Adjusting method and device of vehicle steering column, electronic equipment and storage medium

Abstract

The invention provides an adjusting method and device for a vehicle steering column, electronic equipment and a storage medium, and relates to the technical field of vehicles, sensing data used for sensing the surrounding environment of a vehicle is obtained, a collision prediction result of the vehicle at a target position is determined at least according to the sensing data used for sensing the surrounding environment of the vehicle, and the vehicle steering column is adjusted according to the collision prediction result. In response to the fact that the collision prediction result represents that the vehicle will collide, a steering column of the vehicle is automatically adjusted to a selected position for the collision event, and the selected position is at least determined by the posture of a driver of the vehicle. The steering column of the vehicle is actively and automatically adjusted to the selected position, active adjustment of the steering column before collision occurs is achieved, different adjustment selected positions are determined according to postures of different drivers, and the energy absorption efficiency and safety protection under the postures of the different drivers are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle steering column adjustment method and device, electronic equipment and storage medium. BACKGROUND

[0002] The automobile steering column is a key component connecting the steering wheel and the steering gear, used to transmit the steering force of the driver and realize direction control, and usually has an adjustment function to adapt to the needs of different drivers. In vehicle collision, the collapse or adjustable design of the steering column can effectively absorb impact energy and prevent the steering wheel from causing secondary injury to the driver, thereby improving passive safety.

[0003] In related technologies, the steering column generally adopts a mechanical collapse structure, the core principle of which is to absorb impact energy through plastic deformation of metal materials when a vehicle collision occurs, but this mechanical collapse structure has the following problems: (1) the collapse angle and path of the steering column are fixed, which limits the energy absorption efficiency; (2) the collision force transmission path consistency for drivers of different heights / weights is poor; (3) it only relies on physical structure to absorb energy, which is difficult to cope with complex collision conditions.

[0004] In summary, the steering column with a mechanical collapse structure has low energy absorption efficiency and poor adaptability due to the fixed collapse angle and path, and cannot optimize safety protection according to different driver body types and collision conditions. SUMMARY

[0005] The problem solved by the present application is how to realize active adjustment of the steering column to improve energy absorption efficiency and safety protection under different driver postures.

[0006] To solve the above problems, the present application provides a vehicle steering column adjustment method, device, electronic equipment and storage medium.

[0007] In a first aspect, the present application provides a vehicle steering column adjustment method, comprising: obtaining sensing data for sensing the surrounding environment of the vehicle; determining a collision prediction result of the vehicle at a target position according to at least the sensing data for sensing the surrounding environment of the vehicle, the target position being a predicted passing position of the vehicle after passing the current position; in response to the collision prediction result representing that the vehicle will collide, automatically adjusting the steering column of the vehicle to a selected position for the collision event, the selected position being determined by at least the posture of the driver of the vehicle.

[0008] Optionally, the method further comprises: obtaining a current speed of the vehicle; and automatically adjusting the steering column of the vehicle to a selected position for a collision event in response to the collision prediction result indicating that the vehicle will collide. determining a collision prediction time according to the sensing data for perceiving the surroundings of the vehicle and the current speed of the vehicle in response to the collision prediction result indicating that the vehicle will collide; automatically adjusting the steering column of the vehicle to a selected position for a collision event if the collision prediction time is less than or equal to a preset time threshold.

[0009] Optionally, automatically adjusting the steering column of the vehicle to a selected position for a collision event if the collision prediction time is less than or equal to a preset time threshold comprises: obtaining posture data of a driver of the vehicle if the collision prediction time is less than or equal to a preset time threshold, and determining a minimum distance between a predetermined body part of the driver of the vehicle and a steering wheel of the vehicle according to the posture data of the driver of the vehicle; automatically adjusting the steering column of the vehicle to a selected position for a collision event if the minimum distance between the predetermined body part of the driver of the vehicle and the steering wheel of the vehicle is less than a safety distance threshold.

[0010] Optionally, the method further comprises: obtaining posture data of a driver of the vehicle, and determining a selected position of the steering column of the vehicle for a collision event according to at least the posture data of the driver of the vehicle; or obtaining posture data of a driver of the vehicle, and determining a collision prediction orientation of the vehicle according to the sensing data for perceiving the surroundings of the vehicle, the collision prediction orientation comprising at least a head-on collision and an offset collision, and determining a selected position of the steering column of the vehicle for a collision event according to at least the collision prediction orientation of the vehicle and the posture data of the driver of the vehicle.

[0011] Optionally, the selected position of the steering column of the vehicle comprises a selected angle of the steering column of the vehicle and an axial selected displacement of the steering column of the vehicle, and the posture data of the driver of the vehicle comprises a height of the driver of the vehicle, a torso inclination angle of the driver of the vehicle, and a weight of the driver of the vehicle. determining the selected position of the steering column of the vehicle for a collision event according to at least the posture data of the driver of the vehicle comprises: obtaining a current speed of the vehicle, and determining a selected angle of a steering column of the vehicle according to the current speed of the vehicle, a height of a driver of the vehicle, and a torso inclination angle of the driver of the vehicle; obtaining a current acceleration of the vehicle, and determining an axial selected displacement of the steering column of the vehicle according to the current acceleration of the vehicle, a weight of the driver of the vehicle, and an energy absorption target value of the steering column of the vehicle.

[0012] Optionally, after the automatically adjusting the steering column of the vehicle to the selected position of the steering column of the vehicle for the collision event, the method further comprises: obtaining a current acceleration of the vehicle, and determining a predicted impact orientation of the vehicle according to sensing data for sensing a surrounding environment of the vehicle; if the current acceleration of the vehicle is greater than an acceleration threshold, determining a second adjustment position of the steering column based on the predicted impact orientation, and automatically adjusting the steering column from the selected position to the second adjustment position.

