Vehicle control method and device, vehicle-mounted equipment, storage medium and program product

Abstract

The invention relates to a vehicle control method and device, vehicle-mounted equipment, a storage medium and a program product. According to the method, environment data of a surrounding area of a vehicle is analyzed, the risk level of collision between the vehicle and a target is determined, the vehicle is controlled to release a corresponding tearing line part before collision according to the risk level, and the environment data comprises related information of the position relation between the vehicle and the target. According to the method, the tear line component is actively released before the vehicle collides with the target, so that the vehicle can judge to release the tear line component in advance, the problem of delay caused by passively triggering the tear line component when the vehicle collides in the prior art is solved, and the absorption effect of collision energy is optimized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle safety, and in particular to a vehicle control method and device, a vehicle-mounted device, a storage medium and a program product. BACKGROUND

[0002] With the rapid development of intelligent vehicle technology, users not only pay attention to the convenience and comfort of vehicles, but also have higher and higher requirements for the safety performance of vehicles. The current vehicles are all designed with tear lines, which are passively triggered to release when the vehicle collides, so that the physical structure of the vehicle deforms to absorb the collision energy, thereby protecting the driver in the vehicle or reducing the injury degree of the driver.

[0003] However, the current method of controlling the release of the tear line on the vehicle has poor absorption effect on the collision energy of the vehicle. SUMMARY

[0004] Therefore, it is necessary to provide a vehicle control method, device, vehicle-mounted device, storage medium and program product capable of improving the collision energy absorption effect in view of the above technical problems.

[0005] In a first aspect, the present application provides a vehicle control method, comprising:

[0006] analyzing environmental data of a surrounding area of the vehicle to determine a risk level of a collision between the vehicle and a target; the environmental data including relevant information of a positional relationship between the vehicle and the target;

[0007] controlling the vehicle to release a corresponding tear line component before the collision according to the risk level.

[0008] In one of the embodiments, the analyzing of the environmental data of the surrounding area of the vehicle to determine the risk level of the collision between the vehicle and the target comprises:

[0009] determining a collision time of the collision between the vehicle and the target according to target data in the environmental data; the target data including a relative distance and a relative speed between the vehicle and the target;

[0010] determining the risk level of the collision between the vehicle and the target according to the collision time.

[0011] In one of the embodiments, the determining of the risk level of the collision between the vehicle and the target according to the collision time comprises:

[0012] if the collision time is within a first time threshold range, determining the risk level as a first risk level;

[0013] if the collision time is located in a second time threshold range, determining the risk level as a second risk level; the time thresholds in the second time threshold range are all smaller than the time thresholds in the first time threshold range, and the second time threshold range includes a reference time threshold, which is used to represent the reaction time of the person.

[0014] In one of the embodiments, the method further comprises:

[0015] inputting the environmental data into a preset collision scene classification model to perform scene classification, and determining a collision scene in which the vehicle collides with the target;

[0016] predicting a target collision probability of the vehicle in a preset time period in the future according to the environmental data and a collision probability of the simulated vehicle in the collision scene;

[0017] The determination of the risk level of the vehicle colliding with the target according to the collision time comprises:

[0018] determining the risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0019] In one of the embodiments, the determination of the risk level of the vehicle colliding with the target according to the collision probability and the collision time comprises:

[0020] determining an initial risk level of the vehicle colliding with the target according to the collision time;

[0021] if the target collision probability is greater than a preset probability threshold, determining the risk level as a second risk level;

[0022] if the target collision probability is less than or equal to the preset probability threshold, determining the initial risk level as the risk level of the vehicle colliding with the target.

[0023] In one of the embodiments, the method further comprises:

[0024] obtaining force sensing data of a steering wheel grip force sensor on the vehicle and eye tracking data collected by an eye tracking device on the driver's eyes;

[0025] determining the driving intention of the driver according to the force sensing data of the steering wheel grip force sensor and the eye tracking data, and performing incremental adjustment on the collision time when the driving intention indicates that the driver performs an active avoidance operation;

[0026] The determination of the risk level of the vehicle colliding with the target according to the collision time comprises:

[0027] determining a risk level of the vehicle colliding with the target according to the adjusted time to collision.

[0028] In one embodiment, the controlling the vehicle to release corresponding tear line components before the collision according to the risk level comprises:

[0029] if the risk level is a second risk level, controlling the vehicle to release first tear line components on the vehicle before the collision; the first tear line components comprising tear lines in a vehicle body structure and tear lines in airbags;

[0030] if the risk level is a first risk level, controlling the vehicle to release second tear line components on the vehicle before the collision; the second tear line components comprising tear lines in the vehicle body structure; the first risk level being lower than the second risk level.

[0031] In one embodiment, the method further comprises:

[0032] if the risk level is the first risk level or the second risk level, activating a pre-tensioned seat belt.

[0033] In one embodiment, the method further comprises:

[0034] analyzing the environmental data to predict a collision type of the vehicle colliding with the target; the collision type comprising any one of a frontal collision type, a side collision type and a roof collision type;

[0035] the controlling the vehicle to release corresponding tear line components before the collision according to the risk level comprises:

[0036] controlling the vehicle to release corresponding tear line components before the collision according to the risk level and the collision type.

[0037] In one embodiment, the controlling the vehicle to release corresponding tear line components before the collision according to the risk level and the collision type comprises:

[0038] if the risk level is a second risk level and the collision type is the frontal collision type, controlling the vehicle to release third tear line components before the collision; the third tear line components comprising tear lines of a bumper in a vehicle body structure, tear lines of a hood in the vehicle body structure, tear lines of airbags for a steering wheel on the vehicle and tear lines of airbags for an instrument panel on the vehicle;

[0039] if the risk level is a first risk level and the type of collision is the front collision type, then controlling the vehicle to release a fourth tear line component prior to the collision; the fourth tear line component including tear lines in a vehicle body structure of a bumper, a steering wheel airbag, and an instrument panel airbag of the vehicle;

[0040] if the risk level is a second risk level and the type of collision is the side collision type, then controlling the vehicle to release a fifth tear line component prior to the collision; the fifth tear line component including tear lines in a vehicle body structure of a door beam and a seat side airbag of the vehicle;

[0041] if the risk level is a first risk level and the type of collision is the side collision type, then controlling the vehicle to release a sixth tear line component prior to the collision; the sixth tear line component including tear lines in a vehicle body structure of a door beam;

[0042] if the risk level is a second risk level and the type of collision is the roof collision type, then controlling the vehicle to release a seventh tear line component prior to the collision; the seventh tear line component including tear lines in a vehicle body structure of a roof rail and a roof airbag of the vehicle;

[0043] if the risk level is a first risk level and the type of collision is the roof collision type, then controlling the vehicle to release an eighth tear line component prior to the collision; the eighth tear line component including tear lines in a vehicle body structure of a roof rail.

[0044] In one embodiment, where the risk level is a second risk level and the type of collision is the front collision type, the method further comprises:

[0045] determining a pose of the target;

[0046] the controlling the vehicle to release the third tear line component includes:

[0047] if the pose indicates that the target is in a first pose when the target collides with the vehicle, then controlling the vehicle to release a ninth tear line component; the ninth tear line component including the same components as the third tear line component;

[0048] if the pose indicates that the target is in a second pose when the target collides with the vehicle, then controlling the vehicle to release a tenth tear line component; the tenth tear line component including tear lines in a vehicle body structure of a bumper, a steering wheel airbag, and an instrument panel airbag of the vehicle of the third tear line component.

[0049] In one of the embodiments, in the case that the risk level is the first risk level and the collision type is the front collision type, the method further comprises:

[0050] Before controlling the vehicle to release the fourth tear line component, activating an emergency brake system on the vehicle to apply a braking force to move the center of gravity of the vehicle backward.

[0051] In one of the embodiments, in the case that the risk level is the first risk level and the collision type is the side collision type, the method further comprises:

[0052] Before controlling the vehicle to release the sixth tear line component, raising the side suspension stroke and hardening the side suspension of the collision side of the vehicle to raise the side body of the vehicle.

[0053] In one of the embodiments, the method further comprises:

[0054] analyzing the environmental data to predict a collision direction of the vehicle colliding with the target;

[0055] if the collision direction points to a battery pack area on the vehicle, controlling the vehicle to release a tear line of a battery pack shell on the vehicle:

[0056] if the collision direction points to a fuel pipe area on the vehicle, controlling the vehicle to release a tear line of a fuel pipe shell on the vehicle.

[0057] In one of the embodiments, after the controlling the vehicle to release the tear line in the battery pack shell on the vehicle, the method further comprises:

[0058] cutting off a connector between the battery modules on the vehicle.

[0059] In one of the embodiments, the method further comprises:

[0060] activating a liquid cooling pipe relief valve on the vehicle to trigger a fire extinguishing device on the vehicle.

[0061] In one of the embodiments, after the vehicle collides with the target, the method further comprises:

[0062] determining a collision impact force of the vehicle colliding with the target, and in the case that the collision impact force is less than a preset impact force threshold, controlling the tear line component to reset.

[0063] In one of the embodiments, the method further comprises:

[0064] starting a plurality of types of sensing devices on the vehicle to collect the environmental data; the plurality of types of sensing devices include radar, camera, inertial sensor.

[0065] In one of the embodiments, the method further comprises:

[0066] performing abnormality check on the environmental data to obtain checked environmental data; the abnormality check includes removal of data collected by failed sensing devices and / or weight distribution of the data collected by each type of sensing device according to credibility;

[0067] the analyzing of the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target includes:

[0068] the analyzing of the checked environmental data to determine the risk level of the vehicle colliding with the target.

[0069] In a second aspect, the application provides a vehicle control method, comprising:

[0070] the analyzing of the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target and a collision scenario; the environmental data includes relevant information of the positional relationship between the vehicle and the target; the collision scenario includes collision type and / or posture of the target;

[0071] controlling the vehicle to release corresponding tear line components before collision according to the risk level and the collision scenario.

[0072] In a third aspect, the application further provides a vehicle control device, comprising:

[0073] a first analysis module configured to analyze the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target; the environmental data includes relevant information of the positional relationship between the vehicle and the target;

[0074] a first control module configured to control the vehicle to release corresponding tear line components before collision according to the risk level.

[0075] In a fourth aspect, the application further provides a vehicle control device, comprising:

[0076] a second analysis module configured to analyze the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target and a collision scenario; the environmental data includes relevant information of the positional relationship between the vehicle and the target; the collision scenario includes collision type and / or posture of the target;

[0077] A second control module is configured to control the vehicle to release a corresponding tear line component before a collision occurs according to the risk level and the collision scenario.

[0078] In a fifth aspect, the present application provides a vehicle-mounted device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0079] analyzing environmental data of a surrounding area of the vehicle to determine a risk level of a collision between the vehicle and a target; the environmental data comprising information about a positional relationship between the vehicle and the target;

[0080] controlling the vehicle to release a corresponding tear line component before a collision occurs according to the risk level.

[0081] In a sixth aspect, the present application provides a vehicle-mounted device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0082] analyzing environmental data of a surrounding area of the vehicle to determine a risk level and a collision scenario of a collision between the vehicle and a target; the environmental data comprising information about a positional relationship between the vehicle and the target; the collision scenario comprising a collision type and / or a posture of the target;

[0083] controlling the vehicle to release a corresponding tear line component before a collision occurs according to the risk level and the collision scenario.

[0084] In a seventh aspect, the present application provides a computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the following steps:

[0085] analyzing environmental data of a surrounding area of the vehicle to determine a risk level of a collision between the vehicle and a target; the environmental data comprising information about a positional relationship between the vehicle and the target;

[0086] controlling the vehicle to release a corresponding tear line component before a collision occurs according to the risk level.

[0087] In an eighth aspect, the present application provides a computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the following steps:

[0088] analyzing environmental data of a surrounding area of the vehicle to determine a risk level and a collision scenario of the vehicle colliding with a target; the environmental data including information about a positional relationship between the vehicle and the target; the collision scenario including a collision type and / or a pose of the target;

[0089] controlling the vehicle to release a corresponding tear line component before the collision according to the risk level and the collision scenario.

[0090] In a ninth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the following steps:

[0091] analyzing environmental data of a surrounding area of the vehicle to determine a risk level of the vehicle colliding with a target; the environmental data including information about a positional relationship between the vehicle and the target;

[0092] controlling the vehicle to release a corresponding tear line component before the collision according to the risk level.

[0093] In a tenth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the following steps:

[0094] analyzing environmental data of a surrounding area of the vehicle to determine a risk level and a collision scenario of the vehicle colliding with a target; the environmental data including information about a positional relationship between the vehicle and the target; the collision scenario including a collision type and / or a pose of the target;

[0095] controlling the vehicle to release a corresponding tear line component before the collision according to the risk level and the collision scenario.

[0096] The vehicle control method, device, vehicle-mounted equipment, storage medium and program product determine the risk level of the vehicle colliding with the target by analyzing the environmental data of the surrounding area of the vehicle, and control the vehicle to release the corresponding tear line component before the collision according to the risk level, wherein the environmental data includes relevant information of the positional relationship between the vehicle and the target. The above method realizes the method of actively releasing the tear line component before the vehicle collides with the target, so that the vehicle can determine to release the tear line component in advance, overcomes the problem of delay of passive triggering of the tear line component at the moment of vehicle collision in the prior art, and optimizes the absorption effect of collision energy. In addition, in the process of releasing the tear line component by the vehicle, the tear line component corresponding to the risk level is released, so that different tear line components are used to absorb collision energy in different risk levels, the tear line resources are fully utilized, the absorption of collision energy is maximized, resource waste is avoided, the related personnel of the vehicle are protected, and the safety of the vehicle is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0097] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other related drawings can be obtained by those skilled in the art without creative labor.

[0098] Figure 1 An application environment diagram of the vehicle control method in an embodiment;

[0099] Figure 2 One of the flowcharts of the vehicle control method in an embodiment;

[0100] Figure 3 The second flowchart of the vehicle control method in an embodiment;

[0101] Figure 4 The third flowchart of the vehicle control method in an embodiment;

[0102] Figure 5 The fourth flowchart of the vehicle control method in an embodiment;

[0103] Figure 6 The fifth flowchart of the vehicle control method in an embodiment;

[0104] Figure 7 The sixth flowchart of the vehicle control method in an embodiment;

[0105] Figure 8Fig. 7 is a flowchart of a vehicle control method according to an embodiment;

[0106] Figure 9 Fig. 8 is a flowchart of a vehicle control method according to an embodiment;

[0107] Figure 9A Fig. 9 is a schematic diagram of a vehicle before and after a collision according to an embodiment;

[0108] Figure 10 Fig. 10 is a flowchart of a vehicle control method according to an embodiment;

[0109] Figure 11 Fig. 11 is a flowchart of a vehicle control method according to an embodiment;

[0110] Figure 11A Fig. 12 is a schematic diagram of a data fusion module according to an embodiment;

[0111] Figure 12 Fig. 13 is a flowchart of a vehicle control method according to an embodiment;

[0112] Figure 13 Fig. 14 is a flowchart of a vehicle control method according to an embodiment;

[0113] Figure 14 Fig. 15 is a schematic diagram of a vehicle control device according to an embodiment;

[0114] Figure 15 Fig. 16 is a schematic diagram of a vehicle control device according to an embodiment;

[0115] Figure 16 Fig. 17 is a schematic diagram of a computer device according to an embodiment. DETAILED DESCRIPTION

[0116] In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided so that the disclosure of the present application can be more thoroughly and completely understood.

