Accident advanced monitoring and recording method, system, device and medium for vehicle

Abstract

The invention provides an accident advanced monitoring and recording system for a vehicle, and the system comprises a data collection module which comprises a camera and is used for collecting the data of a sensor in real time; the positioning module is used for determining the current position of the vehicle; the communication module communicates with a bound contact person or a rescue center; the collision early warning module is used for starting a camera to shoot a video before an accident when detecting that a collision is about to occur, and sending a first message including the shot video and vehicle position information to a contact person; and the collision detection module is used for starting a camera to shoot an accident video and carry out vehicle fault diagnosis when the collision of the vehicle is detected, and sending a second message including the shot video, the vehicle position information and the fault diagnosis information to a contact person or a rescue center. In addition, the invention further provides an accident early monitoring and recording method, device and medium and a vehicle supporting accident early monitoring and recording.

Description

Technical Field

[0001] This invention relates to the field of vehicle safety, and more specifically, to a method, system, device, and medium for early accident monitoring and recording of vehicles, as well as a vehicle supporting early accident monitoring and recording. Background Technology

[0002] In recent years, with the development of vehicle intelligence and the increasing emphasis on safety performance in the automotive industry, rescue systems and airbag sensitivity are being continuously optimized. For example, some vehicles are now equipped with in-vehicle emergency call systems, which provide rescue services to users in emergency situations (such as accidents). For instance, when the airbags deploy after a collision, the vehicle's infotainment system receives the collision signal and automatically dials a rescue number.

[0003] However, the current rescue system still has some security vulnerabilities. For example, when a user is involved in a car accident and briefly loses consciousness, the black box and rescue agencies cannot obtain on-site information (such as on-site videos before and after the accident) immediately. This may lead to a forced extension of rescue time and the loss of key physical evidence.

[0004] Therefore, in order to enable contacts or rescue centers to obtain on-site information in a timely manner and preserve video evidence, it is desirable to provide a solution for early detection and recording of vehicle accidents. This solution uses a hierarchical triggering system to determine whether a collision is about to occur and triggers the recording of video before and after the accident, thereby ensuring that rescue operations are more targeted and improving the accident survival rate. Summary of the Invention

[0005] This summary is provided to introduce, in a simplified form, some concepts that will be further described in the following detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to help determine the scope of the claimed subject matter.

[0006] To address the above problems, according to a first aspect of the present invention, a vehicle accident early detection and recording system is provided, the system comprising: a data acquisition module including a camera for capturing images of the vehicle's interior and exterior environment, the data acquisition module being configured to acquire sensor data in real time regarding distance and speed parameters between the vehicle and an obstacle; a positioning module configured to determine the current location of the vehicle; a communication module for communicating with a linked contact person or rescue center; and a collision warning module configured to: determine the collision time between the vehicle and an obstacle based on the acquired sensor data; and, when the collision time is less than a predetermined threshold, ... The system includes: activating the camera to capture video before an accident, continuing until a collision occurs, a predetermined time is reached, or the user stops recording; sending a first message via the communication module to the contact person, the first message including the captured video and the vehicle's location information; a collision detection module configured to: detect whether a collision has occurred based on collected sensor data; upon detecting a collision, activating the camera to capture accident video and performing vehicle fault diagnosis; and sending a second message via the communication module to the contact person or a rescue center, the second message including the captured video, the vehicle's location information, and fault diagnosis information.

[0007] In the technical solution of this invention, by designing a hierarchical accident early monitoring and recording system, it is possible to determine whether a collision is about to occur by collecting real-time sensor data, and send the information recorded on site and fault diagnosis to the contact person or rescue team as soon as possible before and after the collision, thereby improving the accident survival rate and timely preservation of key accident evidence.

[0008] According to one embodiment of the present invention, the system further includes a user control module configured to: in response to user input, activate the camera to capture video of the vehicle's interior and exterior environment until a collision occurs, a predetermined time is reached, or the user stops capturing video; and send a third message via the communication module to the contact person, the third message including the captured video and the vehicle's location information.

[0009] According to a further embodiment of the present invention, the user control module includes a user input mechanism disposed on one or more of the seat belt, steering wheel, instrument panel, or center console.

[0010] According to a further embodiment of the present invention, the camera is disposed on one or more of the driver's seat belt or the B-pillar on the left side of the driver's seat.

[0011] According to a further embodiment of the present invention, determining the collision time between the vehicle and the obstacle based on the collected sensor data further includes: calculating the collision time between the vehicle and the obstacle based on the distance between the vehicle and the obstacle, the relative speed, and the speed of the vehicle; and optimizing the collision time using a Kalman filter algorithm to obtain the final determined collision time.

[0012] According to a further embodiment of the present invention, detecting whether the vehicle has collided based on the collected sensor data further includes: detecting whether the vehicle has collided based on determining whether the rate of change of the vehicle's acceleration is abnormal.