[0013] Optionally, the selected position of the steering column of the vehicle comprises a selected angle of the steering column of the vehicle and an axial selected displacement of the steering column of the vehicle, and the posture data of the driver of the vehicle comprises a height of the driver of the vehicle, a torso inclination angle of the driver of the vehicle, and a weight of the driver of the vehicle. The determining the selected position of the steering column of the vehicle for the collision event according to at least the predicted impact orientation of the vehicle and the posture data of the driver of the vehicle comprises: obtaining a current speed of the vehicle, and determining an initial selected angle of a steering column of the vehicle according to the current speed of the vehicle, a height of a driver of the vehicle, and a torso inclination angle of the driver of the vehicle; determining an adjustment angle corresponding to the predicted impact orientation, and determining a selected angle of the steering column of the vehicle according to the initial selected angle of the steering column of the vehicle and the adjustment angle corresponding to the predicted impact orientation; obtaining a current acceleration of the vehicle, and determining an initial axial selected displacement of a steering column of the vehicle according to the current acceleration of the vehicle, a weight of a driver of the vehicle, and an energy absorption target value of the steering column of the vehicle; determining an adjustment displacement corresponding to the predicted impact orientation, and determining an axial selected displacement of the steering column of the vehicle according to the initial axial selected displacement of the steering column of the vehicle and the adjustment displacement corresponding to the predicted impact orientation.

[0014] In a second aspect, the present application provides a steering column adjustment device of a vehicle, comprising: a sensing data acquisition module configured to acquire sensing data for sensing a surrounding environment of the vehicle; a collision prediction module configured to determine a collision prediction result of the vehicle at a target position according to at least the sensing data for sensing the surrounding environment of the vehicle, the target position being a predicted passing position of the vehicle after passing a current position; a steering column adjustment module configured to automatically adjust a steering column of the vehicle to a selected position for a collision event in response to the collision prediction result indicating that the vehicle will collide.

[0015] In a third aspect, the present application provides an electronic device comprising a memory and a processor; the memory is configured to store a computer program; the processor is configured to implement the adjustment method of the steering column of the vehicle according to the first aspect when executing the computer program.

[0016] In a fourth aspect, the present application provides a computer readable storage medium, the storage medium storing a computer program, and the computer program, when executed by a processor, implements the adjustment method of the steering column of the vehicle according to the first aspect.

[0017] The adjustment method of the steering column of the vehicle, the device, the electronic device and the storage medium have the following advantages: the sensing data for sensing the surrounding environment of the vehicle is acquired, which provides data support for predicting whether the vehicle will collide in the future. The collision prediction result of the vehicle at a target position is determined according to at least the sensing data for sensing the surrounding environment of the vehicle, the target position being a predicted passing position of the vehicle after passing a current position, and whether the vehicle will collide in the future is predicted. The steering column of the vehicle is automatically adjusted to a selected position for a collision event in response to the collision prediction result indicating that the vehicle will collide, and the selected position is determined at least by the posture of the driver of the vehicle, for example, the selected position can be a position to avoid the driver of the vehicle. In the case where it is predicted that the vehicle will collide in the future, the steering column of the vehicle is actively adjusted to the selected position, the active adjustment of the steering column before the collision is achieved, and different adjustment selected positions are determined according to different postures of the driver, thereby improving the energy absorption efficiency and safety protection under different postures of the driver. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A schematic view of the positional relationship among the steering column, the steering wheel and the driver of an embodiment; Figure 2 A flowchart of an adjustment method of a steering column of a vehicle according to an embodiment of the present application; Figure 3A flowchart for automatically adjusting a steering column of a vehicle to a selected position of the steering column of the vehicle for one embodiment; Figure 4 A flowchart for determining a selected position of a steering column of a vehicle for a collision event for one embodiment; Figure 5 A flowchart for second adjusting a selected position of a steering column of a vehicle for one embodiment; Figure 6 A flowchart for determining a selected position of a steering column of a vehicle for a collision event for another embodiment; Figure 7 A structural schematic diagram of an adjusting device of a steering column of a vehicle for an embodiment of the present application; Figure 8 A structural schematic diagram of an electronic device for an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, rather, these embodiments are provided to make the present application more thorough and complete. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes, and are not intended to limit the scope of protection of the present application.

[0020] It should be understood that each step described in the method embodiments of the present application can be executed in different order, and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present application is not limited in this respect.

[0021] The term "comprising" and variations thereof as used herein are open-ended, that is "including but not limited to"; the term "based on" is "based, at least in part, on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optional" means "optional in at least some embodiments". Related definitions are given throughout the description. It should be noted that the concepts mentioned in the present application using "first", "second", etc. are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0022] It should be noted that the modification of "one" and "multiple" mentioned in the present application is illustrative but not restrictive, and those skilled in the art should understand that unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0023] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present application are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0024] As Figure 1 shown, Figure 1 The position relationship between the steering column, steering wheel and driver is shown, the steering column 110 supports and connects the steering wheel 120, the height and inclination angle of the steering column 110 determine the position of the steering wheel 120 relative to the driver 130, and directly affect the operation comfort and driving posture of the driver. When the driver 130 controls the vehicle through the steering wheel 120, the axial length and angle of the steering column 110 need to adapt to the body shape of different drivers to ensure that the driver's hands can naturally hold the steering wheel and ensure the leg movement space of the driver. Among them, the position of the steering column 110 includes the axial displacement of the steering column 110 and the angle of the steering column 110, the axial displacement is the telescopic amount of the steering column 110 moving along the axial direction of the steering column 110, and the angle is the up-down inclination angle of the steering column 110 around the hinge point of the steering column 110. The axial displacement 0 reference line of the steering column 110 is usually based on the fixed reference point in the vehicle design reference coordinate system, and the angle 0 reference line of the steering column 110 is usually based on the horizontal axis (vehicle longitudinal horizontal line) in the vehicle design reference coordinate system.

[0025] In the related art, the driver can manually adjust the axial length and angle of the steering column, usually using a preset gear adjustment method, the driver manually selects a fixed gear according to driving habits, and then adjusts the position (axial length and angle) of the steering column through a motor drive. Each gear corresponds to a position of the steering column. This adjustment process still relies on discrete preset positions and cannot combine the real-time posture of the driver, and cannot predict and actively adjust the position of the steering column in advance in the event of a collision.

