information, longitudinal acceleration information, and lateral acceleration information.

[0253] The electronic device 400 is connected to the airbag module 110 and the sensor module 120 .

[0254] In this embodiment, the sensor module 120 may include a yaw angular velocity sensor, a longitudinal acceleration sensor and a lateral acceleration sensor. The yaw angular velocity sensor is used to collect the yaw angular velocity information of the vehicle, the longitudinal acceleration sensor is used to collect the longitudinal acceleration information of the vehicle, and the lateral acceleration sensor is used to collect the lateral acceleration information of the vehicle.

[0255] The yaw angular velocity sensor is integrated into the gyroscope. The longitudinal acceleration sensor and the lateral acceleration sensor may be unidirectional acceleration sensors. The longitudinal acceleration sensor is arranged along the longitudinal direction of the vehicle, and the lateral acceleration sensor is arranged along the lateral direction of the vehicle.

[0256] According to the vehicle provided in the embodiment of the present application, by controlling the airbag to ignite earlier when the collision sensor information of the vehicle meets the first preset collision condition than when the collision sensor information meets the second preset collision condition, the timing of the airbag popping out under different collision conditions can be adjusted, and the airbag popping out can be precisely controlled.

[0257] In some embodiments, the sensor module 120 includes a yaw angular velocity sensor, a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, a first lateral acceleration sensor, a second lateral acceleration sensor, and a bidirectional acceleration sensor.

[0258] The yaw angular velocity sensor is used to collect yaw angular velocity information, the first longitudinal acceleration sensor, the second longitudinal acceleration sensor and the bidirectional acceleration sensor are used to collect longitudinal acceleration information, and the first lateral acceleration sensor, the second lateral acceleration sensor and the bidirectional acceleration sensor are used to collect lateral acceleration information.

[0259] In this embodiment, the first longitudinal acceleration sensor, the second longitudinal acceleration sensor, the first lateral acceleration sensor, and the second lateral acceleration sensor are unidirectional acceleration sensors.

[0260] In this embodiment, the yaw angular velocity sensor is integrated into the gyroscope, and the gyroscope integrated with the yaw angular velocity sensor and the bidirectional acceleration sensor are integrated into the airbag electronic controller 130 (Electronic Control Unit, ECU), wherein the airbag electronic controller 130 can execute the above-mentioned airbag control method, and the airbag electronic controller 130 can be arranged under the front armrest box inside the vehicle.

[0261] The first longitudinal acceleration sensor is arranged longitudinally on the longitudinal beam on one side of the front end of the vehicle, the second longitudinal acceleration sensor is arranged longitudinally on the longitudinal beam on the other side of the front end of the vehicle, the first lateral acceleration sensor is arranged transversely on the lower end of the B-pillar on one side of the vehicle, and the second lateral acceleration sensor is arranged transversely on the lower end of the B-pillar on the other side of the vehicle. One direction of the bidirectional acceleration sensor is arranged transversely and the other direction is arranged longitudinally. In this embodiment, Figure 6 As shown, USL is the first longitudinal acceleration sensor, USR is the second longitudinal acceleration sensor, LBSIS is the first lateral acceleration sensor, RBSIS is the second lateral acceleration sensor, ECU X / Y is a bidirectional acceleration sensor, IMUZ is a gyroscope, and the gyroscope is integrated with a yaw angular velocity sensor. The gyroscope and the bidirectional acceleration sensor are integrated into the airbag electronic controller 130. X is the longitudinal direction and Y is the lateral direction.

[0262] A first longitudinal acceleration sensor is set on the longitudinal beam of the left front end of the vehicle, a second longitudinal acceleration sensor is set on the longitudinal beam of the right front end of the vehicle, a first lateral acceleration sensor is set at the lower end of the left B-pillar of the vehicle, a second lateral acceleration sensor is set at the lower end of the right B-pillar of the vehicle, and an airbag electronic controller 130 is set under the front armrest box inside the vehicle. The airbag electronic controller 130 integrates a bidirectional acceleration sensor and a gyroscope, and the gyroscope is integrated with a yaw angular velocity sensor.