[0013] According to a further embodiment of the present invention, fault diagnosis when a collision of the vehicle is detected further includes: when a collision of the vehicle is detected, using a Kalman filter algorithm to diagnose software faults, hardware faults, electronic and electrical faults, mechanical system faults or communication faults of the vehicle, wherein the fault diagnosis information includes one or more of the following: fault type, fault severity, fault occurrence time, and fault cause.

[0014] According to a further embodiment of the present invention, the communication module is further configured to send the first message, the second message, or the third message to the contact at different urgency levels, wherein the message is sent at a lower urgency level when no collision has been detected with the vehicle, and at a higher urgency level when a collision has been detected with the vehicle.

[0015] According to a further embodiment of the present invention, the second message further includes one or more of the following: the collision location of the vehicle, the attitude information of the vehicle, the degree of damage to the vehicle, and the local police telephone number closest to the accident site, wherein the attitude information of the vehicle includes rollover, overturning, or upright.

[0016] According to a further embodiment of the present invention, the communication module is further configured to: after sending the second message to the contact, determine whether the contact has viewed the second message; if the contact has not viewed the second message within a predetermined time period, then send the second message to the rescue center.

[0017] According to a second aspect of the present invention, a method for early detection and recording of vehicle accidents is provided, the method comprising: real-time acquisition of sensor data regarding distance and speed parameters between the vehicle and an obstacle; determining the current location of the vehicle; determining the collision time between the vehicle and the obstacle based on the acquired sensor data; when the collision time is less than a predetermined threshold, activating a camera to capture a video of the event before the accident, until a collision occurs, the predetermined time is reached, or the user stops capturing the video; sending a first message including the captured video and the vehicle's location information to a linked contact; and when a collision is detected based on the sensor data, activating the camera to capture an accident video and performing vehicle fault diagnosis; and sending a second message including the captured video, the vehicle's location information, and fault diagnosis information to the contact or a rescue center.

[0018] According to one embodiment of the present invention, the method further includes: in response to user input, activating the camera to capture video of the environment inside and outside the vehicle until a collision occurs, a predetermined time is reached, or the user stops capturing; and sending a third message to the contact including the captured video and the location information of the vehicle.

[0019] According to a third aspect of the invention, a vehicle is provided that supports early accident monitoring and recording, the vehicle comprising the early accident monitoring and recording system as claimed in any one of claims 1-10.

[0020] According to a fourth aspect of the present invention, an accident early detection and recording device for a vehicle is provided, comprising: a processor; and a memory coupled to the processor, the memory storing processor-executable instructions, which, when executed by the processor, cause the processor to perform the method as described in any of the preceding aspects.

[0021] According to a fifth aspect of the invention, a computer-readable storage medium storing instructions that, when executed, cause a vehicle to perform any of the methods described in any of the preceding aspects are provided.

[0022] These and other features and advantages will become apparent from the following detailed description and with reference to the accompanying drawings. It should be understood that the foregoing general description and the following detailed description are illustrative only and do not limit the scope of the claims. Attached Figure Description

[0023] To gain a more detailed understanding of the manner in which the features of the present invention are described above, reference can be made to various embodiments to provide a more specific description of the above-briefly summarized aspects, some of which are illustrated in the accompanying drawings. However, it should be noted that the drawings illustrate only certain typical aspects of the invention and should not be considered as limiting its scope, as this description may allow for other equivalent and effective aspects.

[0024] Figure 1 An example architecture diagram of an accident early monitoring and recording system according to an embodiment of the present invention is shown.

[0025] Figure 2-4 Example scenarios illustrating the arrangement of the user input mechanism and camera according to an embodiment of the present invention are shown from the perspectives of the driver's seat, the right rear view, and the left side view.

[0026] Figure 5-6 Schematic diagrams of rescue request messages of different urgency levels according to an embodiment of the present invention are shown.

[0027] Figure 7 An example flowchart of a hierarchical triggering method for early monitoring and recording of accidents according to an embodiment of the present invention is shown.

[0028] Figure 8 Another example architecture diagram of an accident early monitoring and recording system according to an embodiment of the present invention is shown. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings, and its features will become further apparent from the following detailed description. Throughout this specification, the term "vehicle" refers to any type of automobile, including but not limited to cars, vans, trucks, buses, etc. For simplicity, the invention is described in relation to "automobiles." The terms "A or B" as used in this specification mean "A and B" and "A or B," and do not imply that A and B are exclusive unless otherwise stated.

[0030] Figure 1 An example architecture diagram of an accident early warning and recording system 100 according to an embodiment of the present invention is shown. The system 100 includes at least a data acquisition module 102, a positioning module 104, a communication module 106, a collision warning module 108, and a collision detection module 110.

[0031] Preferably, the system 100 may further include a user control module 112.