[0026] To solve the problems in the above related art, the present embodiment provides a vehicle steering column adjustment method, device, electronic equipment and storage medium.

[0027] As Figure 2 shown, the vehicle steering column adjustment method provided by the present embodiment includes the following steps: S210: Obtain sensing data for sensing the surrounding environment of the vehicle.

[0028] Specifically, the sensing data can be acquired by sensors installed inside and outside the vehicle, and for the convenience of understanding, some achievable ways to acquire sensing data are provided below as examples: For example, by emitting a laser beam and receiving a reflected signal through a laser radar installed outside the vehicle, high-precision 3D point cloud data (sensing data) is generated to measure the distance, shape and motion state of the object around the vehicle from the vehicle.

[0029] For another example, by emitting an electromagnetic wave and receiving a transmitted signal through a millimeter wave radar installed outside the vehicle, high-precision 3D point cloud data (sensing data) is generated to measure the distance, shape and motion state of the object around the vehicle from the vehicle.

[0030] For another example, by capturing image data (sensing data) in front of the vehicle through a visual sensor (camera) installed inside the vehicle, the distance, shape and motion state of the object around the vehicle from the vehicle are captured through the image.

[0031] S220: determining a collision prediction result of the vehicle at a target position according to at least the sensing data for perceiving the surrounding environment of the vehicle, wherein the target position is a passing position of the vehicle after passing the current position.

[0032] Specifically, the current position of the vehicle can be determined by the vehicle-mounted positioning module by receiving satellite signals (such as GPS signals or Beidou signals, etc.) to calculate the current latitude and longitude coordinates or other positioning information of the vehicle.

[0033] Specifically, the target position can be a passing position of the vehicle after passing the current position during the process of driving from the starting position to the end position according to the planned path, such as the first or second passing position after the current position of the vehicle in the planned path, etc. The target position can also be the first or second passing position before the end position after the current position of the vehicle in the planned path, or the target position can also be one, two or more passing positions between the current position of the vehicle and the end position in the planned path, etc. In addition, limited by the detection range of the sensors for perceiving the surrounding environment of the vehicle, the target position should also be within the detection distance of the sensors installed inside and outside the vehicle.

[0034] Specifically, whether there is an obstacle at the target position can be determined through the sensing data for perceiving the surrounding environment of the vehicle; if it is determined that there is an obstacle at the target position, the collision prediction result of the target position is characterized as the vehicle will collide, otherwise the collision prediction result of the target position is characterized as the vehicle will not collide.

[0035] S230: automatically adjusting the steering column of the vehicle to a selected position of the steering column of the vehicle for the collision event in response to the collision prediction result characterizing that the vehicle will have a collision, wherein the selected position is determined by the posture of the driver of the vehicle.

[0036] Specifically, if the collision prediction result characterizes that the vehicle will have a collision, the steering column is automatically adjusted to the selected position for the collision event, and if the collision prediction result characterizes that the vehicle will not have a collision, the current position of the steering column is maintained and the position of the steering column is not adjusted.

[0037] Specifically, the current position of the steering column of the vehicle can be suitable for the habit of the driver, but not necessarily suitable for the position for the collision, which refers to a condition or position that can reduce the risk or severity of injury of the driver. The selected position is based on many factors, including the posture of the driver, which can include the height, weight, torso inclination angle, etc. of the driver. In addition, other factors such as the speed of the vehicle can affect the selected position. The above factors determine the angle and distance of the driver relative to the steering wheel, and thus determine the orientation relative to the energy absorbing component of the steering column, which is used to reduce the likelihood of injury during a collision. For example, a pin + steel belt energy absorbing device can be used.

[0038] In this embodiment, sensing data for sensing the surrounding environment of the vehicle is obtained to provide data support for subsequent prediction of whether the vehicle will have a collision in the future. At least according to the sensing data for sensing the surrounding environment of the vehicle, a collision prediction result of the vehicle at a target position is determined, wherein the target position is a passing position of the vehicle after passing the current position, and the prediction of whether the vehicle will have a collision in the future is performed. In response to the collision prediction result characterizing that the vehicle will have a collision, the steering column of the vehicle is automatically adjusted to a selected position for the collision event, and the selected position is determined by at least the posture of the driver of the vehicle, for example, the selected position can be a position to avoid the driver of the vehicle. In the case where it is predicted that the vehicle will have a collision in the future, the steering column of the vehicle is actively adjusted to the selected position, which realizes the active adjustment of the steering column before the collision occurs, and different adjustment selected positions are determined according to different postures of the driver, which improves the energy absorption efficiency and safety protection under different postures of the driver.

[0039] Optionally, the adjustment method of the steering column of the vehicle further comprises: obtaining the current speed of the vehicle; Specifically, the current speed of the vehicle can be directly measured by a vehicle-mounted sensor (such as a wheel speed sensor) or indirectly calculated by the engine speed of the vehicle.

[0040] According to the collision prediction result, the steering column of the vehicle is automatically adjusted to a selected position for the collision event, as shown in Figure 3 The method comprises the following steps: S310: In response to the collision prediction result representing that a collision will occur to the vehicle, determining a collision prediction time according to the sensing data for perceiving the surrounding environment of the vehicle and the current speed of the vehicle.

[0041] Specifically, according to the sensing data for perceiving the surrounding environment of the vehicle and the current speed of the vehicle, the relative distance and the relative speed between the vehicle and the obstacle at the target position can be calculated, and then the collision prediction time can be determined according to the relative distance and the relative speed between the vehicle and the obstacle at the target position.

[0042] Specifically, the collision prediction time is the time to the occurrence of the collision.

[0043] S320: If the collision prediction time is less than or equal to a preset time threshold, automatically adjusting the steering column of the vehicle to a selected position for the collision event.

[0044] Specifically, the preset time threshold is set by comprehensively considering multiple parameters such as vehicle mechanical performance, and is determined by regulation standards and dynamic scene simulation optimization. For example, the preset time threshold can be 200 ms.