[0117] It should be understood that, although the terms "first", "second", etc. can be used herein to describe various elements, they do not mean any order, number or importance, but are only used to distinguish different components. These terms are only used to distinguish one element from another. For example, without departing from the scope of the present application, the first element can be referred to as the second element, and similarly, the second element can be referred to as the first element. "Including" or "containing" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0118] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0119] At present, in the vehicle manufacturing industry, in order to improve the safety of vehicle driving, a passive trigger tear line component is designed on the vehicle, and the tear line vehicle control is released at the moment of collision between the vehicle and other vehicles or obstacles, so that the corresponding physical structure of the vehicle is deformed to absorb the collision energy, thereby protecting the driver on the vehicle and reducing the damage. However, the passive trigger tear line component method has a certain delay, resulting in poor collision energy absorption effect. In the related art, in order to improve the absorption effect of collision energy, some schemes improve the absorption effect by improving the material or structure of the corresponding collapse area of the tear line component, but the energy absorption effect achieved by using the above method is still poor, and the vehicle manufacturing cost is also increased.

[0120] In view of this, the embodiments of the present application propose a vehicle control method, device, vehicle-mounted equipment, storage medium and program product, which can improve the effect of absorbing collision energy when the vehicle collides.

[0121] It should be noted that the beneficial effects or technical problems solved by the embodiments of the present application are not limited to this, but also other implicit or related problems. For details, please refer to the description of the following embodiments.

[0122] The vehicle control method provided by the embodiments of the present application can be applied to, for example Figure 1The application environment shown. Among them, the control device 102 is installed on the vehicle 104, the control device 102 can obtain environmental data from various types of sensors on the vehicle 104, and analyze and process various performance parameters of the vehicle 104 based on the environmental data. In the embodiment of the application, the control device 102 can analyze and judge the scene when the vehicle 104 collides with the target, so as to predict the risk level of the vehicle 104, the tear line component that needs to be released by the vehicle 104, etc. Among them, the control device 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things device can be a smart speaker, a smart TV, a smart air conditioner, a smart vehicle device, a projection device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc.

[0123] In some exemplary embodiments, as shown, a vehicle control method is provided, and the method is applied to the control device in Figure 2 for example, the method comprises: Figure 1

[0124] S201, analyze the environmental data of the surrounding area of the vehicle, and determine the risk level of the vehicle colliding with the target.

[0125] Among them, the environmental data includes related information of the position relationship between the vehicle and the target, and the related information includes the distance between the target and the vehicle, the moving direction of the target, the moving speed of the target, the type of the target, the size of the target, etc. The target represents a potential obstacle, such as a pedestrian, another vehicle or a fixed object, etc. In the embodiment of the application, the risk level is divided into a first risk level and a second risk level. The first risk level represents a lower risk level, which can represent a low risk level or a medium risk level, and the second risk level represents a higher risk level, which can represent a high risk level.

[0126] ​In the embodiments of the present application, a vehicle is integrated with various types of data collection devices, such as millimeter wave radar, laser radar, camera, speed sensor, inertial measurement instrument, vehicle event data recorder, pressure sensor, etc. The various types of data collection devices can be connected with a control device. The data collection devices can collect environmental data of the surrounding area of the vehicle in real time. The control device can read the environmental data of the surrounding area of the vehicle from the data collection devices and analyze the environmental data. Optionally, one way is to extract data required for determining the risk level from the environmental data, and then analyze the required data to determine the risk level of the vehicle colliding with the target. Optionally, another way is that the control device can pre-train a risk prediction model, so that the risk prediction model can predict the risk level of the vehicle based on the environmental data. That is, in actual application, when the control device obtains real-time environmental data of the vehicle, the environmental data is input into the pre-trained risk prediction model for prediction to determine the risk level of the vehicle colliding with the target.

[0127] Optionally, when the control device obtains the environmental data of the vehicle, since the environmental data is derived from various types of data collection devices on the vehicle, it belongs to multi-source heterogeneous data. Therefore, before using the environmental data, the environmental data can be pre-processed to unify the multi-source heterogeneous data, or to fuse the multi-source heterogeneous data, or to remove abnormal environmental data, so that the pre-processed environmental data can accurately represent the information of the surrounding area of the vehicle, improve the accuracy of determining the risk level based on the environmental data, and can avoid misjudgment and subsequent misoperation to some extent. The above-mentioned preprocessing can include at least one of abnormal data filtering, multi-source heterogeneous data alignment, data credibility weight allocation fusion and the like.

[0128] The method of abnormal data filtering is explained as follows: Different types of data collection devices can collect the same type of data, such as cameras and radars can both collect pedestrian data. When the control device needs to filter the environmental data, the same type of data collected by different types of data collection devices can be compared first. If the same type of data collected by different types of data collection devices is inconsistent, it means that the same type of data is abnormal, and the abnormal data can be removed. For example, if the inertial measurement device detects that the vehicle has lateral acceleration, but the camera does not recognize the corresponding steering behavior of the vehicle, it is determined that the data collected by the two is abnormal. For another example, the radar does not detect pedestrians in the image data collected at a certain time, but the camera detects pedestrians in the image data collected at the same time, that is, the radar and the camera do not detect pedestrians at the same time, which means that the image data collected by the two is abnormal. In this case, the abnormal data is removed.

[0129] The method for multi-source heterogeneous data alignment described above indicates that due to the differences in data collection frequencies of the laser radar, the camera and the millimeter wave radar, the control device needs to perform multi-source heterogeneous data alignment on the data collected by the three kinds of data collection devices before using the data or before fusing the data. Optionally, one way is to use a sliding window algorithm to perform time domain alignment on the data frequencies of the laser radar, the camera and the millimeter wave radar. Other time domain alignment methods can also be used, which are not limited here.

[0130] The method for data credibility weight distribution fusion described above indicates that the accuracy or accuracy of different types of data collection devices will be affected by the environment, and the influence of the environment on each type of data collection device is different. Based on this, the environment data collected by each type of data collection device can be pre-assigned a corresponding credibility weight, which can improve the reliability of the provided environment data. Based on the environment data after the credibility weight is assigned, the accuracy of the analysis or determination based on the environment data can be improved.

[0131] S202, according to the risk level, the vehicle releases the corresponding tear line component before the collision occurs.

[0132] The tear line component includes at least one of a tear line of a vehicle body structure, a tear line of an airbag, a tear line of a battery package shell, a tear line of a fuel pipeline shell, etc. The tear line of the vehicle body structure includes at least one of a tear line of a bumper, a tear line of a hood, a tear line of a door beam, a tear line of a roof longitudinal beam, etc.; the tear line of the airbag includes at least one of a tear line of the airbag of the steering wheel, a tear line of the airbag of the instrument panel, a tear line of the airbag of the seat side, a tear line of the roof airbag, etc.

[0133] In an embodiment of the present application, when the control device determines the risk level of a collision between the vehicle and the target based on the aforementioned steps, the control device can further select a tear-line component corresponding to the currently determined risk level based on the corresponding relationship between the risk level and the tear-line component, and release the tear-line component before the vehicle collides, so that the released tear-line component can match the corresponding risk level. For example, when the risk level is the first risk level, the first tear-line component corresponding to the first risk level can be selected, and the vehicle can be controlled to release the first tear-line component before the collision occurs; when the risk level is the second risk level, the second tear-line component corresponding to the second risk level can be selected, and the vehicle can be controlled to release the second tear-line component before the collision occurs. It should be noted that the method of controlling the vehicle to release the tear-line component can be determined by the type or connection method of the tear-line component. For example, an electromagnetically connected tear-line component can be actively released by electromagnetic unlocking. For another example, a shape memory alloy tear-line component can be pushed to break the tear-line component by causing it to deform by passing an electric current, thereby completing the release of the tear-line component. For another example, an electric squib or a micro-blasting lock can be used to forcibly cut the high-strength steel connection point.

[0134] In the above-mentioned vehicle control method, the risk level of a collision between the vehicle and the target is determined by analyzing the environmental data of the area surrounding the vehicle, and the vehicle is controlled to release the corresponding tear line component before the collision occurs according to the risk level, wherein the environmental data includes relevant information about the positional relationship between the vehicle and the target. The above-mentioned method realizes a method of actively releasing the tear line component before the vehicle collides with the target, so that the vehicle can pre-determine the release of the tear line component, overcomes the delay problem of the traditional method of passively triggering the tear line component at the moment of vehicle collision, and optimizes the collision energy absorption effect. In addition, in the process of releasing the tear line component of the vehicle, the above-mentioned method matches the tear line component corresponding to the risk level for release, so that different tear line components are used to absorb the collision energy under different risk levels, realizing full utilization of the tear line resources while maximizing the optimization of collision absorption energy without causing waste of resources, protecting the vehicle personnel as well as the vehicle body, and greatly improving the safety of the vehicle.

[0135] In some exemplary embodiments, Figure 3 As shown, a method for determining a risk level is provided, namely, the above-mentioned S201 "analyzing environmental data of the area surrounding the vehicle to determine the risk level of collision between the vehicle and the target", including:

[0136] S301: Determine a collision time when a vehicle collides with a target based on target data in the environmental data.

[0137] The target data includes a relative distance and a relative speed between the vehicle and the target. A time to collision (TTC) is used to quantify a remaining time for the vehicle to collide with the target.

[0138] In the embodiments of the present application, when the control device obtains the environment data and needs to determine the time to collision of the vehicle with the target, the target data can be extracted from the environment data first. Next, the first method is to calculate the time to collision TTC based on the target data by using the following relationship (1):

[0139] (1) ;

[0140] wherein, represents a relative distance between the vehicle and the target; represents a relative speed between the vehicle and the target; and TTC represents the time to collision.

[0141] The second method is to input the target data into a pre-trained time to collision prediction model to obtain a predicted time to collision.

[0142] S302, determining a risk level of the vehicle colliding with the target according to the time to collision.

[0143] In the embodiments of the present application, when the control device obtains the time to collision, the time to collision can be further analyzed to determine the risk level of the vehicle colliding with the target. Specifically, in the risk level, the higher the risk level, the greater the risk of collision, and the shorter the corresponding time to collision. The lower the risk level, the smaller the risk of collision, and the longer the corresponding time to collision. That is, the risk level is inversely proportional to the time to collision. Therefore, the control device can determine the current risk level of the vehicle according to the inverse relationship between the predefined risk level and the time to collision. Alternatively, the control device can also define a mapping relationship between different times to collision and different risk levels, that is, the risk level corresponding to the current time to collision can be determined directly according to the mapping relationship. Alternatively, the control device can also pre-set a time threshold for evaluating the risk level, and compare the time to collision with the time threshold. When the time to collision is greater than the time threshold, it is determined that the corresponding risk level belongs to a low risk level. When the time to collision is not greater than the time threshold, it is determined that the corresponding risk level belongs to a high risk level.

[0144] The method described in the above embodiments predicts the risk level of the vehicle colliding with the target based on the collision time. Since the collision time can quantify the remaining time needed for the collision, i.e., can accurately reflect the possibility of the imminent collision, predicting the risk level based on the collision time can improve the accuracy of predicting the risk level, avoid the late misoperation, and reduce the loss caused by the misoperation to the vehicle.

[0145] In some exemplary embodiments, as shown in FIG. 1, an implementation of determining the risk level according to the collision time is provided, i.e., the above S301 “determining the risk level of the vehicle colliding with the target according to the collision time”, comprising: Figure 4

[0146] S401, determining whether the collision time is located in the first time threshold range and the second time threshold range, if the collision time is located in the first time threshold range, performing step S402; if the collision time is located in the second time threshold range, performing step S403.

[0147] S402, determining the risk level as the first risk level.

[0148] S403, determining the risk level as the second risk level.

[0149] In the second time threshold range, the time threshold is smaller than that in the first time threshold range, and the second time threshold range includes a reference time threshold, which is used to represent the reaction time of the personnel. For example, the reaction time of the personnel is generally 0.7 seconds, so the second time threshold range can be set as <1.5s, and the first time threshold range can be set as [1.5s~3s]. The second risk level is higher than the first risk level, i.e., if the collision time is located in the first time threshold range, it means that the corresponding risk level is relatively low, and if the collision time is located in the second time threshold range, it means that the corresponding risk level is relatively high.

[0150] ​In the embodiments of the present application, when the control device predicts the collision time, it can further determine which numerical range the collision time is located in. If it is determined that the collision time is located in the first time threshold range, since the numerical range represents a longer time compared to the reaction time of a person, it indicates that the driver of the vehicle can avoid the collision of the vehicle by operation at this time, and the risk level of the collision between the current vehicle and the target is set to a lower risk level, i.e., the first risk level, representing a lower risk of collision. If it is determined that the collision time is located in the second time threshold range, since the numerical range corresponds to a shorter time, and the reaction time of a person is within the time corresponding to the numerical range, it indicates that the driver of the vehicle may not be able to avoid the collision of the vehicle by operation at this time, and the risk level of the collision between the current vehicle and the target is set to a higher risk level, i.e., the second risk level, representing a higher risk of collision. In addition, if the collision time is not located in the first time threshold range nor the second time threshold range, for example, it is determined that the collision time TTC is greater than 3 seconds, in this case, the control device can determine the risk level to be a zero risk level, under this risk level, the control device does not need to release the corresponding tearing line component, and can trigger the advanced driver assistance system (ADAS) warning, such as an audible and visual alarm.

[0151] The method described in the above embodiments divides different time threshold ranges in combination with the reaction time of a person, and then predicts the risk level based on the relationship between the collision time and the different time threshold ranges, which realizes the prediction of the risk level in combination with the actual reaction time of a person, and can improve the accuracy of the prediction of the risk level to avoid misoperation in the later stage and reduce the loss caused by misoperation to the vehicle.

[0152] In some exemplary embodiments, as shown in Figure 5 An implementation is provided for determining the risk level in combination with the collision probability and the collision time, i.e., Figure 4 The method described in the embodiments further includes:

[0153] S501, input the environmental data into a preset collision scene classification model for scene classification, and determine the collision scene of the collision between the vehicle and the target.

[0154] The collision scene classification model is a pre-trained neural network model for identifying a collision scene. The collision scene can be classified according to a collision direction in advance, or according to a collision object, or according to a vehicle driving state, or according to a road and environment in which the vehicle is located. For example, when the collision scene is classified according to the collision direction, the collision scene can include a large overlap frontal collision, a small overlap frontal collision, a side straight collision, an oblique collision, a rear-end collision, a head-on collision, and the like; when the collision scene is classified according to the collision object, the collision scene can include a pedestrian collision, a vehicle collision, an obstacle collision, an animal collision, and the like; when the collision scene is classified according to the vehicle driving state, the collision scene can include a rollover collision, a high-speed collision, a low-speed collision, a chain collision, and the like; and when the collision scene is classified according to the road and environment in which the vehicle is located, the collision scene can include a ramp collision, an intersection collision, a severe environment collision, and the like. It can be understood that the collision scene can be classified according to any one of the above classification methods, or according to a plurality of the above classification methods, which is not limited herein. The environmental data in the embodiment of the application can include collision geometric feature data (such as a relative speed vector angle, a vehicle / pedestrian contour centroid position, etc.), environmental topological feature data (such as a guardrail reflection point distribution of a road, a road curvature radius, etc.), vehicle motion feature data (such as a vehicle yaw angular velocity, a tire slip ratio, etc.), and the like.