[0263] Among them, the sensitivity of the first longitudinal acceleration sensor and the second longitudinal acceleration sensor is 2LSB / g, and the arrangement direction is longitudinal. The sensitivity of the first lateral acceleration sensor and the second lateral acceleration sensor is 2LSB / g, and the arrangement direction is transverse. Each sensor is connected to the control module through the PSI5 bus and performs real-time acquisition with a period of 0.5ms. The bidirectional acceleration sensor is arranged at an angle of 45° and has an accuracy of 16LSB / g. The yaw angular velocity sensor is integrated into the gyroscope, and the accuracy of the gyroscope is 50LSB / (deg / s).

[0264] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned airbag control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0265] The processor is the processor in the electronic device 400 described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0266] An embodiment of the present application further provides a computer program product, including a computer program, which implements the above-mentioned airbag control method when executed by a processor.

[0267] The processor is the processor in the electronic device 400 described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0268] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned airbag control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0269] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0270] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0271] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0272] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

[0273] Throughout this specification, reference to terms such as "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 application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0274] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A vehicle, characterized in that: include: an airbag module comprising at least one airbag; A sensor module, configured to detect collision sensing information of the vehicle; The controller is configured to: when the collision sensing information satisfies a first preset collision condition, control the airbag to ignite earlier than when the collision sensing information satisfies a second preset collision condition.

2. The vehicle according to claim 1, characterized in that The airbags include side airbags; The collision sensing information includes: longitudinal acceleration information, yaw angular velocity information and lateral acceleration information; The first preset collision condition includes: a first preset sub-collision condition; the second preset collision condition includes: a second preset sub-collision condition; The controller is configured to, when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a first preset sub-crash condition, control the side airbag to fire earlier than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-crash condition.

3. The vehicle according to claim 2, characterized in that The controller is further configured to: determine an offset ratio of the vehicle based on the longitudinal acceleration information; and, when the offset ratio and the yaw angular velocity information satisfy a third preset collision condition, determine whether the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition or the second preset sub-collision condition, wherein the third preset collision condition is satisfied when the offset ratio is greater than a ratio threshold and the absolute value of the yaw angular velocity information is less than an angular velocity threshold.

4. The vehicle according to claim 3, characterized in that The lateral acceleration information includes first lateral acceleration information of the left side of the vehicle, second lateral acceleration information of the center of the vehicle, and third lateral acceleration information of the right side of the vehicle; The first preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the second lateral acceleration information is not less than a second threshold, or the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than a third threshold; The second preset sub-collision condition is that, when the third preset collision condition is met, the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met, or the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold are simultaneously met.

5. The vehicle according to claim 2, characterized in that The controller is configured to control the side airbag on the side opposite to the yaw direction of the vehicle to fire earlier when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information meet the first preset sub-crash condition than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information meet the second preset sub-crash condition.

6. The vehicle according to claim 5, characterized in that The yaw direction of the vehicle is determined based on the yaw rate information and the longitudinal acceleration information.

7. The vehicle according to claim 1, wherein: The airbags include frontal airbags; The collision sensing information includes: longitudinal acceleration information; The first preset collision condition includes: a third preset sub-collision condition; the second preset collision condition includes: a fourth preset sub-collision condition; The controller is further configured to, when the longitudinal acceleration information satisfies the third preset sub-crash condition, control the front airbag to fire earlier than when the longitudinal acceleration information satisfies the fourth preset sub-crash condition.

8. The vehicle according to claim 7, characterized in that The sensor module includes a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, and a bidirectional acceleration sensor, wherein the first longitudinal acceleration sensor, the second longitudinal acceleration sensor, and the bidirectional acceleration sensor are used to collect the longitudinal acceleration information, where the longitudinal acceleration information is information corresponding to the forward longitudinal acceleration of the vehicle; The third preset sub-collision condition is that the longitudinal acceleration information is greater than a fourth threshold; The fourth preset sub-collision condition is that the longitudinal acceleration information is less than the fourth threshold.