[0045] In some embodiments, if the collision prediction time is less than or equal to the preset time threshold, the steering column of the vehicle is automatically adjusted to a selected position for the collision event, including the following steps: S321: If the collision prediction time is less than or equal to the preset time threshold, obtaining the posture data of the driver of the vehicle, and determining the minimum distance between the predetermined body part of the driver of the vehicle and the steering wheel of the vehicle according to the posture data of the driver of the vehicle.

[0046] Specifically, the posture data of the driver at least includes the height, weight and trunk inclination angle of the driver. In an embodiment, the posture data of the driver can be obtained by the following way: collecting the depth image data of the driver containing spatial coordinate information in real time through the image sensor inside the vehicle (such as the 3D depth camera installed on the top of the instrument panel); obtaining the sitting center of gravity distribution data of the driver through the pressure sensor array built-in the driver seat; determining the posture data of the driver according to the depth image data and the sitting center of gravity distribution data of the driver.

[0047] Specifically, the posture data of the driver can be determined according to the depth image data and the sitting center of gravity distribution data of the driver by inputting the depth image data and the sitting center of gravity distribution data of the driver into a pre-constructed posture analysis model, the posture analysis model is constructed by a CNN-LSTM neural network model, and the posture analysis model outputs the posture data of the driver, that is, outputs the height, weight and trunk inclination angle of the driver. Wherein, the trunk inclination angle of the driver refers to the offset angle based on the vertical axis in the vehicle coordinate system.

[0048] In particular, the predetermined body part of the driver is the part of the driver that is likely to collide with the steering wheel in the event of a vehicle collision, such as the driver’s chest or head. According to the posture data of the driver, the three-dimensional coordinates of the predetermined body part of the driver can be determined, and in combination with the position data of the steering wheel, the real-time distance between the two can be calculated.

[0049] S322: If the minimum distance between the predetermined body part of the driver of the vehicle and the steering wheel of the vehicle is less than the safety distance threshold, the steering column of the vehicle is automatically adjusted to the selected position for the collision event.

[0050] In particular, the safety distance threshold is set based on relevant standards in the automotive industry, for example, the safety distance threshold can be 30 cm.

[0051] In this optional embodiment, when it is detected that the collision prediction time is less than or equal to the preset time threshold, the selected position is first determined based on the posture of the driver of the vehicle, and then the position of the steering column is quickly adjusted to the selected position by the motor drive, so that the position of the steering column is adjusted to the selected position in advance to ensure that the steering column is adjusted to the selected position in the event of a collision, to maximize the collapse energy absorption space and reduce the risk of the steering wheel invading the driver’s chest or other body parts.

[0052] Optionally, the selected position of the steering column of the vehicle for the collision event can be determined in the following manner: Obtaining posture data of the driver of the vehicle, and determining the selected position of the steering column of the vehicle for the collision event according to at least the posture data of the driver of the vehicle. The selected position of the steering column includes a selected angle of the steering column and an axial selected displacement of the steering column. The posture data of the driver includes the height of the driver, the inclination angle of the torso of the driver, and the weight of the driver.

[0053] In some embodiments, as shown in Figure 4 According to at least the posture data of the driver of the vehicle, the selected position of the steering column of the vehicle for the collision event is determined, including the following steps: S410: Obtain the current speed of the vehicle, and determine the selected angle of the steering column of the vehicle according to the current speed of the vehicle, the height of the driver of the vehicle, and the inclination angle of the torso of the driver of the vehicle.

[0054] In particular, the selected angle of the steering column of the vehicle can be calculated based on relevant safety standards in the automotive industry (such as ISO 6814 safety standards) and finite element simulation databases, specifically as follows: ; wherein, is the current speed of the vehicle, a height of the driver, a tilt angle of a torso of the driver, a steering column angle function constructed based on a relevant safety standard (such as the ISO 6814 safety standard) in the automotive industry and a finite element simulation database, which reflects a mapping relationship between a selected angle and a current speed of the vehicle, a height of the driver, and a tilt angle of a torso of the driver, for example, the mapping relationship can be constructed and stored in the finite element simulation database in advance according to the relevant safety standard, and the selected angle corresponding to the current speed of the vehicle, the height of the driver, and the tilt angle of the torso of the driver is determined according to the mapping relationship in the finite element simulation database when used, a selected angle of a steering column of the vehicle.

[0055] For better understanding, exemplarily, a linear weighted function, such as the following expression: ; wherein, a speed weight coefficient, a height weight coefficient, an angle weight coefficient, the above weight coefficients can be obtained by real vehicle crash test calibration.

[0056] It should be noted that, not limited to the above function expression, different function expressions can be constructed based on different industry standards and databases, and this embodiment will not be described one by one.

[0057] S420: obtaining a current acceleration of the vehicle, and determining an axial selected displacement of a steering column of the vehicle according to the current acceleration of the vehicle, a weight of a driver of the vehicle, and an energy absorption target value of the steering column of the vehicle.

[0058] Specifically, the current acceleration of the vehicle can be obtained by measuring through an acceleration sensor built in the vehicle, or can be obtained by reading acceleration information provided by an engine or an ABS system through a vehicle electronic control unit, or can be calculated by a speed change rate in combination with high-precision GPS data.

[0059] Specifically, the axial selected displacement of the steering column of the vehicle can be calculated based on a relevant safety standard (such as the ISO 6814 safety standard) in the automotive industry and a finite element simulation database, specifically such as the following expression: ; wherein, a weight of the driver, a current acceleration of the driver, an energy absorption target value of the steering column, a preset coefficient, an axial selected displacement of a steering column of the vehicle.

[0060] In this optional embodiment, the selected position of the steering column of the vehicle for the collision event is determined based on the posture data of the driver of the vehicle, so that the selected position of the steering column for the collision event can adapt to the body shape and sitting posture of different drivers, improve the collision energy absorption efficiency, and enhance the overall protection performance.