[0155] In the embodiment of the application, when the control device obtains the environmental data and needs to perform scene recognition, the environmental data can be directly input into the pre-trained collision scene classification model for scene classification to determine the collision scene in which the vehicle collides with the target. Alternatively, the collision scene classification model includes a feature extraction network and a classification network, and the control device can first input the environmental data into the feature extraction network to extract at least one of a collision geometric feature, an environmental topological feature, and a vehicle motion feature, and then input these features into the classification network for scene classification to obtain the collision scene. The collision geometric feature can include a relative speed vector angle, a vehicle contour centroid position, a pedestrian contour centroid position, and the like; the environmental topological feature includes a guardrail reflection point position and distribution of a road, a road curvature radius, and the like; and the vehicle motion feature includes a vehicle yaw angular velocity, a vehicle tire slip ratio, and the like.

[0156] S502, according to the environmental data and the collision probability of the simulation vehicle in the collision scene, predicting a target collision probability of the vehicle in a future preset time period.

[0157] The future preset time period can be determined according to the prediction requirement, for example, the preset time period can be 0.5 seconds. The simulation vehicle can be a real vehicle used for experimental research, or a simulation vehicle used for experiments in a simulation environment.

[0158] In an embodiment of the present application, a method for predicting a target collision probability includes: performing tests on a simulation vehicle in various collision scenarios in advance, obtaining test results, then statistically analyzing environmental data of the simulation vehicle in the various collision scenarios and the probability of collision of the simulation vehicle in the various collision scenarios in the test results, associating the various collision scenarios with the collision probabilities, and recording and storing the association. When a real vehicle needs to be estimated for a target collision probability, a control device can directly call the above-mentioned association, first obtain the collision probability of the simulation vehicle in the collision scenario based on the above-mentioned real collision scenario, since the environmental data of the simulation vehicle in the collision scenario may be different or greatly different from the environmental data of the real vehicle in the collision scenario, the collision probability of the simulation vehicle needs to be further corrected based on the environmental data of the real vehicle, and the corrected collision probability is taken as the target collision probability of the real vehicle in a future preset time period.

[0159] In addition, the method for correcting the above-mentioned method can include: first determining a probability correction amount according to the difference between the environmental data of the real vehicle in the collision scenario and the environmental data of the simulation vehicle in the same collision scenario, then determining a correction strategy (incremental correction or decremental correction) according to the relationship between the environmental data of the real vehicle in the collision scenario and the environmental data of the simulation vehicle in the same collision scenario (for example, the environmental data is speed, and the relationship includes the relationship that the speeds of the two are greater than, less than or equal to), and finally correcting the obtained collision probability based on the probability correction amount and the correction strategy, and taking the corrected collision probability as the target collision probability.

[0160] The above method is illustrated as follows: assuming that the environmental data includes the current speed of the vehicle, the speed of the real vehicle in a frontal collision scenario is a first speed (for example, 80 km / h), the speed of the simulation vehicle in the same frontal collision scenario is a second speed (for example, 50 km / h), and the first speed is greater than the second speed, which indicates that the speed of the real vehicle is relatively high, and thus the probability of collision at this speed is relatively high, so the collision probability calculated according to the collision scenario of the simulation vehicle (assuming 0.6) is correspondingly increased. Based on this, the difference between the first speed and the second speed can be used to determine the probability correction amount (assuming 0.2) corresponding to the difference. Then, the first speed and the second speed are compared. If it is determined that the first speed corresponding to the real vehicle is greater than the second speed corresponding to the simulation vehicle, the correction strategy during the correction is incremental correction. Then, the collision probability determined above is incrementally corrected using the probability correction amount to obtain the target collision probability (assuming 0.6+0.2=0.8). If it is determined that the first speed corresponding to the real vehicle is less than the second speed corresponding to the simulation vehicle, the correction strategy during the correction is decremental correction. Then, the collision probability determined above is decrementally corrected using the probability correction amount to obtain the target collision probability. Of course, it can be understood that if it is determined that the first speed corresponding to the real vehicle is equal to the second speed corresponding to the simulation vehicle, the collision probability determined above is directly used as the target collision probability. The above example is only used to illustrate the speed. Of course, the position information and acceleration included in the environmental data can also be used to implement the correction of the collision probability by using the above method, which is not limited herein.

[0161] Alternatively, another way to predict the target collision probability includes that a collision probability prediction model can be pre-trained based on the experimental data (environmental data of the simulation vehicle in various collision scenarios and collision probabilities in various scenarios), so that the collision probability prediction model can predict the collision probability of the vehicle in a future preset time period based on the environmental data of the vehicle in any collision scenario. Moreover, in actual application, when the target collision probability of the real vehicle needs to be estimated, the control device can directly input the environmental data corresponding to the collision scenario of the real vehicle into the collision probability prediction model for prediction to obtain the target collision probability of the real vehicle in the future preset time period.

[0162] S503, determining the risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0163] In the embodiments of the present application, one implementation manner is that when the control device obtains the collision time and the target collision probability, the collision time can be adjusted or corrected based on the target collision probability, and then the risk level of the vehicle colliding with the target is determined based on the adjusted or corrected collision time. The method of determining the risk level based on the collision time is described in the foregoingFigure 3 The details are described in the embodiments, which can be referred to the foregoing description and will not be repeated here; another implementation manner is that when the control device obtains the collision time and the target collision probability, the target collision probability can be adjusted or corrected based on the collision time, and the risk level of the vehicle colliding with the target is determined based on the adjusted or corrected target collision probability. It should be noted that the control device can update the result of predicting the target collision probability once every preset time, and dynamically adjust the risk level using the target collision probability to ensure the accuracy of the risk level determination.

[0164] The method for determining the risk level of the vehicle colliding with the target according to the target collision probability includes that the greater the target collision probability, the greater the risk of collision, that is, the higher the risk level; the smaller the target collision probability, the smaller the risk of collision, that is, the lower the risk level, which indicates that the target collision probability and the risk level are in a proportional relationship, so the control device can determine the current risk level of the vehicle according to the proportional relationship between the target collision probability and the risk level defined in advance; optionally, the control device can also define a mapping relationship between different target collision probabilities and different risk levels, that is, the risk level corresponding to the current determined target collision probability can be directly determined according to the mapping relationship; optionally, the control device can also pre-set a probability threshold for evaluating the risk level, and compare the target collision probability with the probability threshold, when the target collision probability is greater than the probability threshold, it is determined that the corresponding risk level belongs to a high risk level, and when the target collision probability is not greater than the probability threshold, it is determined that the corresponding risk level belongs to a low risk level.

[0165] The method described in the above embodiments predicts the risk level of the vehicle colliding with the target based on the target collision probability and the collision time, which can improve the accuracy of predicting the risk level to avoid misoperation and reduce the loss caused by misoperation.

[0166] In some exemplary embodiments, as shown in Figure 6 An implementation manner of correcting the risk level using the collision probability is provided, that is, the above S503 "determining the risk level of the vehicle colliding with the target according to the collision probability and the collision time" includes:

[0167] S601, determining an initial risk level of the vehicle colliding with the target according to the collision time, if the target collision probability is greater than a preset probability threshold, performing step S602; if the target collision probability is less than or equal to the preset probability threshold, performing step S603.

[0168] S602, determining the risk level as a second risk level.

[0169] S603, determine the initial risk level as the risk level of the vehicle colliding with the target.

[0170] The preset probability threshold is a reference value for measuring the size of the collision probability, which can be determined in advance according to the prediction requirement.

[0171] In the embodiment of the application, when the control device obtains the collision time, the collision time can be further analyzed to determine the initial risk level of the vehicle colliding with the target. The specific method of determining the initial risk level according to the collision time is consistent with the method described in S302 of the foregoing Figure 3 embodiment, and the details are described in the foregoing description, which will not be repeated here. When the control device determines the initial risk level and predicts the target collision probability, the target collision probability can be compared with the preset probability threshold. If the target collision probability is greater than the preset probability threshold, it means that the collision probability is relatively large, and in this case, the risk level of the vehicle colliding with the target can be directly set as the second risk level representing a relatively large collision risk. If the target collision probability is not greater than the preset probability threshold, it means that the collision probability is relatively small, and in this case, the risk level of the vehicle colliding with the target can be directly set as the initial risk level, so as to use the risk level determined according to the collision time. The embodiment of the application can improve the accuracy of the risk level determination by using the target collision probability to assist in correcting the risk level determined according to the collision time, and thus improve the effectiveness of releasing the tear line component based on the risk level in the later stage.

[0172] In some exemplary embodiments, as Figure 7 shown, an implementation of using the state of the driver to correct the risk level is provided, that is, the method described in the foregoing Figure 3 embodiment, further comprising:

[0173] S701, obtaining force sensing data of a steering wheel grip force sensor on the vehicle and eye tracking data collected by an eye movement tracking device on the driver's eyes.

[0174] The steering wheel grip force sensor is used to collect the pressure applied by the driver on the steering wheel in real time, and the eye movement tracking device is used to track the movement trajectory of the driver's eyes.

[0175] In the embodiment of the application, the steering wheel grip force sensor and the eye movement tracking device are arranged on the vehicle. When the control device determines the risk level of the vehicle colliding with the target based on Figure 2 the method described in the foregoing

[0176] S702 , determining the driver's driving intention based on the grip sensor sensing data and the eye tracking data, and incrementally adjusting the collision time when the driving intention indicates that the driver is performing an active avoidance operation.

[0177] The driving intention may indicate that the driver performs an active avoidance operation, or may indicate that the driver does not perform an active avoidance operation.

[0178] In the embodiment of the present application, the control device can input the force sensing data and eye tracking data into a pre-trained intention analysis model to analyze the driver's intention and determine the driving intention of the driver on the current vehicle. When the driving intention indicates that the driver is performing an active avoidance operation, it means that the driver is operating the vehicle to avoid the vehicle. After that, the probability of the vehicle colliding with the target decreases. Based on this, the control device can Figure 3 In this embodiment, the collision time determined in S301 is incrementally adjusted. For example, 0.3 seconds may be added to the originally predicted collision time to prevent the driver from accidentally releasing the tear line when the vehicle could be controlled to avoid the collision. It should be noted that the above-mentioned intention analysis model can be an intelligent model or a large model that combines force sensor data (such as steering wheel torque and pedal pressure) and eye tracking data (such as gaze point and pupil changes) to infer the driver's control intention (such as lane change, turning, braking, etc.) in real time. For example, the intention analysis model can be trained based on a reinforcement learning (RL) model, a Bayesian probability model, or a deep learning model based on a convolutional neural network (CNN) and / or a recurrent neural network (RNN). This embodiment does not limit the type of intention analysis model.

[0179] S703: Determine a risk level of collision between the vehicle and the target based on the incrementally adjusted collision time.

[0180] In the embodiments of the present application, when the control device obtains the incrementally adjusted collision time, the incrementally adjusted collision time can be further analyzed to determine the risk level of the vehicle colliding with the target. Specifically, in determining the risk level, the higher the risk level, the greater the risk of collision, and the corresponding collision time is shorter. The lower the risk level, the smaller the risk of collision, and the corresponding collision time is longer. That is, the risk level and the collision time are inversely proportional. Therefore, the control device can determine the risk level corresponding to the incrementally adjusted collision time according to the inverse relationship between the predefined risk level and the collision time, and determine the risk level as the current risk level of the vehicle. Alternatively, the control device can also define a mapping relationship between different collision times and different risk levels, that is, the risk level corresponding to the incrementally adjusted collision time determined at the moment can be directly determined according to the mapping relationship. Alternatively, the control device can also pre-set a time threshold for evaluating the risk level, and compare the incrementally adjusted collision time with the time threshold. When the incrementally adjusted collision time is greater than the time threshold, it is determined that the corresponding risk level belongs to a low risk level. When the incrementally adjusted collision time is not greater than the time threshold, it is determined that the corresponding risk level belongs to a high risk level.

[0181] The method described in the above embodiments predicts the risk level of the vehicle colliding with the target based on the incrementally adjusted collision time. Since the incrementally adjusted collision time is the collision time determined considering the current driving intention of the driver, it can avoid the driver's misoperation of releasing the tear line in the case of obstacle avoidance to some extent, prevent the vehicle from causing damage, and reduce the loss to the vehicle caused by misoperation.

[0182] In some exemplary embodiments, a method for releasing a tear line component according to a risk level is provided, as shown in Figure 8 The method comprises:

[0183] S801, determining a risk level, if the risk level is a second risk level, performing step S802; if the risk level is a first risk level, performing step S803.

[0184] S802, controlling the vehicle to release a first tear line component on the vehicle before a collision occurs.

[0185] The first tear line component includes a tear line in a vehicle body structure and a tear line in an airbag. S803, controlling the vehicle to release a second tear line component on the vehicle before a collision occurs.

[0186] The second tear line component includes a tear line in a vehicle body structure; the first risk level is lower than the second risk level.

[0187] The tear line in the vehicle body structure includes at least one of a tear line of a bumper in the vehicle body structure, a tear line in a hood in the vehicle body structure, a tear line in a door beam in the vehicle body structure, a tear line in a roof rail in the vehicle body structure, and the like. The tear line in the airbag includes at least one of a tear line in an airbag above a steering wheel, a tear line in an airbag above an instrument panel, a tear line in an airbag beside a seat, a tear line in an airbag above a roof, and the like.

[0188] In the embodiments of the present application, when the control device determines the current risk level of the vehicle based on the method described in any of the foregoing embodiments, if the risk level is determined to be the second risk level, it means that the risk level is high at this time, and the most important thing at this time is to protect the safety of the driver on the vehicle. Therefore, the control device controls the release of the first tear line component on the vehicle at this time, so that the vehicle body can be deformed to absorb the collision energy and protect the safety of the vehicle body. At the same time, the airbag is also controlled to pop out to absorb the collision energy and protect the safety of the driver on the vehicle. If the risk level is determined to be the first risk level, it means that the risk level is not very high at this time, and the most important thing at this time is to protect the safety of the vehicle body. Therefore, the control device controls the release of the second tear line component on the vehicle at this time, so that the vehicle body can be deformed to absorb the collision energy and protect the safety of the vehicle body. It should be noted that when the first tear line component on the vehicle is released according to the risk level, a corresponding pre-crash instruction can be generated according to the risk level, and the pre-crash instruction is sent to the driving device (such as a shape memory alloy, a blasting lock, an electromagnetic lock, etc.) of the corresponding first tear line component, so that the driving device of the first tear line component can actively release the first tear line component. The pre-crash instruction can be transmitted through the CAN bus of the vehicle.

[0189] The method described in the foregoing embodiments can maximize the use of vehicle resources and optimize the collision absorption energy when the vehicle collides by releasing different tear line components according to different risk levels, releasing tear lines for protecting the driver in high-risk situations, and releasing tear lines for protecting the vehicle body in low-risk situations.

[0190] In some exemplary embodiments, a method is provided for protecting the safety of the driver on the vehicle by also linking other components on the vehicle in the case of a relatively low risk level. That is, when the control device determines that the risk level is the first risk level, in addition to releasing the second tear line corresponding to the risk level, the control device can also perform the step of: starting the pretensioner seat belt when the risk level is the first risk level or the second risk level.

[0191] In the embodiments of the present application, when the control device performs the step of starting the pretensioner seat belt, the control device can also perform the step of: starting the pretensioner seat belt in the case of the first risk level or the second risk level. Figure 8When the method of the embodiment determines that the current risk level of the vehicle is the first risk level, it indicates that the risk level is low at this time, and the vehicle body safety is focused on. Based on this, the safety of the driver can also be protected accordingly. In this case, the control device can start the pre-tightening seat belt on the vehicle to protect the driver on the vehicle, which can improve the safety of the personnel protection while protecting the vehicle body. Figure 8 When the method of the embodiment determines that the current risk level of the vehicle is the second risk level, it indicates that the risk level is high at this time, and the safety of the driver and the vehicle body is focused on. Based on this, in addition to controlling the release of the tear line component on the vehicle, in order to protect the safety of the driver, the pre-tightening seat belt on the vehicle can also be started to protect the driver on the vehicle, which can improve the safety of the driver.