9. A method for controlling an airbag, characterized in that: The airbag is provided in a vehicle, and the method includes: Acquiring collision sensor information of the vehicle; When the collision sensing information satisfies a first preset collision condition, the airbag is controlled to be ignited earlier than when the collision sensing information satisfies a second preset collision condition.

10. The airbag control method according to claim 9, characterized in that: The acquiring of the collision sensor information of the vehicle includes: Obtaining yaw rate information, longitudinal acceleration information, and lateral acceleration information of the vehicle within a first period; When the collision sensing information satisfies a first preset collision condition, controlling the airbag to fire earlier than when the collision sensing information satisfies a second preset collision condition includes: A side airbag firing timing of the vehicle is controlled based on the yaw rate information, the longitudinal acceleration information, and the lateral acceleration information.

11. The airbag control method according to claim 10, characterized in that: The controlling the ignition timing of the side airbag of the vehicle based on the yaw angular velocity information, the longitudinal acceleration information, and the lateral acceleration information includes: When the longitudinal acceleration information and the yaw angular velocity information satisfy a third preset collision condition, performing a collision check based on the lateral acceleration information to obtain a collision check result of the vehicle; Based on the collision verification result, the yaw rate information, and the longitudinal acceleration information, an ignition timing of a side airbag of the vehicle is controlled.

12. The airbag control method according to claim 11, characterized in that: The first preset collision condition includes a first preset sub-collision condition, the second preset collision condition includes a second preset sub-collision condition, and adjusting the ignition timing of the side airbag of the vehicle based on the collision verification result, the yaw angular velocity information, and the longitudinal acceleration information includes: When it is determined, based on the collision verification result, that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition, the ignition timing of the side airbag is controlled to be earlier than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the second preset sub-collision condition, based on the yaw angular velocity information and the longitudinal acceleration information.

13. The airbag control method according to claim 12, characterized in that: The controlling, based on the yaw rate information and the longitudinal acceleration information, to fire the side airbag earlier than when the longitudinal acceleration information, the yaw rate information, and the lateral acceleration information satisfy a second preset sub-crash condition includes: determining a yaw direction of the vehicle based on the yaw rate information and the longitudinal acceleration information; Compared to when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the second preset sub-collision condition, the ignition timing of the side airbag on the side opposite to the yaw direction of the vehicle is controlled to be earlier.

14. The airbag control method according to claim 13, characterized in that: The determining the yaw direction of the vehicle based on the yaw angular velocity information and the longitudinal acceleration information includes: When the yaw information of the vehicle determined based on the yaw rate information is consistent with the yaw information of the vehicle determined based on the longitudinal acceleration information, it is determined that the vehicle has yawed in a direction corresponding to the yaw information.

15. The airbag control method according to claim 14, characterized in that: The determining the yaw direction of the vehicle based on the yaw angular velocity information and the longitudinal acceleration information includes: When the yaw information of the vehicle determined based on the yaw rate information is inconsistent with the yaw information of the vehicle determined based on the longitudinal acceleration information, the yaw direction of the vehicle is determined based on the vehicle model information.

16. The airbag control method according to claim 11, characterized in that: The controlling the ignition timing of the side airbag of the vehicle based on the collision verification result, the yaw angular velocity information, and the longitudinal acceleration information includes: When it is determined, based on the collision verification result, that the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy a second preset sub-collision condition, the ignition timing of the side airbag is controlled to be later than when the longitudinal acceleration information, the yaw angular velocity information, and the lateral acceleration information satisfy the first preset sub-collision condition.

17. The airbag control method according to claim 11, characterized in that: The third preset collision condition is determined based on the following steps: determining a bias ratio of the vehicle based on the longitudinal acceleration information; If the offset ratio is greater than the ratio threshold and the absolute value of the yaw angular velocity information is less than the angular velocity threshold, but the conditions are not met at the same time, it is determined that the third preset collision condition is met.