[0061] Optionally, after determining the selected position of the steering column of the vehicle for the collision event based on at least the posture data of the driver of the vehicle, the method can further include the following steps: Figure 5 as shown in the figure, the method can further include the following steps: S510: obtaining the current acceleration of the vehicle, and determining the impact prediction direction of the vehicle based on the sensing data for sensing the surrounding environment of the vehicle.

[0062] Specifically, the current acceleration of the vehicle can be obtained by measuring with an acceleration sensor built in the vehicle, or by reading the acceleration information provided by the engine or the ABS system through the electronic control unit of the vehicle, or by calculating the acceleration through the rate of change of speed in combination with high-precision GPS data.

[0063] Specifically, the impact prediction direction of the vehicle includes a head-on collision and an offset collision, wherein the head-on collision refers to the collision direction of the vehicle and the obstacle completely coincides with the longitudinal axis (forward direction) of the vehicle, and the impact force mainly acts on the front of the vehicle head; the offset collision refers to the collision direction of the vehicle and the obstacle has a certain angle or lateral offset with the longitudinal axis of the vehicle, and only part of the vehicle head region participates in the collision.

[0064] Specifically, based on the sensing data of the surrounding environment of the vehicle (such as the sensing data obtained by millimeter wave radar, laser radar, camera, etc.), the relative position, speed, motion trajectory of the obstacle at the target position and the dynamic state of the vehicle itself can be analyzed in real time, and the impact direction is predicted in combination with the collision prediction time and the collision probability model. The collision probability model is usually constructed based on physical dynamics and statistical probability (such as Gaussian process or Monte Carlo simulation), the state of the obstacle is estimated through the sensing data, and the spatial overlap probability of the future trajectories of the obstacle and the vehicle is predicted, and then the impact direction is predicted according to the vehicle region corresponding to the maximum spatial overlap probability. If the obstacle is located in front of the vehicle and the relative velocity vector coincides with the longitudinal axis of the vehicle, it is determined as a head-on collision; if the obstacle has a lateral offset (such as partial overlap of the vehicle head) or approaches obliquely, it is determined as an offset collision.

[0065] S520: If the current acceleration of the vehicle is greater than the acceleration threshold, a secondary adjustment position of the steering column is determined based on the impact prediction direction, and the steering column is automatically adjusted from the selected position to the secondary adjustment position.

[0066] Specifically, the acceleration threshold is used to represent a boundary of the collision intensity, when the current acceleration of the vehicle exceeds the acceleration threshold, it means that the collision intensity is too large, and the deeper safety protection needs to be started.

[0067] If the current acceleration of the vehicle is greater than the acceleration threshold, the position of the steering column is adjusted again, specifically: When the predicted impact direction is a frontal collision, the inclination angle of the steering column should be slightly adjusted towards the direction away from the driver, that is, the angle of the steering column corresponding to the second adjustment position is obtained by adding the adjustment angle to the selected angle of the steering column, for example, θ2=θ1+Δθ1, θ2 is the angle of the steering column corresponding to the second adjustment position, θ1 is the selected angle of the steering column, and Δθ1 is the adjustment angle corresponding to the frontal collision. In an embodiment, Δθ1 can be 5°. When the predicted impact direction is a frontal collision, the axial displacement of the steering column should continue to retract a certain displacement towards the direction away from the driver, that is, the displacement of the steering column corresponding to the second adjustment position is obtained by adding the adjustment displacement to the selected axial displacement of the steering column, for example, S2=S1+ΔS, S2 is the displacement of the steering column corresponding to the second adjustment position, S1 is the selected axial displacement of the steering column, and ΔS is the adjustment displacement, which is related to the collision speed in an embodiment.

[0068] When the predicted impact direction is a side collision, the inclination angle of the steering column should be slightly adjusted towards the direction close to the driver, that is, the angle of the steering column corresponding to the second adjustment position is obtained by subtracting the adjustment angle from the selected angle of the steering column, for example, θ2=θ1-Δθ2, θ2 is the angle of the steering column corresponding to the second adjustment position, θ1 is the selected angle of the steering column, and Δθ2 is the adjustment angle corresponding to the side collision. In an embodiment, Δθ2 can be 8°. When the predicted impact direction is a side collision, the axial displacement of the steering column should continue to retract a certain displacement, that is, the displacement of the steering column corresponding to the second adjustment position is obtained by adding the adjustment displacement to the selected axial displacement of the steering column, which should be slightly smaller than the adjustment displacement in the frontal collision, for example, S2=S1+0.8ΔS, S2 is the displacement of the steering column corresponding to the second adjustment position, S1 is the selected axial displacement of the steering column, and ΔS is the adjustment displacement.

[0069] In this optional embodiment, after the steering column of the vehicle is automatically adjusted to the selected position of the steering column of the vehicle corresponding to the collision event, if it is detected that the current acceleration of the vehicle is greater than or equal to a preset time threshold, it means that the intensity of the impending collision is large, at this time, the selected position of the steering column is adjusted again based on the predicted impact direction in the embodiment of the present application, so as to avoid greater harm to the driver caused by the collision.

[0070] Optionally, the selected position of the steering column of the vehicle for the collision event can also be determined by the following way: Obtaining posture data of a driver of the vehicle, and determining a predicted impact orientation of the vehicle according to sensing data for perceiving the surrounding environment of the vehicle, the predicted impact orientation including at least a frontal impact and an offset impact; determining the selected position of the steering column of the vehicle for the collision event according to at least the predicted impact orientation of the vehicle and the posture data of the driver of the vehicle.

[0071] In some embodiments, as shown in Figure 6 Determining the selected position of the steering column of the vehicle for the collision event according to the posture data of the driver of the vehicle includes the following steps: S610: Obtaining the current speed of the vehicle, and determining the initial selected angle of the steering column of the vehicle according to the current speed of the vehicle, the height of the driver of the vehicle, and the torso inclination angle of the driver of the vehicle.

[0072] Specifically, the specific way of calculating the initial selected angle of the steering column of the vehicle in the embodiment can refer to the specific description of S410.