[0192] In some exemplary embodiments, a method for controlling the release of the corresponding tear line component of the vehicle in combination with the collision type and the risk level is also provided, that is, after the control device determines the current risk level of the vehicle based on the method of any of the preceding embodiments, it can also perform the step of: analyzing the environmental data to predict the collision type of the collision between the vehicle and the target. Correspondingly, when performing the preceding S202 "controlling the release of the corresponding tear line component of the vehicle before the collision occurs according to the risk level", the step of: controlling the release of the corresponding tear line component of the vehicle before the collision occurs according to the risk level and the collision type is performed.

[0193] In the embodiment of the application, the control device can input the obtained environmental data into the pre-trained classification network for collision classification to obtain the collision type of the collision between the current vehicle and the target, so as to control the release of the tear line component corresponding to the risk level and the collision type before the collision occurs. Specifically, after determining the risk level, the tear line component corresponding to the risk level is determined first, and then the tear line component corresponding to the collision type is further determined from the tear line corresponding to the risk level according to the collision type, and finally the vehicle releases the tear line component corresponding to the collision type. For example, it is determined that the risk level is the first risk level, and then the second tear line component corresponding to the first risk level is determined, and then it is determined that the collision type is the front collision type, and then the tear line component corresponding to the front collision type is selected from the second tear line component as the last tear line component to be released. For another example, it is determined that the risk level is the second risk level, and then the first tear line component corresponding to the second risk level is determined, and then it is determined that the collision type is the front collision type, and then the tear line component corresponding to the front collision type is selected from the first tear line component as the last tear line component to be released.

[0194] The method described in the above embodiments combines the collision type and the risk level to determine different release strategies of the tear line, realizes more refined release of the corresponding tear line component, can improve the accuracy of releasing the tear line component, maximizes the use of the tear line resources on the vehicle, and achieves the effect of optimizing the collision energy absorption.

[0195] In some exemplary embodiments, an implementation of controlling a vehicle to release a tear line component according to a risk level and a collision type is provided, as shown in Figure 9 The method comprises:

[0196] S901, determining the risk level and the collision type, if the risk level is the second risk level and the collision type is the front collision type, performing step S902; if the risk level is the first risk level and the collision type is the front collision type, performing step S903; if the risk level is the second risk level and the collision type is the side collision type, performing step S904; if the risk level is the first risk level and the collision type is the side collision type, performing step S905; if the risk level is the second risk level and the collision type is the top collision type, performing step S906; if the risk level is the first risk level and the collision type is the top collision type, performing step S907.

[0197] S902, controlling the vehicle to release a third tear line component before the collision occurs.

[0198] The third tear line component can be part of the first tear line component in the above embodiments, specifically, the third tear line component includes a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag of a steering wheel on the vehicle, and a tear line of an airbag of an instrument panel on the vehicle. Figure 8 The tear line of the hood can be arranged in an engine compartment area, and a "double wave peak guide structure" is arranged inside the engine compartment area. By releasing the tear line, the longitudinal beam is folded in a Z shape, and the collision force is decomposed into a vertical direction (such as triggering the rear end of the hood to lift, forming a 25° unloading slope), and a horizontal direction (such as guiding the front panel to slide downward, avoiding the intrusion of the firewall). The tear line of the hood also includes a tear line of an A-pillar, that is, a micro-explosive cable (charge amount <0.1g) can be installed inside the A-pillar. When the electromagnetic unlocking fails, the high-strength steel connecting point is forcibly cut off by an electric detonation tube. For example, see Figure 9A As shown, the states of the vehicle before and after the collision, wherein the tear line of the bumper before the collision is complete, the hood is in a closed state, the energy absorption space is about 100mm, and the vehicle body stiffness is high; after the collision, the tear line of the bumper is released, the tear line of the hood is released to make the hood pop up, the energy absorption space is about 160mm, and the energy absorption of the layers (bumper and hood) is consumed.

[0199] S903, controlling the vehicle to release the fourth tear line component before a collision occurs.

[0200] The fourth tear line component can be part of the first tear line component, and specifically, the fourth tear line component includes a tear line in a front bumper of the vehicle body structure. Figure 8 In the embodiments, the tear line in the second tear line component is specifically a tear line in a front bumper of the vehicle body structure. The tear line can be an electromagnetic locking tear line, and active release can be achieved in the following ways: first, the electromagnetic unlocking module is unlocked after receiving the control signal; second, the shape memory alloy triggering device is deformed to push the tear line to break after being electrified, and the response time is generally less than 10 ms. Third, when the electromagnetic unlocking fails, the high-strength steel connecting point is cut off by the electric detonation tube to break the corresponding tear line.

[0201] S904, controlling the vehicle to release the fifth tear line component before a collision occurs.

[0202] The fifth tear line component can be part of the first tear line component, and specifically, the fifth tear line component includes a tear line in a door impact beam of the vehicle body structure and a tear line of an airbag on a side of a seat of the vehicle. Figure 8 In the embodiments, the tear line in the second tear line component is specifically a tear line in a front bumper of the vehicle body structure. The tear line can be an electromagnetic locking tear line, and active release can be achieved in the following ways: first, the electromagnetic unlocking module is unlocked after receiving the control signal; second, the shape memory alloy triggering device is deformed to push the tear line to break after being electrified, and the response time is generally less than 10 ms. Third, when the electromagnetic unlocking fails, the high-strength steel connecting point is cut off by the electric detonation tube to break the corresponding tear line.

[0203] S905, controlling the vehicle to release the sixth tear line component before a collision occurs.

[0204] The sixth tear line component can be part of the second tear line component, and specifically, the sixth tear line component includes a tear line in a door impact beam of the vehicle body structure. Figure 8 In the embodiments, the tear line in the second tear line component is specifically a tear line in a front bumper of the vehicle body structure. The tear line can be an electromagnetic locking tear line, and active release can be achieved in the following ways: first, the electromagnetic unlocking module is unlocked after receiving the control signal; second, the shape memory alloy triggering device is deformed to push the tear line to break after being electrified, and the response time is generally less than 10 ms. Third, when the electromagnetic unlocking fails, the high-strength steel connecting point is cut off by the electric detonation tube to break the corresponding tear line.

[0205] S906, controlling the vehicle to release the seventh tear line component before a collision occurs.

[0206] The seventh tear line component can be part of the first tear line component, and specifically, the seventh tear line component includes a tear line in a roof longitudinal beam of the vehicle body structure and a tear line of an airbag on a roof of the vehicle. Figure 8 In the embodiments, the tear line in the second tear line component is specifically a tear line in a front bumper of the vehicle body structure. The tear line can be an electromagnetic locking tear line, and active release can be achieved in the following ways: first, the electromagnetic unlocking module is unlocked after receiving the control signal; second, the shape memory alloy triggering device is deformed to push the tear line to break after being electrified, and the response time is generally less than 10 ms. Third, when the electromagnetic unlocking fails, the high-strength steel connecting point is cut off by the electric detonation tube to break the corresponding tear line.

[0207] S907, controlling the vehicle to release the eighth tear line component before a collision occurs.

[0208] wherein the eighth tear line component can be the aforementioned Figure 8 In the embodiment, the partial tear line in the second tear line component is specifically a tear line of a roof longitudinal beam in the vehicle body structure.

[0209] The embodiment of the present application relates to six scenarios. The first scenario is that when the control device determines that the risk level is the second risk level and the collision type is the front collision type, it indicates that the collision risk is extremely high and the target collides with the vehicle in a front collision. Therefore, the safety of the personnel on the vehicle can be protected from the front at this time, and the vehicle can be deformed greatly in the front to maximize the absorption of the front collision energy by deformation to protect the safety of the personnel. Therefore, in this case, the control vehicle releases the tear line of the bumper in the vehicle body structure to make the bumper break along the tear line to absorb the front impact energy. The control vehicle releases the tear line of the hood to make the hood break neatly along the tear line to absorb the front impact energy. The control vehicle releases the tear line of the airbag of the steering wheel to make the airbag on the steering wheel pop out to absorb the front impact energy. The control vehicle releases the tear line of the airbag of the instrument panel to make the airbag on the instrument panel pop out to absorb the front impact energy.

[0210] The second scenario is that when the control device determines that the risk level is the first risk level and the collision type is the front collision type, it indicates that the collision risk is not very high and the target collides with the vehicle in a front collision. Therefore, the safety of the personnel on the vehicle can be protected from the front at this time, and the vehicle can be deformed slightly to protect the safety of the vehicle. Therefore, in this case, the control vehicle releases the tear line of the bumper in the vehicle body structure to make the bumper break along the tear line to absorb the front impact energy.

[0211] The third scenario is that when the control device determines that the risk level is the second risk level and the collision type is the side collision type, it indicates that the collision risk is extremely high and the target collides with the vehicle in a side collision. Therefore, the safety of the personnel on the vehicle can be protected from the side at this time, and the vehicle can be deformed greatly from the side to maximize the absorption of the side collision energy by deformation to protect the safety of the personnel. Therefore, in this case, the control vehicle releases the tear line of the door impact beam in the vehicle body structure to make the door impact beam break along the tear line to absorb the side impact energy. The control vehicle releases the tear line of the airbag on the side of the seat to make the airbag on the side of the seat pop out to absorb the side impact energy.

[0212] The fourth scenario is: when the control device determines that the risk level is the first risk level and the collision type is the side collision type, it indicates that the collision risk is low at this time, and the target collides with the vehicle as a side collision, so at this time, the safety of the vehicle personnel can be protected from the side, and the vehicle can be deformed to a minimum to protect the safety of the vehicle, so as to achieve the protection of the safety of the vehicle personnel and the safety of the vehicle body. Therefore, in this case, the control vehicle releases the tear line of the door anti-collision beam in the vehicle body structure, so that the door anti-collision beam is broken along the tear line to absorb the side impact energy.

[0213] The fifth scenario is: when the control device determines that the risk level is the second risk level and the collision type is the top collision type, it indicates that the collision risk is very high at this time, and the target collides with the vehicle as a top collision, so at this time, the safety of the vehicle personnel can be protected from the top, and the vehicle can be deformed to a maximum to maximize the deformation mode to absorb the top collision energy to protect the safety of the personnel. Therefore, in this case, the control vehicle releases the tear line of the roof longitudinal beam in the vehicle body structure, so that the roof longitudinal beam is broken along the tear line to absorb the top impact energy; and the control vehicle releases the tear line of the roof safety airbag to pop out the roof safety airbag to absorb the top impact energy.

[0214] The sixth scenario is: when the control device determines that the risk level is the first risk level and the collision type is the top collision type, it indicates that the collision risk is not very high at this time, and the target collides with the vehicle as a top collision, so at this time, the safety of the vehicle personnel can be protected from the top, and the vehicle can be deformed to a minimum to protect the safety of the vehicle, so as to achieve the protection of the safety of the vehicle personnel and the safety of the vehicle body. Therefore, in this case, the control vehicle releases the tear line of the roof longitudinal beam in the vehicle body structure, so that the roof longitudinal beam is broken along the tear line to absorb the top impact energy.

[0215] The method described in the above embodiment combines the risk level and releases the corresponding tear line components from the three collision types of front collision, side collision and top collision, realizes the release of the corresponding tear line components under the detailed collision type, can improve the accuracy of the release of the tear line components, maximizes the use of the tear line resources on the vehicle, and achieves the effect of optimizing the collision energy absorption.

[0216] In some exemplary embodiments, in the case where the risk level is determined to be the second risk level and the collision type is the front collision type, a method of controlling the vehicle to release the corresponding tear line component in combination with the posture of the target is also provided, that is, the control device, after determining that the current risk level of the vehicle is the second risk level and the collision type is the front collision type based on the method described in any of the preceding embodiments, can also perform the step of determining the posture of the target. Correspondingly, when the control device performs the above S902 "controls the vehicle to release the third tear line component", it can also determine the posture of the target, and then controls the vehicle to release the corresponding tear line component according to the posture of the target.Figure 10 The step is shown as follows:

[0217] S1001, determining the posture of the target, if the posture indicates that the target is in the first posture when the target collides with the vehicle, performing step S1002; if the posture indicates that the target is in the second posture when the target collides with the vehicle, performing step S1003.

[0218] S1002, controlling the vehicle to release the ninth tearing line component before the collision occurs.

[0219] The ninth tearing line component can be part of the first tearing line component in the foregoing embodiment. Figure 8 The ninth tearing line component includes components consistent with those of the third tearing line component in the foregoing embodiment. Specifically, the ninth tearing line component includes a tearing line of a bumper in the vehicle body structure, a tearing line of a hood in the vehicle body structure, a tearing line of an airbag for a steering wheel on the vehicle, and a tearing line of an airbag for an instrument panel on the vehicle. The target in the embodiment of the application refers to a pedestrian, and the posture of the target includes a standing posture of the pedestrian or a falling posture of the pedestrian. The first posture indicates the standing posture of the pedestrian. Figure 9 S1003, controlling the vehicle to release the tenth tearing line component before the collision occurs.

[0220] The ninth tearing line component can be part of the first tearing line component in the foregoing embodiment.

[0221] The tenth tearing line component includes a tearing line of a bumper in the vehicle body structure, a tearing line of an airbag for a steering wheel on the vehicle, and a tearing line of an airbag for an instrument panel on the vehicle. The second posture indicates the falling posture of the pedestrian. Figure 8

[0222] ​In the embodiments of the present application, when the control device determines that the risk level is the second risk level and the collision type is the front collision type, it indicates that the collision risk is extremely high at this time, and the target collides with the vehicle in a front collision, so at this time, the safety of the personnel on the vehicle can be highlighted from the front, and correspondingly, the vehicle can be greatly deformed in the front to maximize the absorption of the front collision energy by deformation to protect the safety of the personnel. In this case, if it is further determined that the target colliding with the vehicle is a pedestrian, and the posture of the pedestrian is an upright posture, based on this, the control device controls the vehicle to release the tearing line of the bumper in the vehicle body structure, so that the bumper is broken along the tearing line to absorb the front impact energy of the pedestrian; controls the vehicle to release the tearing line of the hood, so that the cover plate is broken along the tearing line to absorb the front impact energy of the pedestrian who may collide with the vehicle engine hood; controls the vehicle to release the tearing line of the airbag of the steering wheel, so that the airbag on the steering wheel pops out to absorb the front impact energy; controls the vehicle to release the tearing line of the airbag of the instrument panel, so that the airbag on the instrument panel pops out to absorb the front impact energy. If it is further determined that the target colliding with the vehicle is a pedestrian, and the posture of the pedestrian is a falling posture, based on this, the control device controls the vehicle to release the tearing line of the bumper in the vehicle body structure, so that the bumper is broken along the tearing line to absorb the front impact energy when the pedestrian falls; controls the vehicle to release the tearing line of the airbag of the steering wheel, so that the airbag on the steering wheel pops out to absorb the front impact energy; controls the vehicle to release the tearing line of the airbag of the instrument panel, so that the airbag on the instrument panel pops out to absorb the front impact energy. The method described in the above embodiments actively adjusts the structure of the corresponding area on the vehicle before the vehicle collision occurs in combination with different postures of the pedestrian, such as releasing the tearing line in advance, so that the energy absorption efficiency of the bumper and other components is improved by about 40%, the head injury value of the pedestrian is reduced by more than 25%, the safety of the pedestrian is maximized, the pedestrian protection effect is improved, and it is suitable for active protection scenarios of sudden collision between the vehicle and the pedestrian. In some exemplary embodiments, in the case where the risk level is determined to be the first risk level and the collision type is the front collision type, a method of linkage of the vehicle emergency braking for cooperative control of the release of the tearing line is also provided, that is, when the control device determines that the current risk level of the vehicle is the first risk level and the collision type is the front collision type based on the method described in any of the preceding embodiments, it can also perform the following steps: before controlling the vehicle to release the fourth tearing line component (step S903 described above), the emergency braking system on the vehicle is started to apply a braking force, so that the center of gravity of the vehicle moves backward.