18. The airbag control method according to claim 17, characterized in that: The longitudinal acceleration information includes first longitudinal acceleration information corresponding to the left front of the vehicle and second longitudinal acceleration information corresponding to the right front of the vehicle. Determining the offset ratio of the vehicle based on the longitudinal acceleration information includes: The offset ratio is determined as a ratio of a sum of the first longitudinal acceleration information and the second longitudinal acceleration information to a maximum value between the first longitudinal acceleration information and the second longitudinal acceleration information.

19. The airbag control method according to claim 11, characterized in that: The lateral acceleration information includes first lateral acceleration information of the left side of the vehicle, second lateral acceleration information of the center of the vehicle, and third lateral acceleration information of the right side of the vehicle. The collision verification is performed based on the lateral acceleration information to obtain a collision verification result of the vehicle, including: determining that the first preset sub-collision condition is satisfied when a third preset collision condition is satisfied and the absolute value of the second lateral acceleration information is not less than a second threshold, or when the absolute value of the first lateral acceleration information is not less than the first threshold and the absolute value of the third lateral acceleration information is not less than a third threshold; If the third preset collision condition is satisfied and both the absolute value of the first lateral acceleration information is less than the first threshold and the absolute value of the second lateral acceleration information is less than the second threshold, or if both the absolute value of the third lateral acceleration information is less than the third threshold and the absolute value of the second lateral acceleration information is less than the second threshold, it is determined that the second preset sub-collision condition is satisfied.

20. The airbag control method according to any one of claims 10 to 19, characterized in that: The acquiring of the collision sensor information of the vehicle includes: Acquiring longitudinal acceleration information of the vehicle during a second time period, where the second time period is shorter than the first time period; When the collision sensing information satisfies a first preset collision condition, controlling the airbag to fire earlier than when the collision sensing information satisfies a second preset collision condition includes: Based on the longitudinal acceleration information during the second period, a front airbag ignition timing of the vehicle is controlled.

21. The airbag control method according to claim 20, characterized in that: The first preset collision condition includes a third preset sub-collision condition, the second preset collision condition includes a fourth preset sub-collision condition, and controlling the ignition timing of the front airbag of the vehicle based on the longitudinal acceleration information within the second time period includes: When the longitudinal acceleration information within the second time period satisfies a third preset sub-crash condition, the front airbag is controlled to be ignited earlier than when the longitudinal acceleration information within the second time period satisfies a fourth preset sub-crash condition, the third preset sub-crash condition being that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition being that the longitudinal acceleration information is less than the fourth threshold.

22. The airbag control method according to claim 20, characterized in that: The controlling the ignition timing of the front airbag of the vehicle based on the longitudinal acceleration information in the second time period includes: When the longitudinal acceleration information within the second time period satisfies a fourth preset sub-crash condition, the front airbag is controlled to be ignited later than when the longitudinal acceleration information within the second time period satisfies a third preset sub-crash condition, the third preset sub-crash condition being that the longitudinal acceleration information is greater than a fourth threshold, and the fourth preset sub-crash condition being that the longitudinal acceleration information is less than the fourth threshold.

23. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the airbag control method according to any one of claims 10 to 21 is implemented.

24. A vehicle, characterized in that: include: An airbag module, the airbag module including side airbags and front airbags; A sensor module, the sensor module is used to collect yaw rate information, longitudinal acceleration information and lateral acceleration information of the vehicle; The electronic device according to claim 23, wherein the electronic device is connected to the airbag module and the sensor module.

25. The vehicle according to claim 24, characterized in that The sensor module includes a yaw angular velocity sensor, a first longitudinal acceleration sensor, a second longitudinal acceleration sensor, a first lateral acceleration sensor, a second lateral acceleration sensor and a bidirectional acceleration sensor; The yaw angular velocity sensor is used to collect the yaw angular velocity information, the first longitudinal acceleration sensor, the second longitudinal acceleration sensor and the bidirectional acceleration sensor are used to collect the longitudinal acceleration information, and the first lateral acceleration sensor, the second lateral acceleration sensor and the bidirectional acceleration sensor are used to collect the lateral acceleration information.

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