[0073] S620: Determining the adjustment angle corresponding to the predicted impact orientation, and determining the selected angle of the steering column of the vehicle according to the initial selected angle of the steering column of the vehicle and the adjustment angle corresponding to the predicted impact orientation.

[0074] Specifically, the predicted impact orientation of the vehicle includes a frontal impact and an offset impact, wherein the frontal impact refers to the collision direction of the vehicle and the obstacle completely coincides with the longitudinal axis (forward direction) of the vehicle, and the impact force mainly acts on the front of the vehicle; the offset impact refers to the collision direction of the vehicle and the obstacle has a certain angle or lateral offset with the longitudinal axis of the vehicle, and only part of the front of the vehicle participates in the collision.

[0075] Specifically, based on the sensing data of the surrounding environment of the vehicle (such as the sensing data obtained by millimeter wave radar, laser radar, camera, etc.), the relative position, speed, motion trajectory of the obstacle at the target position and the dynamic state of the vehicle itself can be analyzed in real time, and the impact orientation is predicted in combination with the collision prediction time and the collision probability model. If the obstacle is located in front of the vehicle and the relative speed vector coincides with the longitudinal axis of the vehicle, it is determined as a frontal impact; if the obstacle has a lateral offset (such as partial overlap of the front of the vehicle) or approaches obliquely, it is determined as an offset impact.

[0076] When the predicted impact orientation is a front impact, the inclination angle of the steering column should be slightly adjusted towards the direction away from the driver, that is, the selected angle of the steering column is based on the initial selected angle of the steering column plus the adjustment angle, for example, θ 2 = θ 1 + Δθ 1, θ 2 is the selected angle of the steering column, θ 1 is the initial selected angle of the steering column, and Δθ 1 is the adjustment angle corresponding to the front impact, which can be 5° in an embodiment.

[0077] When the predicted impact orientation is a side impact, the inclination angle of the steering column should be slightly adjusted towards the direction close to the driver, that is, the selected angle of the steering column is based on the initial selected angle of the steering column minus the adjustment angle, for example, θ 2 = θ 1 - Δθ 2, θ 2 is the selected angle of the steering column, θ 1 is the initial selected angle of the steering column, and Δθ 2 is the adjustment angle corresponding to the side impact, which can be 8° in an embodiment.

[0078] S630: Obtain the current acceleration of the vehicle, and determine the initial axial selected displacement of the steering column of the vehicle according to the current acceleration of the vehicle, the weight of the driver of the vehicle, and the energy absorption target value of the steering column of the vehicle.

[0079] Specifically, the specific manner of calculating the initial axial selected displacement of the steering column of the vehicle in the embodiment can refer to the specific description of S420.

[0080] S640: Determine the adjustment displacement corresponding to the predicted impact orientation, and determine the axial selected displacement of the steering column of the vehicle according to the initial axial selected displacement of the steering column of the vehicle and the adjustment displacement corresponding to the predicted impact orientation.

[0081] When the predicted impact orientation is a front impact, the axial displacement of the steering column should continue to collapse by a certain displacement, that is, the axial selected displacement of the steering column is based on the initial axial selected displacement of the steering column plus the adjustment displacement, for example, S 2 = S 1 + ΔS, S 2 is the axial selected displacement of the steering column, S 1 is the initial axial selected displacement of the steering column, and ΔS is the adjustment displacement, which is related to the impact speed in an embodiment.

[0082] When the predicted impact orientation is a side impact, the axial displacement of the steering column should continue to collapse by a certain displacement, that is, the axial selected displacement of the steering column is based on the initial axial selected displacement of the steering column plus the adjustment displacement, which should be slightly smaller than the adjustment displacement in the front impact, for example, S 2 = S 1 + 0.8ΔS, S 2 is the axial selected displacement of the steering column, S 1 is the initial axial selected displacement of the steering column, and ΔS is the adjustment displacement.

[0083] In the optional embodiment, the selected position of the steering column of the vehicle for the collision event is determined by the posture data of the driver of the vehicle and the impact prediction direction, so that the selected position of the steering column of the vehicle for the collision event can adapt to the body shape, sitting state of different drivers and different impact prediction directions, while improving the collision energy absorption efficiency, the safety of the driver is maximally protected, and the overall protection performance is enhanced.

[0084] It should be noted that the adjustment of the position of the steering column in the embodiment of the application can be realized by a two-degree-of-freedom electric actuator. The two-degree-of-freedom electric actuator can drive a worm and gear mechanism in the steering column by an angle adjusting motor to adjust the angle of the steering column, and control the axial stroke of the steering column by a shaft extension motor through a ball screw. In addition, the steering column further comprises a magneto-rheological fluid damper, which can adjust the collapse resistance curve in real time and match different collision intensity requirements.

[0085] As shown in Figure 7 The adjusting device 700 for the steering column of the vehicle provided by the embodiment of the application comprises: A sensing data acquisition module 710 is configured to acquire sensing data for sensing the surrounding environment of the vehicle. A collision prediction module 720 is configured to determine a collision prediction result of the vehicle at a target position according to at least the sensing data for sensing the surrounding environment of the vehicle, the target position being a passing position of the vehicle predicted after the vehicle passes the current position in a driving track of the vehicle. A steering column adjusting module 730 is configured to automatically adjust the steering column of the vehicle to a selected position of the steering column of the vehicle for a collision event according to the collision prediction result.

[0086] Optionally, the adjusting device 700 for the steering column of the vehicle further comprises a speed acquisition module configured to acquire the current speed of the vehicle, and the steering column adjusting module 730 automatically adjusts the steering column of the vehicle to the selected position of the steering column of the vehicle according to the collision prediction result, including: The steering column adjusting module 730 determines a collision prediction time according to the sensing data for sensing the surrounding environment of the vehicle and the current speed of the vehicle in response to the collision prediction result representing that the vehicle will collide. If the collision prediction time is less than or equal to a preset time threshold, the steering column adjusting module 730 automatically adjusts the steering column of the vehicle to the selected position of the steering column of the vehicle for the collision event.