[0223] In the embodiments of the present application, when the control device executes Figure 9When the method described in the embodiments determines that the current risk level of the vehicle is the first risk level, it means that the risk level at this time is low, and it is also determined that the collision type is the front collision type, which means that the vehicle has a redundant time to avoid obstacles at this time. Therefore, the control device can start the emergency braking system on the vehicle to apply a braking force (such as applying a braking force of 0.3g) to move the center of gravity of the vehicle backward, which can optimize the energy absorption angle of the longitudinal beam on the vehicle, and maximize the absorption of collision energy when the vehicle releases the fourth tearing line component in the later control. The method realizes the cooperative control of the emergency braking system of the linked vehicle and the active release of the tearing line, which can optimize the absorption effect of the collision energy of the vehicle when the collision occurs.

[0224] In some exemplary embodiments, in the case where the risk level is determined to be the first risk level and the collision type is the side collision type, a method for cooperative control of the release of the tearing line by the side suspension of the linked vehicle is also provided, that is, the control device, when determining that the current risk level of the vehicle is the first risk level and the collision type is the side collision type based on the method described in any of the foregoing embodiments, can also perform the step of: before controlling the vehicle to release the sixth tearing line component (the step S905 described above), raising the side suspension travel and hardening the side suspension on the collision side of the vehicle to raise the side body of the vehicle. The side suspension can be an air suspension, which increases the travel by inflation.

[0225] In the embodiments of the present application, when the control device performs Figure 9When the method of the embodiment determines that the current risk level of the vehicle is the first risk level, it indicates that the risk level at this time is low, and when the collision type is determined to be the side collision type, it indicates that the vehicle has redundant time to avoid obstacles at this time, so the control device can raise the side suspension on the collision side of the vehicle and harden the side suspension. Specifically, the travel of the side suspension on the vehicle can be raised (such as 30 mm), so that the side body of the vehicle is raised, so that when the side collision occurs, the height of the body on the collision side is increased, thereby reducing the position of the door that is hit, that is, the lower edge of the door (usually the door sill beam area which is relatively strong) faces the collision, rather than the collision directly acting on the relatively weak position in the middle of the door. This can make the stronger part of the door bear the impact force and improve the crashworthiness of the body; at the same time, when the side collision occurs, the side body of the vehicle tilts to the collision side, and at this time, raising the side suspension on the collision side can cause the vehicle to tilt to the collision side more easily due to the downward movement of the collision center of gravity. Based on this, the vehicle can also harden the side suspension by instantaneously increasing the damping or stiffness of the active suspension system, thereby inhibiting the tilting of the body to the collision side and improving the safety of the vehicle. Raising the side suspension travel and hardening the side suspension can improve the crashworthiness of the body before releasing the sixth tearing line component, which can maximize the absorption of collision energy during the collision. This method realizes the linkage of the lifting of the side suspension of the vehicle, which can strengthen the tearing line and optimize the absorption effect of the collision energy of the vehicle during the collision.

[0226] In some exemplary embodiments, as shown in Figure 11 A method for releasing the tearing line according to the collision direction is also provided, that is Figure 2 The method of the embodiment further comprises:

[0227] S1101, analyzing the environmental data to predict the collision direction of the vehicle and the target, if the collision direction points to the battery pack area on the vehicle, step S1102 is performed; if the collision direction points to the oil pipeline area on the vehicle, step S1103 is performed.

[0228] S1102, controlling the vehicle to release the tearing line of the battery pack shell on the vehicle.

[0229] S1103, controlling the vehicle to release the tearing line of the fuel pipeline shell on the vehicle.

[0230] In the embodiments of the present application, when the control device obtains the environmental data based on the foregoing steps, the environmental data can be further analyzed. Specifically, the direction prediction network pre-trained can be used to predict based on the environmental data, or other methods can be used to predict based on the environmental data, which is not limited here. When it is determined that the collision direction points to the battery pack area on the vehicle, it indicates that the battery pack may cause explosion and serious damage to the vehicle and personnel in the subsequent collision. Based on this, the control device can control the vehicle to release the tear line of the battery pack shell on the vehicle to deform the battery pack shell in advance, maximize the absorption of collision energy, and protect the safety of the battery pack when the collision occurs. When it is determined that the collision direction points to the oil pipeline area on the vehicle, it indicates that the oil pipeline may rupture and cause fuel explosion and serious damage to the vehicle and personnel in the subsequent collision. Based on this, the control device can control the vehicle to release the tear line of the fuel pipeline shell on the vehicle to deform the fuel pipeline shell in advance, maximize the absorption of collision energy, and protect the safety of the fuel pipeline when the collision occurs. The above method considers the damage caused by the battery pack and the oil pipeline on the vehicle in the vehicle collision, and selects protection according to the collision direction, which can improve the safety of the vehicle in the collision.

[0231] In some exemplary embodiments, after the control device controls the vehicle to release the tear line of the battery pack shell on the vehicle, the following step can be further performed: cutting off the connectors between the battery modules on the vehicle (components in the battery management system) to disconnect the mutual influence of the battery modules in the vehicle collision to accelerate the damage degree of the vehicle, thereby improving the safety of the vehicle in the collision.

[0232] In some exemplary embodiments, after the control device controls the vehicle to release the tear line of the battery pack shell on the vehicle, the following step can be further performed: activating the pressure relief valve of the liquid cooling pipeline on the vehicle to trigger the fire extinguishing devices (components in the battery management system) on both sides of the battery box on the vehicle to automatically extinguish the fire when the vehicle collides and the battery pack area is on fire, which can timely reduce the loss degree of the vehicle in the collision. This method realizes the linkage of the battery management system in the vehicle collision to perform corresponding operations to realize cooperative control of releasing the tear line, thereby reducing the loss degree of the vehicle in the collision.

[0233] In some exemplary embodiments, after the vehicle collides with the target, a post-collision processing mechanism is provided, which includes determining the collision impact force of the vehicle colliding with the target, and controlling the tear line component to reset when the collision impact force is less than a preset impact force threshold.

[0234] The preset impact force threshold is used to measure the size of the collision impact force. When the collision impact force is less than the preset impact force threshold, it indicates that the vehicle collides with the target lightly. When the collision impact force is greater than or equal to the preset impact force threshold, it indicates that the vehicle collides with the target heavily.

[0235] In the embodiment of the present application, when the vehicle collides with the target, the control device can also detect the collision impact force of the vehicle colliding with the target. When it is detected that the collision impact force of the vehicle colliding with the target is less than a preset impact force threshold, it indicates that the collision between the vehicle and the target is relatively light, and the vehicle still has the driving capability. In this case, the control device can control the tear line component to reset, so that the reset tear line component can be triggered again, thereby reducing the maintenance cost of the vehicle. It should be noted that some tear line components on the vehicle can be reset after being released, such as a shape memory alloy trigger release tear line. Some tear line components cannot be reset after being released. In the embodiment of the present application, the reset tear line component refers to a tear line component that can be reset. Specifically, a micro servo motor can be used to reset the released tear line component to a state that can be triggered again.

[0236] In some exemplary embodiments, a method for obtaining environmental data is also provided, which comprises: starting a plurality of types of sensing devices on the vehicle to collect environmental data; wherein the plurality of types of sensing devices include radar, camera, and inertial sensor; wherein the radar includes millimeter wave radar and / or laser radar. The millimeter wave radar is used to collect data such as the relative distance and speed of the vehicle and the target; the laser radar is used to collect 3D point cloud data; the camera is used to collect the attitude and position information of the target; and the inertial sensor is used to collect the acceleration of the vehicle.

[0237] In the embodiment of the present application, a plurality of types of sensors are integrated on the vehicle, which collect environmental data of the surrounding area of the vehicle in real time, so as to facilitate the analysis and determination of the risk level based on the plurality of types of environmental data. The plurality of types of environmental data collected by the plurality of types of sensing devices provides accurate and rich environmental data for the later analysis, which can improve the accuracy of the determination of the risk level.

[0238] In some exemplary embodiments, a method for performing abnormality verification on the environmental data is also provided, that is, Figure 2 The method according to the embodiment further comprises the step of: performing abnormality verification on the environmental data to obtain verified environmental data. Correspondingly, the control device performs Figure 2 In the embodiment S201 of "analyzing the environmental data of the surrounding area of the vehicle and determining the risk level of the vehicle colliding with the target", the specific execution steps are: analyzing the verified environmental data and determining the risk level of the vehicle colliding with the target.

[0239] The abnormality verification includes removal of data collected by failed sensor devices and / or weight distribution of the credibility of data collected by each type of sensor device.

[0240] In the embodiments of the present application, when the control device obtains the environmental data, since the environmental data includes data collected by various types of sensing devices, the data formats collected by various types of sensing devices are inconsistent, or some sensing devices are in a failure state, it is necessary to remove abnormal data from the environmental data collected by various types of sensing devices. For example, the data collected by a laser radar, a camera and a millimeter wave radar have different frequencies, so it is necessary to synchronize the time stamps of various types of sensor devices at this time, and millisecond-level time alignment can be achieved by using a sliding window algorithm. For another example, the consistency of the data collected by different types of sensing devices of the same type is compared. If it is detected that the data collected by different types of sensing devices is consistent, it means that there is no abnormal data in the data of the two or the sensing devices of the two types are not in a failure state. If it is detected that the data collected by different types of sensing devices is inconsistent, it means that there is abnormal data in the data of the two or there is a sensing device in a failure state in the two types of sensing devices. For example, if the inertial sensor detects that the lateral acceleration is greater than 1.5 m / s² and the camera does not recognize the corresponding steering behavior, it is determined that the inertial sensor or the camera is in a failure state. In the above case, the abnormal data can be removed from the environmental data, or the data collected by the sensing devices in a failure state can be removed from the environmental data, thereby improving the accuracy of the environmental data. In another scenario, various types of sensor devices are affected by different environments, and the reliability of the environmental data collected by the various types of sensor devices is also different. Therefore, in the embodiments of the present application, when the control device obtains the environmental data, the reliability weights of various types of sensor devices can be assigned according to the characteristics of the sensor devices in different environments, and then the environmental data is processed according to the weights to obtain the verified environmental data, so that the environmental data collected by various types of sensor devices is applicable to various environments. For example, in heavy rain or smog weather, the reliability weight of the environmental data collected by the laser radar is increased to 70%; in the night scene, the reliability weight of the environmental data collected by the infrared camera is increased to 60%; and in the high-speed curve working condition, the reliability weight of the steering angle compensation coefficient collected by the millimeter wave radar is increased. When the control device removes the data collected by the sensing devices in a failure state and / or assigns the reliability weights of the data collected by various types of sensing devices based on the foregoing steps, the abnormal verification of the environmental data is completed, the verified environmental data is obtained, and then the verified environmental data is analyzed to determine the risk level of the vehicle collision with the target. The method can greatly improve the accuracy of the environmental data by fusing the environmental data collected by various types of sensor devices and removing abnormal data or assigning the reliability weights of the environmental data, thereby improving the accuracy of the analysis based on the environmental data in the later stage.

[0241] Based on the method described in the above embodiments, a data fusion module can be provided on the vehicle, and the control device is connected with the data fusion module, as shown in Figure 11AA structural schematic diagram of the data fusion module is shown, and the data fusion module includes a timestamp alignment unit, an anomaly checking unit, and a credibility weight distribution unit. When various types of sensing devices on the vehicle collect respective environmental data, the environmental data can be input to the data fusion module for fusion processing to obtain fused environmental data, and then the fused environmental data is analyzed to determine the risk level of the vehicle colliding with the target. For the processing method of the timestamp alignment unit, the anomaly checking unit, and the credibility weight distribution unit, please refer to the foregoing embodiment description, which will not be repeated here.

[0242] Based on the methods described in all the foregoing embodiments, a vehicle control method is also provided, as shown in the figure, which includes the following steps. Figure 12 S1201, starting a plurality of types of sensing devices on the vehicle to collect environmental data, and performing anomaly checking on the environmental data to obtain checked environmental data.

[0243] The plurality of types of sensing devices include radar, camera, and inertial sensor.

[0244] S1202, determining the collision time of the vehicle colliding with the target according to target data in the checked environmental data.

[0245] S1203, inputting the checked environmental data into a preset collision scene classification model to perform scene classification and determine the collision scene of the vehicle colliding with the target.

[0246] S1204, predicting the target collision probability of the vehicle in a future preset time period according to the environmental data and the collision probability of the simulated vehicle in the collision scene.

[0247] S1205, determining the risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0248] S1206, analyzing the checked environmental data to predict the collision type of the vehicle colliding with the target.

[0249] S1207, if the risk level is the second risk level and the collision type is the front collision type, controlling the vehicle to release a third tear line component before the collision occurs, and determining the pose of the target, and when the target is in the first pose when the target collides with the vehicle, controlling the vehicle to release a ninth tear line component, or when the target is in the second pose when the target collides with the vehicle, controlling the vehicle to release a tenth tear line component.

[0250] The third tear line component includes a tear line of a bumper in the vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle. The ninth tear line component includes a tear line of a bumper in the vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle. The tenth tear line component includes a tear line of a bumper in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle.

[0251] S1208, if the risk level is the first risk level and the collision type is the front collision type, starting an emergency braking system on the vehicle to apply a braking force, and controlling the vehicle to release a fourth tear line component before the collision occurs.

[0252] The fourth tear line component includes a tear line of a bumper in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle.

[0253] S1209, if the risk level is the second risk level and the collision type is the side collision type, controlling the vehicle to release a fifth tear line component before the collision occurs.

[0254] S1210, if the risk level is the first risk level and the collision type is the side collision type, raising a side suspension stroke of the vehicle and hardening a side suspension, and controlling the vehicle to release a sixth tear line component before the collision occurs.

[0255] S1211, if the risk level is the second risk level and the collision type is the top collision type, controlling the vehicle to release a seventh tear line component before the collision occurs.

[0256] S1212, if the risk level is the first risk level and the collision type is the top collision type, controlling the vehicle to release an eighth tear line component before the collision occurs.

[0257] S1213, analyzing the environmental data to predict a collision direction of the vehicle and the target, and when the collision direction points to a battery pack area on the vehicle, controlling the vehicle to release a tear line of a battery pack shell on the vehicle, cut off a connector between battery modules on the vehicle, and activate a liquid cooling pipe relief valve on the vehicle, to trigger a fire extinguishing device on the vehicle; when the collision direction points to an oil pipeline area on the vehicle, controlling the vehicle to release a tear line of a fuel pipeline shell on the vehicle.

[0258] S1214, determining a collision impact force of the vehicle and the target, and when the collision impact force is less than a preset impact force threshold, controlling the tear line component to reset.

[0259] The above steps are described in the foregoing embodiments, and details are described in the foregoing embodiments, which will not be described here.