[0087] Optionally, if the collision prediction time is less than or equal to the preset time threshold, the steering column adjusting module 730 automatically adjusts the steering column of the vehicle to the selected position of the steering column of the vehicle for the collision event, including: If the collision prediction time is less than or equal to a preset time threshold, the steering column adjustment module 730 acquires posture data of a driver of the vehicle, and determines a minimum distance between a predetermined body part of the driver of the vehicle and a steering wheel of the vehicle according to the posture data of the driver of the vehicle; If the minimum distance between the predetermined body part of the driver of the vehicle and the steering wheel of the vehicle is less than a safety distance threshold, the steering column adjustment module 730 automatically adjusts the steering column of the vehicle to the selected position of the steering column of the vehicle for the collision event.

[0088] Optionally, the adjusting device 700 of the steering column of the vehicle further comprises a selected position determination module, configured to: acquire posture data of a driver of the vehicle, and determine the selected position of the steering column of the vehicle for the collision event according to at least the posture data of the driver of the vehicle; or, acquire posture data of a driver of the vehicle, and determine a collision prediction direction of the vehicle according to sensing data for perceiving the surroundings of the vehicle, the collision prediction direction comprising at least a head-on collision and an offset collision; and determine the selected position of the steering column of the vehicle for the collision event according to at least the collision prediction direction of the vehicle and the posture data of the driver of the vehicle.

[0089] Optionally, the selected position of the steering column of the vehicle comprises a selected angle of the steering column of the vehicle and an axial selected displacement of the steering column of the vehicle; and the posture data of the driver of the vehicle comprises a height of the driver of the vehicle, a torso inclination angle of the driver of the vehicle and a weight of the driver of the vehicle. The selected position determination module determines the selected position of the steering column of the vehicle for the collision event according to at least the posture data of the driver of the vehicle, comprising: The selected position determination module acquires a current speed of the vehicle, and determines the selected angle of the steering column of the vehicle according to the current speed of the vehicle, the height of the driver of the vehicle and the torso inclination angle of the driver of the vehicle. The selected position determination module acquires a current acceleration of the vehicle, and determines the axial selected displacement of the steering column of the vehicle according to the current acceleration of the vehicle, the weight of the driver of the vehicle and an energy absorption target value of the steering column of the vehicle.

[0090] Optionally, after the steering column adjustment module 730 automatically adjusts the steering column of the vehicle to the selected position of the steering column of the vehicle for the collision event, the method further comprises: The steering column adjustment module 730 acquires a current acceleration of the vehicle, and determines a collision prediction direction of the vehicle according to sensing data for perceiving the surroundings of the vehicle; If the current acceleration of the vehicle is greater than the acceleration threshold, the steering column adjustment module 730 adjusts a selected position of the steering column of the vehicle based on the impact prediction orientation.

[0091] Optionally, the selected position of the steering column of the vehicle includes a selected angle of the steering column of the vehicle and an axial selected displacement of the steering column of the vehicle; the posture data of the driver of the vehicle includes a height of the driver of the vehicle, a torso inclination angle of the driver of the vehicle and a weight of the driver of the vehicle; The selected position determination module determines the selected position of the steering column of the vehicle for the collision event according to at least the impact prediction orientation of the vehicle and the posture data of the driver of the vehicle, including: The selected position determination module obtains a current speed of the vehicle, and determines an initial selected angle of the steering column of the vehicle according to the current speed of the vehicle, the height of the driver of the vehicle and the torso inclination angle of the driver of the vehicle; The selected position determination module determines an adjustment angle corresponding to the impact prediction orientation, and determines the selected angle of the steering column of the vehicle according to the initial selected angle of the steering column of the vehicle and the adjustment angle corresponding to the impact prediction orientation; The selected position determination module obtains a current acceleration of the vehicle, and determines an initial axial selected displacement of the steering column of the vehicle according to the current acceleration of the vehicle, the weight of the driver of the vehicle and an energy absorption target value of the steering column of the vehicle; The selected position determination module determines an adjustment displacement corresponding to the impact prediction orientation, and determines the axial selected displacement of the steering column of the vehicle according to the initial axial selected displacement of the steering column of the vehicle and the adjustment displacement corresponding to the impact prediction orientation.

[0092] As shown in Figure 8 The electronic device 800 provided by the embodiment of the present application includes a memory 810 and a processor 820; the memory 810 is used to store a computer program; the processor 820 is used to implement the adjustment method of the steering column of the vehicle as described above when the computer program is executed.

[0093] Alternatively, an electronic device 800 includes a memory 810 and a processor 820 coupled to the memory 810; the memory 810 is configured to store a computer program; the processor 820 is configured to perform the following operations when the computer program is executed: Obtain sensing data for perceiving the surrounding environment of the vehicle; Determine a collision prediction result of the vehicle at a target position according to at least the sensing data for perceiving the surrounding environment of the vehicle, the target position being a predicted passing position of the vehicle after passing the current position in a driving track of the vehicle; According to the collision prediction result, the steering column of the vehicle is automatically adjusted to a selected position of the steering column of the vehicle for the collision event, the selected position being determined at least by the posture of the driver of the vehicle.

[0094] The embodiment of the present application provides a computer readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the adjustment method of the steering column of the vehicle is realized.

[0095] Alternatively, a non-volatile computer readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the following operations: obtaining sensing data for sensing a surrounding environment of the vehicle; determining a collision prediction result of the vehicle at a target position according to at least the sensing data for sensing the surrounding environment of the vehicle, the target position being a passing position of the vehicle predicted after the vehicle passes a current position in a driving track of the vehicle; According to the collision prediction result, the steering column of the vehicle is automatically adjusted to a selected position of the steering column of the vehicle for the collision event, the selected position being determined at least by the posture of the driver of the vehicle.

[0096] An electronic device 800, which can be a server or a client of the present application, will now be described, which is an example of a hardware device that can be applied to aspects of the present application. The electronic device 800 is intended to represent various forms of digital electronic computer devices, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 800 can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application described and / or claimed in this document.