[0260] The method described in the foregoing embodiments realizes release of the tear line according to the risk level, the collision type and the posture of the pedestrian, optimizes the collision energy release path, and can also control the release of the tear line in cooperation with the emergency braking system, the active suspension and the battery management system on the vehicle, so that vehicle resources can be maximized and vehicle safety can be improved.

[0261] In some exemplary embodiments, a vehicle control method is also provided, as shown in the method, the control device in the vehicle is taken as an example for illustration, and the method comprises the following steps. Figure 13 Figure 1 In some exemplary embodiments, a vehicle control method is also provided, as shown in the method, the control device in the vehicle is taken as an example for illustration, and the method comprises the following steps.

[0262] S1301, analyzing environmental data of a surrounding area of the vehicle to determine a risk level and a collision scene of a collision between the vehicle and a target.

[0263] The environmental data comprises relevant information about the positional relationship between the vehicle and the target, and the collision scene comprises a collision type and / or a posture of the target.

[0264] The determination method of the risk level, the description of the collision scene and the determination method of the collision scene in the method described in the embodiments of the application are described in the foregoing embodiments, and specific contents are described in the foregoing Figure 2 S201 and S202 in the foregoing embodiments, S501 in the foregoing embodiments, etc., which will not be described here. Figure 4

[0265] S1302, controlling release of a corresponding tear line component of the vehicle before the collision according to the risk level and the collision scene.

[0266] The embodiments of the application relate to a method for controlling release of a corresponding tear line component of the vehicle before the collision according to the risk level and the collision type, or a method for controlling release of a corresponding tear line component of the vehicle before the collision according to the risk level and the posture of the target.

[0267] ​​The method for controlling the vehicle to release the corresponding tear line component before the collision according to the risk level and the collision type comprises: the control device can input the obtained environmental data into a pre-trained classification network for collision classification to obtain the collision type of the current collision between the vehicle and the target, so as to control the vehicle to release the tear line component corresponding to the risk level and the collision type at the same time before the collision. Specifically, after the risk level is determined, the tear line components corresponding to the risk level are determined first, and then the tear line components corresponding to the collision type are further determined from the tear line corresponding to the risk level according to the collision type, and finally the vehicle is controlled to release the tear line component corresponding to the collision type. For example, it is determined that the risk level is a first risk level, and then the first tear line component corresponding to the first risk level is determined. It is determined that the collision type is a front collision type, and then the tear line component corresponding to the front collision type is selected from the above first tear line component as the tear line component that needs to be released finally. The collision type includes any one of a front collision type, a side collision type and a top collision type. It should be noted that the method for determining the tear line component corresponding to the risk level is described in the foregoing Figures 2-8 embodiments, and the details are described in the foregoing embodiments, which will not be described here. The method for controlling the vehicle to release the tear line component corresponding to the risk level and the collision type at the same time before the collision can refer to the method described in the foregoing Figure 9 embodiments, and the details are described in the foregoing embodiments, which will not be described here. The method described in the foregoing embodiments combines the collision type and the risk level to determine different release tear line strategies, realizes more refined release of the corresponding tear line component, can improve the accuracy of the release of the tear line component, maximizes the use of the tear line resources on the vehicle, and achieves the effect of optimizing the collision energy absorption.

[0268] The method for controlling the vehicle to release the corresponding tear line component before the collision according to the risk level and the posture of the target comprises: determining the posture of the target, if the posture indicates that the target is in a first posture when the target collides with the vehicle, then controlling the vehicle to release a ninth tear line component before the collision; if the posture indicates that the target is in a second posture when the target collides with the vehicle, then controlling the vehicle to release a tenth tear line component before the collision. The method described in the embodiment of the application can refer to the method described in the foregoing Figure 10The method described in the embodiments is basically consistent, and the details are described in the foregoing description, which will not be repeated here. The method realizes maximum protection of pedestrian safety and improves the pedestrian protection effect, and is suitable for active protection scenarios of vehicle and pedestrian sudden collision. In some exemplary embodiments, in the case where the risk level is the first risk level and the collision type is the front collision type, the above method further comprises: before controlling the vehicle to release the fourth tearing line component, starting the emergency braking system on the vehicle to apply a braking force to move the center of gravity of the vehicle backward. In the case where the risk level is the first risk level and the collision type is the side collision type, the above method further comprises: before controlling the vehicle to release the sixth tearing line component, raising the side suspension travel of the vehicle and hardening the side suspension to raise the side body of the vehicle. The above methods are described in the foregoing embodiments, which will not be repeated here.

[0269] In some exemplary embodiments, the above method further comprises: analyzing the environmental data to predict the collision direction of the vehicle and the target; if the collision direction points to the battery pack area of the vehicle, controlling the vehicle to release the tearing line of the battery pack shell on the vehicle, cutting off the connector between the battery modules on the vehicle, and activating the liquid cooling pipe relief valve on the vehicle to trigger the fire extinguishing device on the vehicle; if the collision direction points to the oil pipeline area of the vehicle, controlling the vehicle to release the tearing line of the fuel pipeline shell on the vehicle. The above method is described in the foregoing embodiments, which will not be repeated here.

[0270] In some exemplary embodiments, after the vehicle collides, the above method further comprises: determining the collision impact force of the vehicle and the target, and controlling the tearing line component to reset if the collision impact force is less than a preset impact force threshold. The above method is described in the foregoing embodiments, which will not be repeated here.

[0271] In some exemplary embodiments, the above method further comprises: starting a plurality of types of sensing devices on the vehicle to collect environmental data; the plurality of types of sensing devices include radar, camera, and inertial sensor. The above method is described in the foregoing embodiments, which will not be repeated here.

[0272] In some exemplary embodiments, the above method further comprises: performing anomaly verification on the environmental data to obtain verified environmental data; the anomaly verification includes removal of data collected by failed sensor devices and / or weight distribution of the credibility of data collected by each type of sensor device; analyzing the verified environmental data to determine the risk level of the vehicle and the target collision. The above method is described in the foregoing embodiments, which will not be repeated here.

[0273] It should be understood that although the steps in the flowcharts involved in the embodiments described above are shown in sequence according to the arrows, the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in sequence, and the steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the embodiments described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the steps or stages is not necessarily sequential, but can be alternately or alternately executed with at least part of other steps or steps or stages in other steps.

[0274] Based on the same inventive concept, the embodiments of the present application also provide a vehicle control device for implementing the vehicle control method described above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more vehicle control device embodiments provided below can refer to the limitations of the vehicle control method described above, which will not be repeated here.

[0275] In some exemplary embodiments, as shown in Figure 14 A vehicle control device is provided, comprising: a first analysis module 141, configured to analyze environmental data of a surrounding area of a vehicle, and determine a risk level of a collision between the vehicle and a target; the environmental data includes relevant information of a positional relationship between the vehicle and the target.

[0276] A first control module 142 is configured to control the vehicle to release a corresponding tear line component before the collision according to the risk level.

[0277] In some exemplary embodiments, the first analysis module described above comprises:

[0278] A first determination unit is configured to determine a collision time of the collision between the vehicle and the target according to target data in the environmental data; the target data includes a relative distance and a relative speed between the vehicle and the target.

[0279] A second determination unit is configured to determine the risk level of the collision between the vehicle and the target according to the collision time.

[0280] In some example embodiments, the second determination unit is configured to determine the risk level as a first risk level when the collision time is within a first time threshold range, and determine the risk level as a second risk level when the collision time is within a second time threshold range, wherein each time threshold in the second time threshold range is smaller than each time threshold in the first time threshold range, and the second time threshold range includes a reference time threshold representing a reaction time of the person.

[0281] In some example embodiments, the first analysis module further includes:

[0282] a classification unit configured to input the environment data into a preset collision scene classification model to classify a collision scene in which the vehicle collides with the target;

[0283] a prediction unit configured to predict a target collision probability of the vehicle within a preset time period in the future according to the environment data and a collision probability of a simulated vehicle in the collision scene;

[0284] Correspondingly, the second determination unit is configured to determine a risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0285] In some example embodiments, the second determination unit includes:

[0286] a first determination sub-unit configured to determine an initial risk level of the vehicle colliding with the target according to the collision time;

[0287] a second determination sub-unit configured to determine the risk level as a second risk level when the target collision probability is greater than a preset probability threshold;

[0288] a third determination sub-unit configured to determine the initial risk level as the risk level of the vehicle colliding with the target when the target collision probability is less than or equal to the preset probability threshold.

[0289] In some example embodiments, the first analysis module further includes:

[0290] an acquisition unit configured to acquire force sensing data of a steering wheel grip force sensor on the vehicle, and eye tracking data collected by an eye tracking device on the driver's eyes;

[0291] a third determination unit configured to determine a driving intention of the driver according to the force sensing data of the steering wheel grip force sensor and the eye tracking data, and incrementally adjust the collision time when the driving intention indicates that the driver performs an active avoidance operation.

[0292] Correspondingly, the second determining unit is configured to determine a risk level of collision between the vehicle and the target according to the incrementally adjusted collision time.

[0293] In some exemplary embodiments, the first control module includes:

[0294] a first control unit, configured to control the vehicle to release a first tear line component on the vehicle before a collision occurs when the risk level is a second risk level; the first tear line component includes a tear line in a vehicle body structure and a tear line in an airbag;

[0295] A second control unit is configured to control the vehicle to release a second tear line component on the vehicle before a collision occurs when the risk level is a first risk level; the second tear line component comprises a tear line in a vehicle body structure; and the first risk level is lower than the second risk level.

[0296] In some exemplary embodiments, the first control module further includes:

[0297] The first activation unit is configured to activate the pre-tensioned seat belt when the risk level is the first risk level or the second risk level.

[0298] In some exemplary embodiments, the first control module further includes:

[0299] an analysis unit, configured to analyze the environmental data and predict a collision type between the vehicle and the target; the collision type including any one of a frontal collision type, a side collision type, and a top collision type;

[0300] Correspondingly, the first control module is configured to control the vehicle to release the corresponding tear line component before a collision occurs according to the risk level and the collision type.

[0301] In some exemplary embodiments, the first control module includes:

[0302] a third control unit, configured to control the vehicle to release third tear line components before a collision occurs when the risk level is the second risk level and the collision type is the frontal collision type; the third tear line components comprising a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag in a steering wheel of the vehicle, and a tear line of an airbag in a dashboard of the vehicle;

[0303] a fourth control unit configured to control the vehicle to release a fourth tear line component before the collision occurs when the risk level is a first risk level and the collision type is the front collision type; the fourth tear line component including a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0304] a fifth control unit configured to control the vehicle to release a fifth tear line component before the collision occurs when the risk level is a second risk level and the collision type is the side collision type; the fifth tear line component including a tear line of a door impact beam in the vehicle body structure and a tear line of an airbag for a seat side on the vehicle;

[0305] a sixth control unit configured to control the vehicle to release a sixth tear line component before the collision occurs when the risk level is the first risk level and the collision type is the side collision type; the sixth tear line component including a tear line of the door impact beam in the vehicle body structure;

[0306] a seventh control unit configured to control the vehicle to release a seventh tear line component before the collision occurs when the risk level is the second risk level and the collision type is the roof collision type; the seventh tear line component including a tear line of a roof longitudinal beam in the vehicle body structure and a tear line of an airbag for a roof on the vehicle;

[0307] an eighth control unit configured to control the vehicle to release an eighth tear line component before the collision occurs when the risk level is the first risk level and the collision type is the roof collision type; the eighth tear line component including a tear line of the roof longitudinal beam in the vehicle body structure.

[0308] In some example embodiments, the third control unit described above further includes:

[0309] a fourth determination subunit configured to determine the pose of the target;

[0310] Correspondingly, the first control module described above includes:

[0311] a ninth control unit configured to control the vehicle to release a ninth tear line component when the pose indicates that the target is in a first pose in the collision with the vehicle; the ninth tear line component including the same components as the third tear line component;

[0312] The tenth control unit is configured to control the vehicle to release a tenth tear line component when the target is in a second posture at the moment when the posture indicates that the target collides with the vehicle; the tenth tear line component includes a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle.

[0313] In some example embodiments, the fourth control unit further includes:

[0314] The second starting unit is configured to start an emergency braking system on the vehicle to apply a braking force to move the center of gravity of the vehicle backward before the vehicle releases the fourth tear line component.

[0315] In some example embodiments, the sixth control unit further includes:

[0316] The lifting unit is configured to lift a side suspension stroke and harden a side suspension of the vehicle to lift a side body of the vehicle before the vehicle releases the sixth tear line component.

[0317] In some example embodiments, the vehicle control device further includes:

[0318] The prediction module is configured to analyze the environmental data to predict a collision direction of the vehicle colliding with the target.

[0319] The eleventh control unit is configured to control the vehicle to release a tear line of a battery pack housing on the vehicle when the collision direction points to a battery pack area on the vehicle.

[0320] The twelfth control unit is configured to control the vehicle to release a tear line of a fuel pipe housing on the vehicle when the collision direction points to a fuel pipe area on the vehicle.

[0321] In some example embodiments, the eleventh control unit is further configured to cut off connectors between battery modules on the vehicle after controlling the vehicle to release the tear line in the battery pack housing on the vehicle.

[0322] In some example embodiments, the eleventh control unit is further configured to activate a liquid cooling pipe relief valve on the vehicle to trigger a fire extinguishing device on the vehicle.

[0323] In some example embodiments, the vehicle control device further includes:

[0324] The post-processing module is configured to determine a collision impact force of the vehicle colliding with the target, and control the tear line component to reset when the collision impact force is less than a preset impact force threshold.

[0325] In some example embodiments, the vehicle control device further comprises:

[0326] a collection module configured to initiate a plurality of types of sensing devices on the vehicle to collect the environmental data; the plurality of types of sensing devices include radar, camera, and inertial sensor.

[0327] In some example embodiments, the vehicle control device further comprises:

[0328] a verification module configured to perform abnormality verification on the environmental data to obtain verified environmental data; the abnormality verification includes removal of data collected by failed sensing devices and / or weight distribution of the data collected by each type of sensing device according to credibility;

[0329] correspondingly, a first analysis module configured to analyze the verified environmental data to determine a risk level of collision between the vehicle and a target.

[0330] In some example embodiments, as shown in Figure 15 a vehicle control device is provided, comprising:

[0331] a second analysis module 151 configured to analyze environmental data of a surrounding area of the vehicle to determine a risk level of collision between the vehicle and a target and a collision scenario; the environmental data includes relevant information of a positional relationship between the vehicle and the target; the collision scenario includes a collision type and / or a posture of the target.

[0332] a second control module 152 configured to control the vehicle to release a corresponding tearing line component before the collision according to the risk level and the collision scenario.

[0333] Each module in the vehicle control device can be realized by software, hardware, and a combination thereof, in whole or in part. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be called and executed by a processor to perform operations corresponding to each module.

[0334] In one example embodiment, a vehicle-mounted device is provided, which can be a server, and its internal structure diagram can be as shown in Figure 16As shown in the figure. The vehicle-mounted device includes a processor, a memory, an input / output interface (I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the vehicle-mounted device is used to provide computing and control capability. The memory of the vehicle-mounted device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the vehicle-mounted device is used to store environmental data. The input / output interface of the vehicle-mounted device is used to exchange information between the processor and external devices. The communication interface of the vehicle-mounted device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a vehicle control method.

[0335] Those skilled in the art can understand that, Figure 16 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0336] In some exemplary embodiments, a vehicle-mounted device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0337] The environmental data of the surrounding area of the vehicle is analyzed to determine the risk level of the vehicle colliding with the target; the environmental data includes relevant information about the positional relationship between the vehicle and the target;

[0338] According to the risk level, the corresponding tear line component is released before the collision of the vehicle.