[0097] The electronic device 800 includes a computing unit that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, the ROM, and the RAM are connected to each other through a bus. An input / output (I / O) interface is also connected to the bus.

[0098] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM), a random access memory (RAM), or the like. In this application, the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application. In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically independently, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0099] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications will fall within the protection scope of the present application.

Claims

1. A method for adjusting a vehicle steering column, characterized in that, include: Acquire sensor data for sensing the environment around the vehicle; Based at least on the sensor data used to perceive the vehicle's surrounding environment, a collision prediction result for the vehicle at a target location is determined, where the target location is the predicted path of the vehicle after passing its current location. In response to the collision prediction result indicating that a collision is likely to occur, the vehicle's steering column is automatically adjusted to a selected position for the collision event, the selected position being determined at least by the driver's posture.

2. The method for adjusting the vehicle steering column according to claim 1, characterized in that, The method for adjusting the vehicle steering column further includes: acquiring the current speed of the vehicle; and automatically adjusting the vehicle steering column to a selected position for the collision event in response to the collision prediction result indicating that a collision will occur, including: In response to the collision prediction result indicating that a collision will occur, the collision prediction time is determined based on the sensor data used to perceive the vehicle's surrounding environment and the vehicle's current speed. If the collision prediction time is less than or equal to a preset time threshold, the vehicle's steering column will be automatically adjusted to the selected position for the collision event.

3. The method for adjusting the vehicle steering column according to claim 2, characterized in that, If the collision prediction time is less than or equal to a preset time threshold, the vehicle's steering column is automatically adjusted to a selected position for the collision event, including: If the collision prediction time is less than or equal to a preset time threshold, the driver's posture data of the vehicle is obtained, and the minimum distance between a predetermined body part of the driver and the steering wheel of the vehicle is determined based on the driver's posture data. If the minimum distance between a predetermined body part of the driver of the vehicle and the steering wheel of the vehicle is less than a safe distance threshold, the steering column of the vehicle will be automatically adjusted to a selected position for the collision event.

4. The method for adjusting the vehicle steering column according to claim 1, characterized in that, The method for adjusting the vehicle steering column also includes: Acquire the driver's posture data of the vehicle, and determine, at least based on the driver's posture data, a selected position of the vehicle's steering column in response to a collision event; or, The driver's posture data of the vehicle is acquired, and the vehicle's predicted impact orientation is determined based on the sensor data used to perceive the vehicle's surrounding environment. The predicted impact orientation includes at least a frontal impact and an offset impact. The selected position of the vehicle's steering column for the collision event is determined based at least on the vehicle's predicted impact orientation and the driver's posture data.

5. The method for adjusting the vehicle steering column according to claim 4, characterized in that, The selected position of the vehicle's steering column includes: the selected angle of the vehicle's steering column and the selected axial displacement of the vehicle's steering column; the driver's posture data includes the driver's height, the driver's torso tilt angle, and the driver's weight. Determining the selected position of the vehicle's steering column in response to a collision event, based at least on the driver's posture data, includes: The current speed of the vehicle is obtained, and the selected angle of the steering column of the vehicle is determined based on the current speed of the vehicle, the height of the driver of the vehicle, and the torso tilt angle of the driver of the vehicle. The current acceleration of the vehicle is obtained, and the axial selected displacement of the vehicle's steering column is determined based on the current acceleration of the vehicle, the weight of the driver of the vehicle, and the energy absorption target value of the vehicle's steering column.

6. The method for adjusting the vehicle steering column according to claim 5, characterized in that, After automatically adjusting the vehicle's steering column to a selected position for the vehicle's steering column in response to a collision event, the method further includes: The vehicle's current acceleration is obtained, and the vehicle's predicted impact location is determined based on sensor data used to perceive the vehicle's surrounding environment. If the current acceleration of the vehicle is greater than the acceleration threshold, the secondary adjustment position of the steering column is determined based on the impact prediction orientation, and the steering column is automatically adjusted from the selected position to the secondary adjustment position.

7. The method for adjusting the vehicle steering column according to claim 4, characterized in that, The selected position of the vehicle's steering column includes: the selected angle of the vehicle's steering column and the selected axial displacement of the vehicle's steering column; the driver's posture data includes the driver's height, the driver's torso tilt angle, and the driver's weight. Determining the selected position of the vehicle's steering column for a collision event, based at least on the vehicle's predicted impact location and the driver's attitude data, includes: The current speed of the vehicle is obtained, and the initial selected angle of the steering column of the vehicle is determined based on the current speed of the vehicle, the height of the driver of the vehicle, and the torso tilt angle of the driver of the vehicle. Determine the adjustment angle corresponding to the predicted impact direction, and determine the selected angle of the vehicle's steering column based on the initial selected angle of the vehicle's steering column and the adjustment angle corresponding to the predicted impact direction. The current acceleration of the vehicle is obtained, and the initial axial selected displacement of the vehicle's steering column is determined based on the current acceleration of the vehicle, the weight of the driver of the vehicle, and the energy absorption target value of the vehicle's steering column. The adjustment displacement corresponding to the predicted impact orientation is determined, and the axial selection displacement of the vehicle's steering column is determined based on the initial axial selection displacement of the vehicle's steering column and the adjustment displacement corresponding to the predicted impact orientation.

8. An adjustment device for a vehicle steering column, characterized in that, include: The sensor data acquisition module is used to acquire sensor data for sensing the environment around the vehicle. The collision prediction module is used to determine the collision prediction result of the vehicle at a target position based at least on the sensor data used to perceive the environment around the vehicle, wherein the target position is the predicted path position of the vehicle after passing the current position. A steering column adjustment module is configured to automatically adjust the vehicle's steering column to a selected position for the collision event in response to a collision prediction result indicating that a collision is imminent. The selected position is determined at least by the driver's posture.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to, when executing the computer program, implement the vehicle steering column adjustment method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, implements the vehicle steering column adjustment method as described in any one of claims 1 to 7.

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