[0339] In some exemplary embodiments, the processor executing the computer program further implements the following steps:

[0340] According to the target data in the environmental data, the collision time of the vehicle colliding with the target is determined; the target data includes the relative distance and the relative speed between the vehicle and the target;

[0341] According to the collision time, the risk level of the vehicle colliding with the target is determined.

[0342] In some exemplary embodiments, the processor executing the computer program further implements the following steps:

[0343] if the collision time is located in a first time threshold range, determining the risk level as a first risk level;

[0344] if the collision time is located in a second time threshold range, determining the risk level as a second risk level; the time threshold in the second time threshold range is smaller than the time threshold in the first time threshold range, and the second time threshold range includes a reference time threshold, which is used to represent the reaction time of the personnel.

[0345] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0346] inputting the environmental data into a preset collision scene classification model for scene classification to determine a collision scene of the vehicle colliding with the target;

[0347] predicting a target collision probability of the vehicle in a preset time period in the future according to the environmental data and a collision probability of the simulated vehicle in the collision scene;

[0348] determining the risk level of the vehicle colliding with the target according to the collision time, including:

[0349] determining the risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0350] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0351] determining an initial risk level of the vehicle colliding with the target according to the collision time;

[0352] if the target collision probability is greater than a preset probability threshold, determining the risk level as a second risk level;

[0353] if the target collision probability is less than or equal to the preset probability threshold, determining the initial risk level as the risk level of the vehicle colliding with the target.

[0354] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0355] obtaining force sensing data of a steering wheel force sensor on the vehicle and eye tracking data collected by an eye tracking device on the driver's eyes;

[0356] determining the driving intention of the driver according to the force sensing data of the steering wheel force sensor and the eye tracking data, and incrementally adjusting the collision time when the driving intention indicates that the driver performs an active avoidance operation;

[0357] determining a risk level of the vehicle colliding with the target according to the time to collision, comprises:

[0358] determining a risk level of the vehicle colliding with the target according to the time to collision after the incremental adjustment.

[0359] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0360] if the risk level is a second risk level, controlling the vehicle to release a first tear line component on the vehicle before the collision occurs; the first tear line component comprises a tear line in a vehicle body structure and a tear line in an airbag;

[0361] if the risk level is a first risk level, controlling the vehicle to release a second tear line component on the vehicle before the collision occurs; the second tear line component comprises a tear line in a vehicle body structure; the first risk level is lower than the second risk level.

[0362] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0363] if the risk level is the first risk level or the second risk level, activating a pre-tightening seat belt.

[0364] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0365] analyzing the environmental data to predict a collision type of the vehicle colliding with the target; the collision type comprises any one of a front collision type, a side collision type and a top collision type;

[0366] controlling the vehicle to release a corresponding tear line component before the collision occurs according to the risk level, comprises:

[0367] controlling the vehicle to release a corresponding tear line component before the collision occurs according to the risk level and the collision type.

[0368] In some exemplary embodiments, the processor, when executing the computer program, further implements the following steps:

[0369] if the risk level is a second risk level and the collision type is the front collision type, controlling the vehicle to release a third tear line component before the collision occurs; the third tear line component comprises a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag of a steering wheel on the vehicle and a tear line of an airbag of an instrument panel on the vehicle;

[0370] if the risk level is the first risk level and the collision type is the front collision type, then controlling the vehicle to release a fourth tear line component before the collision occurs; the fourth tear line component including a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0371] if the risk level is the second risk level and the collision type is the side collision type, then controlling the vehicle to release a fifth tear line component before the collision occurs; the fifth tear line component including a tear line of a door impact beam in the vehicle body structure and a tear line of an airbag for a seat side on the vehicle;

[0372] if the risk level is the first risk level and the collision type is the side collision type, then controlling the vehicle to release a sixth tear line component before the collision occurs; the sixth tear line component including a tear line of a door impact beam in the vehicle body structure;

[0373] if the risk level is the second risk level and the collision type is the roof collision type, then controlling the vehicle to release a seventh tear line component before the collision occurs; the seventh tear line component including a tear line of a roof longitudinal beam in the vehicle body structure and a tear line of an airbag for a roof on the vehicle;

[0374] if the risk level is the first risk level and the collision type is the roof collision type, then controlling the vehicle to release an eighth tear line component before the collision occurs; the eighth tear line component including a tear line of a roof longitudinal beam in the vehicle body structure.

[0375] In some example embodiments, the processor, when executing the computer program, further implements the following steps:

[0376] determining a pose of the target;

[0377] the controlling the vehicle to release the third tear line component before the collision occurs includes:

[0378] if the pose indicates that the target is in a first pose when the target collides with the vehicle, then controlling the vehicle to release a ninth tear line component; the ninth tear line component including the same components as the third tear line component;

[0379] if the pose indicates that the target is in a second pose when the target collides with the vehicle, then controlling the vehicle to release a tenth tear line component; the tenth tear line component including a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle in the third tear line component.

[0380] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0381] Before controlling the vehicle to release the fourth tear line component, activating an emergency braking system on the vehicle to apply a braking force to move the center of gravity of the vehicle rearward.

[0382] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0383] Before controlling the vehicle to release the sixth tear line component, raising the side suspension travel and hardening the side suspension of the collision side of the vehicle to raise the side body of the vehicle.

[0384] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0385] Analyzing the environmental data to predict a collision direction of the vehicle colliding with the target;

[0386] If the collision direction points to a battery pack area on the vehicle, controlling the vehicle to release a tear line of a battery pack housing on the vehicle:

[0387] If the collision direction points to a fuel pipe area on the vehicle, controlling the vehicle to release a tear line of a fuel pipe housing on the vehicle.

[0388] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0389] Cutting off a connector between battery modules on the vehicle.

[0390] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0391] Activating a liquid cooling pipe relief valve on the vehicle to trigger a fire extinguishing device on the vehicle.

[0392] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0393] Determining a collision impact force of the vehicle colliding with the target, and controlling the tear line component to reset if the collision impact force is less than a preset impact force threshold.

[0394] In some example embodiments, the processor, when executing the computer program, also implements the following steps:

[0395] starting a plurality of types of sensing devices on the vehicle to collect the environmental data; the plurality of types of sensing devices include radar, camera, inertial sensor.

[0396] In some example embodiments, the processor, when executing the computer program, further implements the following steps:

[0397] performing anomaly checking on the environmental data to obtain checked environmental data; the anomaly checking includes removing data collected by failed sensing devices and / or performing weight distribution on the data collected by each type of sensing device according to credibility;

[0398] analyzing the environmental data of the surrounding area of the vehicle to determine a risk level of the vehicle colliding with a target, including:

[0399] analyzing the checked environmental data to determine a risk level of the vehicle colliding with a target.

[0400] In some example embodiments, a vehicle-mounted device is provided, including a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0401] analyzing the environmental data of the surrounding area of the vehicle to determine a risk level of the vehicle colliding with a target and a collision scenario; the environmental data includes relevant information of the positional relationship between the vehicle and the target; the collision scenario includes a collision type and / or an attitude of the target;

[0402] controlling the vehicle to release a corresponding tear line component before a collision according to the risk level and the collision scenario.

[0403] In some example embodiments, a computer-readable storage medium is provided, storing a computer program, and the computer program, when executed by a processor, implements the following steps:

[0404] analyzing the environmental data of the surrounding area of the vehicle to determine a risk level of the vehicle colliding with a target; the environmental data includes relevant information of the positional relationship between the vehicle and the target;

[0405] controlling the vehicle to release a corresponding tear line component before a collision according to the risk level.

[0406] In some example embodiments, the computer program, when executed by a processor, further implements the following steps:

[0407] determining a collision time of the vehicle colliding with the target according to target data in the environmental data; the target data includes a relative distance and a relative speed between the vehicle and the target;

[0408] determine a risk level of the vehicle colliding with the target according to the time to collision.

[0409] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0410] if the time to collision is within a first time threshold range, determine the risk level as a first risk level;

[0411] if the time to collision is within a second time threshold range, determine the risk level as a second risk level; the time threshold values in the second time threshold range are all smaller than the time threshold values in the first time threshold range, and the second time threshold range includes a reference time threshold value, which is used to represent the reaction time of a person.

[0412] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0413] input the environment data into a preset collision scene classification model to classify the scene, and determine a collision scene of the vehicle colliding with the target;

[0414] predict a target collision probability of the vehicle within a preset time period in the future according to the environment data and a collision probability of the simulated vehicle in the collision scene;

[0415] The determining of the risk level of the vehicle colliding with the target according to the time to collision includes:

[0416] determining the risk level of the vehicle colliding with the target according to the target collision probability and the time to collision.

[0417] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0418] determine an initial risk level of the vehicle colliding with the target according to the time to collision;

[0419] if the target collision probability is greater than a preset probability threshold value, determine the risk level as a second risk level;

[0420] if the target collision probability is less than or equal to the preset probability threshold value, determine the initial risk level as the risk level of the vehicle colliding with the target.

[0421] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0422] acquiring force sensing data of a steering wheel grip force sensor on the vehicle and eye tracking data collected by an eye tracking device on the driver's eyes;

[0423] determining a driving intention of the driver according to the force sensing data of the steering wheel grip force sensor and the eye tracking data, and incrementally adjusting the collision time when the driving intention indicates that the driver performs an active avoidance operation;

[0424] the risk level of the vehicle colliding with the target is determined according to the collision time, comprising:

[0425] the risk level of the vehicle colliding with the target is determined according to the collision time after the incremental adjustment.

[0426] In some exemplary embodiments, the computer program is executed by the processor to further implement the following steps:

[0427] if the risk level is a second risk level, controlling the vehicle to release a first tear line component on the vehicle before the collision occurs; the first tear line component includes a tear line in a vehicle body structure and a tear line in an airbag;

[0428] if the risk level is a first risk level, controlling the vehicle to release a second tear line component on the vehicle before the collision occurs; the second tear line component includes a tear line in a vehicle body structure; the first risk level is lower than the second risk level.

[0429] In some exemplary embodiments, the computer program is executed by the processor to further implement the following steps:

[0430] in the case that the risk level is the first risk level or the second risk level, starting a pretensioning seat belt.

[0431] In some exemplary embodiments, the computer program is executed by the processor to further implement the following steps:

[0432] analyzing the environmental data to predict a collision type of the vehicle colliding with the target; the collision type includes any one of a front collision type, a side collision type and a top collision type;

[0433] the corresponding tear line component is released by the vehicle before the collision occurs according to the risk level, comprising:

[0434] the corresponding tear line component is released by the vehicle before the collision occurs according to the risk level and the collision type.

[0435] In some exemplary embodiments, the computer program is executed by the processor to further implement the following steps:

[0436] if the risk level is the second risk level and the collision type is the frontal collision type, then controlling the vehicle to release a third tear line component prior to the occurrence of the collision; the third tear line component including a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0437] if the risk level is the first risk level and the collision type is the frontal collision type, then controlling the vehicle to release a fourth tear line component prior to the occurrence of the collision; the fourth tear line component including a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0438] if the risk level is the second risk level and the collision type is the side collision type, then controlling the vehicle to release a fifth tear line component prior to the occurrence of the collision; the fifth tear line component including a tear line of a door impact beam in a vehicle body structure and a tear line of an airbag for a seat side on the vehicle;

[0439] if the risk level is the first risk level and the collision type is the side collision type, then controlling the vehicle to release a sixth tear line component prior to the occurrence of the collision; the sixth tear line component including a tear line of a door impact beam in a vehicle body structure;

[0440] if the risk level is the second risk level and the collision type is the roof collision type, then controlling the vehicle to release a seventh tear line component prior to the occurrence of the collision; the seventh tear line component including a tear line of a roof rail in a vehicle body structure and a tear line of an airbag for a roof on the vehicle;

[0441] if the risk level is the first risk level and the collision type is the roof collision type, then controlling the vehicle to release an eighth tear line component prior to the occurrence of the collision; the eighth tear line component including a tear line of a roof rail in a vehicle body structure.

[0442] In some example embodiments, the computer program, when executed by the processor, further implements the following steps:

[0443] determining a pose of the target;

[0444] the controlling the vehicle to release a third tear line component prior to the occurrence of the collision includes:

[0445] if the pose indicates that the target is in a first pose when the target collides with the vehicle, then controlling the vehicle to release a ninth tear line component; the ninth tear line component includes the same components as the third tear line component;

[0446] if the pose indicates that the target is in a second pose when the target collides with the vehicle, then controlling the vehicle to release a tenth tear line component; the tenth tear line component includes a tear line of a bumper in a body structure in the third tear line component, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle.

[0447] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0448] Before controlling the vehicle to release the fourth tear line component, activating an emergency braking system on the vehicle to apply a braking force to move the center of gravity of the vehicle rearward.

[0449] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0450] Before controlling the vehicle to release the sixth tear line component, raising a side suspension stroke and hardening a side suspension on a collision side of the vehicle to raise a side body of the vehicle.

[0451] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0452] analyzing the environment data to predict a collision direction of the vehicle colliding with the target;

[0453] if the collision direction points to a battery pack area on the vehicle, then controlling the vehicle to release a tear line of a battery pack housing on the vehicle:

[0454] if the collision direction points to a fuel pipe area on the vehicle, then controlling the vehicle to release a tear line of a fuel pipe housing on the vehicle.

[0455] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0456] cutting off a connector between battery modules on the vehicle.

[0457] In some example embodiments, the computer program, which is executed by the processor, further implements the following steps:

[0458] activating a pressure relief valve of a liquid cooling pipeline on the vehicle to trigger a fire extinguishing device on the vehicle.

[0459] In some example embodiments, the computer program, when executed by the processor, further implements the following steps:

[0460] determining a collision impact force of the vehicle colliding with the target, and controlling the tear line component to reset if the collision impact force is less than a preset impact force threshold.

[0461] In some example embodiments, the computer program, when executed by the processor, further implements the following steps:

[0462] starting a plurality of types of sensing devices on the vehicle to collect the environmental data; the plurality of types of sensing devices include radar, camera, inertial sensor.

[0463] In some example embodiments, the computer program, when executed by the processor, further implements the following steps:

[0464] performing anomaly checking on the environmental data to obtain checked environmental data; the anomaly checking includes removing data collected by failed sensing devices and / or performing weight distribution on the reliability of data collected by each type of sensing device;

[0465] The analysis of the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target includes:

[0466] The analysis of the checked environmental data to determine the risk level of the vehicle colliding with the target.

[0467] In some example embodiments, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program, when executed by the processor, implements the following steps:

[0468] The analysis of the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target and the collision scenario; the environmental data includes relevant information of the positional relationship between the vehicle and the target; the collision scenario includes the collision type and / or the attitude of the target;

[0469] According to the risk level and the collision scenario, the corresponding tear line component is released before the vehicle collides.

[0470] In one embodiment, a computer program product is provided, including a computer program, and the computer program, when executed by the processor, implements the following steps:

[0471] The analysis of the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target; the environmental data includes relevant information of the positional relationship between the vehicle and the target;

[0472] controlling a release of a corresponding tear line component of the vehicle prior to a collision.

[0473] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0474] determining a collision time of the vehicle colliding with the target according to target data in the environment data; the target data comprising a relative distance and a relative speed between the vehicle and the target;

[0475] determining a risk level of the vehicle colliding with the target according to the collision time.

[0476] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0477] if the collision time is within a first time threshold range, determining the risk level as a first risk level;

[0478] if the collision time is within a second time threshold range, determining the risk level as a second risk level; the time thresholds in the second time threshold range are all smaller than the time thresholds in the first time threshold range, and the second time threshold range comprises a reference time threshold representing a reaction time of a person.

[0479] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0480] inputting the environment data into a preset collision scene classification model to classify a scene, and determining a collision scene of the vehicle colliding with the target;

[0481] predicting a target collision probability of the vehicle in a preset time period in the future according to the environment data and a collision probability of a simulated vehicle in the collision scene;

[0482] The determining of the risk level of the vehicle colliding with the target according to the collision time comprises:

[0483] determining the risk level of the vehicle colliding with the target according to the target collision probability and the collision time.

[0484] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0485] determining an initial risk level of the vehicle colliding with the target according to the collision time;

[0486] if the target collision probability is greater than a preset probability threshold, determining the risk level as a second risk level.

[0487] If the target collision probability is less than or equal to the preset probability threshold, the initial risk level is determined as a risk level of the vehicle colliding with the target.

[0488] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0489] Obtaining force sensing data of a steering wheel grip force sensor on the vehicle and eye tracking data collected by an eye tracking device on the driver's eyes;

[0490] According to the force sensing data of the steering wheel grip force sensor and the eye tracking data, determining the driving intention of the driver, and incrementally adjusting the collision time when the driving intention indicates that the driver performs an active avoidance operation;

[0491] The risk level of the vehicle colliding with the target is determined according to the collision time, comprising:

[0492] The risk level of the vehicle colliding with the target is determined according to the collision time after the incremental adjustment.

[0493] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0494] If the risk level is a second risk level, controlling the vehicle to release a first tear line component on the vehicle before the collision occurs; the first tear line component includes a tear line in a vehicle body structure and a tear line in an airbag;

[0495] If the risk level is a first risk level, controlling the vehicle to release a second tear line component on the vehicle before the collision occurs; the second tear line component includes a tear line in a vehicle body structure; the first risk level is lower than the second risk level.

[0496] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0497] In the case where the risk level is the first risk level or the second risk level, a pretension seat belt is started.

[0498] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0499] Analyzing the environmental data to predict a collision type of the vehicle colliding with the target; the collision type includes any one of a front collision type, a side collision type and a top collision type;

[0500] controlling the vehicle to release a corresponding tear line component before the collision occurs based on the risk level and the type of collision.

[0501] controlling the vehicle to release a corresponding tear line component before the collision occurs based on the risk level and the type of collision.

[0502] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0503] if the risk level is the second risk level and the type of collision is the front collision type, controlling the vehicle to release a third tear line component before the collision occurs; the third tear line component including a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0504] if the risk level is the first risk level and the type of collision is the front collision type, controlling the vehicle to release a fourth tear line component before the collision occurs; the fourth tear line component including a tear line of a bumper in a vehicle body structure, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle;

[0505] if the risk level is the second risk level and the type of collision is the side collision type, controlling the vehicle to release a fifth tear line component before the collision occurs; the fifth tear line component including a tear line of a door impact beam in a vehicle body structure and a tear line of an airbag for a side of a seat on the vehicle;

[0506] if the risk level is the first risk level and the type of collision is the side collision type, controlling the vehicle to release a sixth tear line component before the collision occurs; the sixth tear line component including a tear line of a door impact beam in a vehicle body structure;

[0507] if the risk level is the second risk level and the type of collision is the top collision type, controlling the vehicle to release a seventh tear line component before the collision occurs; the seventh tear line component including a tear line of a roof rail in a vehicle body structure and a tear line of an airbag for a roof on the vehicle;

[0508] if the risk level is the first risk level and the type of collision is the top collision type, controlling the vehicle to release an eighth tear line component before the collision occurs; the eighth tear line component including a tear line of a roof rail in a vehicle body structure.

[0509] In one embodiment, the computer program which, when executed by the processor, further implements the following steps:

[0510] determining a pose of the target;

[0511] the controlling the vehicle to release a third tear line component before the collision includes:

[0512] if the pose indicates that the target is in a first pose when the target collides with the vehicle, controlling the vehicle to release a ninth tear line component; the ninth tear line component includes the same components as the third tear line component;

[0513] if the pose indicates that the target is in a second pose when the target collides with the vehicle, controlling the vehicle to release a tenth tear line component; the tenth tear line component includes a tear line of a bumper in a body structure in the third tear line component, a tear line of an airbag for a steering wheel on the vehicle, and a tear line of an airbag for an instrument panel on the vehicle.

[0514] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0515] before controlling the vehicle to release a fourth tear line component, activating an emergency braking system on the vehicle to apply a braking force to move a center of gravity of the vehicle rearward.

[0516] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0517] before controlling the vehicle to release a sixth tear line component, raising a side suspension stroke and hardening a side suspension of a collision side of the vehicle to raise a side body of the vehicle.

[0518] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0519] analyzing the environmental data to predict a collision direction of the vehicle colliding with the target;

[0520] if the collision direction points to a battery pack area on the vehicle, controlling the vehicle to release a tear line of a battery pack housing on the vehicle:

[0521] if the collision direction points to a fuel pipe area on the vehicle, controlling the vehicle to release a tear line of a fuel pipe housing on the vehicle.

[0522] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0523] cutting off a connector between battery modules on the vehicle.

[0524] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0525] activating a liquid cooling pipe relief valve on the vehicle to trigger a fire extinguishing device on the vehicle.

[0526] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0527] determining a collision impact force of the vehicle colliding with the target, and controlling the tear line component to reset if the collision impact force is less than a preset impact force threshold.

[0528] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0529] starting a plurality of types of sensing devices on the vehicle to collect the environmental data; the plurality of types of sensing devices include radar, camera, and inertial sensor.

[0530] In one embodiment, the computer program, which is executed by the processor, further implements the following steps:

[0531] performing abnormality checking on the environmental data to obtain checked environmental data; the abnormality checking includes removing data collected by failed sensing devices and / or performing weight distribution on the reliability of data collected by each type of sensing device.

[0532] The analyzing the environmental data of the surrounding area of the vehicle to determine the risk level of the vehicle colliding with the target includes:

[0533] analyzing the checked environmental data to determine the risk level of the vehicle colliding with the target.

[0534] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the following steps:

[0535] analyzing the environmental data of the surrounding area of the vehicle to determine the risk level and collision scenario of the vehicle colliding with the target; the environmental data includes relevant information of the positional relationship between the vehicle and the target; the collision scenario includes collision type and / or posture of the target.

[0536] controlling the vehicle to release a corresponding tear line component before collision according to the risk level and the collision scenario.

[0537] ​​​​​​​​​​​Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0538] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0539] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A vehicle control method, characterized in that: The method comprises: Analyzing environmental data of an area surrounding the vehicle to determine a risk level of collision between the vehicle and a target, wherein the environmental data includes information related to a positional relationship between the vehicle and the target; The vehicle is controlled to release a corresponding tear line component before a collision occurs according to the risk level.

2. The method according to claim 1, characterized in that The analyzing environmental data of the area surrounding the vehicle to determine the risk level of collision between the vehicle and the target includes: determining a collision time at which the vehicle collides with the target based on target data in the environmental data; the target data including a relative distance and a relative speed between the vehicle and the target; A risk level of collision between the vehicle and the target is determined according to the collision time.

3. The method according to claim 2, characterized in that Determining the risk level of collision between the vehicle and the target according to the collision time includes: If the collision time is within a first time threshold range, determining the risk level to be a first risk level; If the collision time is within a second time threshold range, the risk level is determined to be the second risk level; the time thresholds in the second time threshold range are all smaller than the time thresholds in the first time threshold range, and the second time threshold range includes a reference time threshold, which is used to characterize the reaction time of the person.

4. The method according to claim 2, characterized in that The method further comprises: Inputting the environmental data into a preset collision scene classification model to perform scene classification and determine a collision scene in which the vehicle collides with the target; Predicting a target collision probability of the vehicle within a preset time period in the future based on the environmental data and the collision probability of the simulated vehicle in the collision scenario; Determining the risk level of collision between the vehicle and the target according to the collision time includes: A risk level of collision between the vehicle and the target is determined according to the target collision probability and the collision time.

5. The method according to claim 4, characterized in that The determining of the risk level of collision between the vehicle and the target according to the target collision probability and the collision time includes: determining an initial risk level of collision between the vehicle and the target based on the collision time; If the target collision probability is greater than a preset probability threshold, determining the risk level to be a second risk level; If the target collision probability is less than or equal to the preset probability threshold, the initial risk level is determined as the risk level of collision between the vehicle and the target.

6. The method according to claim 2, characterized in that The method further comprises: Acquiring force sensing data from a grip force sensor of a steering wheel on the vehicle and eye tracking data collected from the driver's eyes by an eye tracking device; determining the driver's driving intention based on the force sensing data from the grip force sensor and the eye tracking data, and incrementally adjusting the collision time when the driving intention indicates that the driver is performing an active avoidance maneuver; Determining the risk level of collision between the vehicle and the target according to the collision time includes: The risk level of collision between the vehicle and the target is determined according to the incrementally adjusted collision time.

7. The method according to claim 1, characterized in that The controlling the vehicle to release the corresponding tear line component before a collision occurs according to the risk level includes: If the risk level is the second risk level, controlling the vehicle to release a first tear line component on the vehicle before a collision occurs; the first tear line component includes a tear line in a vehicle body structure and a tear line in an airbag; If the risk level is a first risk level, the vehicle is controlled to release a second tear line component on the vehicle before a collision occurs; the second tear line component includes a tear line in a vehicle body structure; the first risk level is lower than the second risk level.

8. The method according to claim 7, characterized in that The method further comprises: When the risk level is the first risk level or the second risk level, the pre-tensioned seat belt is activated.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Analyzing the environmental data to predict a collision type between the vehicle and the target; the collision type includes any one of a frontal collision type, a side collision type, and a top collision type; The controlling the vehicle to release the corresponding tear line component before a collision occurs according to the risk level includes: According to the risk level and the collision type, the vehicle is controlled to release a corresponding tear line component before a collision occurs.

10. The method according to claim 9, characterized in that The step of controlling the vehicle to release a corresponding tear line component before a collision occurs according to the risk level and the collision type includes: If the risk level is the second risk level and the collision type is the frontal collision type, controlling the vehicle to release a third tear line component before the collision occurs; the third tear line component includes a tear line of a bumper in a vehicle body structure, a tear line of a hood in the vehicle body structure, a tear line of an airbag in a steering wheel of the vehicle, and a tear line of an airbag in a dashboard of the vehicle; If the risk level is the first risk level and the collision type is the frontal collision type, controlling the vehicle to release a fourth tear line component before the collision occurs; the fourth tear line component includes a tear line of a bumper in a vehicle body structure; If the risk level is the second risk level and the collision type is the side collision type, controlling the vehicle to release a fifth tear line component before the collision occurs, the fifth tear line component including a tear line of a door anti-collision beam in a vehicle body structure and a tear line of an airbag on a side of a seat in the vehicle; If the risk level is the first risk level and the collision type is the side collision type, controlling the vehicle to release a sixth tear line component before the collision occurs, the sixth tear line component comprising a tear line of a door anti-collision beam in a vehicle body structure; If the risk level is the second risk level and the collision type is the top collision type, controlling the vehicle to release a seventh tear line component before the collision occurs, the seventh tear line component comprising a tear line of a roof rail in a vehicle body structure and a tear line of a roof airbag on the vehicle; If the risk level is the first risk level and the collision type is the top collision type, the vehicle is controlled to release an eighth tear line component before the collision occurs, the eighth tear line component comprising a tear line of a roof rail in a vehicle body structure.

11. The method according to claim 10, characterized in that When the risk level is the second risk level and the collision type is the frontal collision type, the method further includes: determining a pose of the target; The controlling the vehicle to release the third tear line component before a collision occurs includes: If the posture indicates that the object is in a first posture when the object collides with the vehicle, controlling the vehicle to release a ninth tear line component; the ninth tear line component includes the same components as the third tear line component; If the posture indicates that the target is in the second posture when the target collides with the vehicle, the vehicle is controlled to release the tenth tear line component; the tenth tear line component includes the tear line of the bumper in the vehicle body structure in the third tear line component, the tear line of the airbag of the steering wheel on the vehicle, and the tear line of the airbag of the instrument panel on the vehicle.

12. The method according to claim 10, characterized in that The method further comprises: When the risk level is the first risk level and the collision type is the frontal collision type, before controlling the vehicle to release the fourth tear line component, activating the emergency braking system on the vehicle to apply braking force to shift the center of gravity of the vehicle rearward; When the risk level is the first risk level and the collision type is the side collision type, before controlling the vehicle to release the sixth tear line component, the side suspension stroke of the vehicle on the collision side is increased and the side suspension is hardened to raise the side body of the vehicle.

13. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Analyzing the environmental data to predict a collision direction between the vehicle and the target; If the collision direction points to the battery pack area on the vehicle, the vehicle is controlled to release the tear line of the battery pack shell on the vehicle: If the collision direction points to the oil pipeline area on the vehicle, the vehicle is controlled to release the tear line of the fuel pipeline housing on the vehicle.

14. The method according to claim 13, wherein: After controlling the vehicle to release the tear line of the battery pack housing on the vehicle, the method further includes: Cutting off the connectors between the battery modules on the vehicle; Activate the liquid cooling line pressure relief valve on the vehicle to trigger the fire extinguishing device on the vehicle.

15. The method according to any one of claims 1 to 8, characterized in that After the vehicle collides with the target, the method further includes: A collision impact force of the vehicle colliding with the target is determined, and when the collision impact force is less than a preset impact force threshold, the tear line component is controlled to reset.

16. The method according to any one of claims 1 to 8, characterized in that The method further comprises: activating multiple types of sensor devices on the vehicle to collect the environmental data; the multiple types of sensor devices include radar, camera, and inertial sensor; Performing anomaly verification on the environmental data to obtain verified environmental data; the anomaly verification includes removing data collected by failed sensor devices and / or assigning credibility weights to data collected by various types of sensor devices; The analyzing environmental data of the area surrounding the vehicle to determine the risk level of collision between the vehicle and the target includes: The verified environmental data is analyzed to determine a risk level of collision between the vehicle and the target.

17. A vehicle control method, characterized in that: The method comprises: Analyzing environmental data of an area surrounding the vehicle to determine a risk level and a collision scenario of a collision between the vehicle and a target; the environmental data including information related to a positional relationship between the vehicle and the target; the collision scenario including a collision type and / or a posture of the target; The vehicle is controlled to release a corresponding tear line component before a collision occurs according to the risk level and the collision scenario.

18. A vehicle control device, characterized in that: The device comprises: A first analysis module is configured to analyze environmental data of an area surrounding the vehicle to determine a risk level of collision between the vehicle and a target; the environmental data includes information related to a positional relationship between the vehicle and the target; The first control module is configured to control the vehicle to release a corresponding tear line component before a collision occurs according to the risk level.

19. A vehicle control device, characterized in that: The device comprises: a second analysis module, configured to analyze environmental data of an area surrounding the vehicle to determine a risk level and a collision scenario of a collision between the vehicle and a target; the environmental data including information related to a positional relationship between the vehicle and the target; and the collision scenario including a collision type and / or a posture of the target; The second control module is configured to control the vehicle to release a corresponding tear line component before a collision occurs according to the risk level and the collision scenario.

20. A vehicle-mounted device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the processor implements the steps of the method according to any one of claims 1 to 16, or implements the steps of the method according to claim 17.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 16, or implements the steps of the method according to claim 17.

22. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 16, or implements the steps of the method according to claim 17.

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