[0032] The data acquisition module 102 may include a camera for capturing images of the vehicle's interior and exterior environment. (See reference...) Figure 2-4 Example scenarios of camera placement are shown from the perspectives of the driver's seat, the right rear, and the driver's left side. Figure 2-4 The example uses two cameras to capture videos, such as those from an accident scene. One camera, C1, is located on the door frame of the driver's side B-pillar, and the other camera, C2, is located above and to the left of the driver's seatbelt.

[0033] Of course, it is understandable that any other suitable camera placement scheme can be adopted.

[0034] In addition, the data acquisition module 102 may also include a variety of vehicle-mounted sensors, including but not limited to millimeter-wave radar, ultrasonic radar, lidar, pressure sensor, acceleration sensor, vehicle speed sensor, etc.

[0035] In one implementation, the data acquisition module 102 can acquire sensor data on the distance and speed parameters between the vehicle and obstacles in real time for subsequent collision warning and collision detection.

[0036] For example, the data acquisition module 102 can collect sensor data on the distance, relative speed, and vehicle speed between the vehicle and obstacles in real time for subsequent collision time calculation.

[0037] In another example, the data acquisition module 102 can acquire the vehicle's acceleration data in real time and perform subsequent collision detection based on the rate of change of acceleration.

[0038] The positioning module 104 can be used to determine the current location of the vehicle so that the accident location can be promptly sent to the contact person or rescue center in the event of an accident.

[0039] In one implementation, the positioning module 104 may be implemented as a Global Navigation Satellite System (GNSS) receiver. The GNSS receiver may be configured to receive and digitally process signals from navigation satellites (and / or other vehicles) to provide the receiver's positioning, speed, and time. The GNSS receiver may include hardware and / or software components.

[0040] The communication module 106 can be used to communicate with a linked contact (e.g., a contact in the communication software of a smartphone) or a rescue center to send a rescue request message. For example, the communication module 106 can be implemented as one or more wireless transceivers that transmit and receive data via various means, protocols, and standards. In some embodiments, the wireless transceiver can be configured to transmit via a short-range wireless communication protocol (e.g., (etc.) and / or via local area networks and / or wide area networks, and / or via cellular networks, and / or via any suitable wireless network to transmit and receive data messages and elements. Of course, it should be understood that these are merely examples of networks that can be utilized by the vehicle on the wireless link, and the subject matter claimed is not limited in this respect.

[0041] The collision warning module 108 can determine the collision time between the vehicle and each obstacle based on real-time sensor data, and activate the camera to capture pre-accident video when the collision time is less than a predetermined threshold (e.g., 3s) until an end event is triggered, which may include, for example, a collision, reaching a set time (e.g., 5 minutes), or the user actively stopping the recording (e.g., by pressing and holding a button located on the seat belt for 3s).

[0042] Subsequently, after filming ends (or is forcibly terminated), a first message including the filmed video and the vehicle's current location information can be sent to one or more bound contacts via communication module 106. For example, contacts may receive a brief notification tone, a yellow pop-up window, and a "View" button, as shown in the reference. Figure 5 As described.

[0043] In one implementation, the collision warning module 108 can calculate the collision time between the vehicle and the obstacle based on the distance, relative speed and vehicle speed between the vehicle and the obstacle, and can use the Kalman filter algorithm to optimize the collision time to obtain the final determined collision time.

[0044] The core idea of ​​the Kalman filter algorithm is to combine the system's state prediction with observation data and estimate the system's true state through mathematical optimization methods. By using the Kalman filter algorithm to optimize the calculated collision time, the predicted collision time can be made more accurate.

[0045] The collision detection module 110 can detect whether a vehicle has been involved in a collision based on the collected sensor data, and when a collision is detected, it activates the camera to capture accident video and perform vehicle fault diagnosis.

[0046] In one implementation, the collision detection module 110 can detect whether a collision has occurred based on whether the vehicle's rate of change of acceleration is abnormal (e.g., using collected acceleration data). Of course, it is understood that any other collision detection method known in the art can also be used to determine whether a collision has occurred (e.g., using a collision sensor).

[0047] The collision detection module 110 may include, for example, an electronic control unit (ECU), which, when a collision is detected, uses a Kalman filter algorithm to diagnose software faults, hardware faults, electronic and electrical faults, mechanical system faults, or communication faults of the vehicle. The fault diagnosis information obtained may include one or more of the following: fault type, fault severity, fault occurrence time, and fault cause.

[0048] Additionally, the collision detection module 110 can control the vehicle to deploy airbags or side curtain airbags when a collision is detected, as shown in the reference. Figure 3 Further description.

[0049] Subsequently, after filming concludes (e.g., at a set time), a second message can be sent to a contact or rescue center via communication module 106. This second message may include the filmed accident video, vehicle location information, and fault diagnosis information. For example, the contact may receive an alarm sound, a red SOS pop-up, and a "View" button, as per reference. Figure 6 As described.

[0050] In one embodiment, the second message may include, but is not limited to, information about the collision site of the vehicle, attitude information, damage level information, the nearest local police phone number to the accident site, etc., wherein the vehicle attitude information may include rollover, overturning, or upright.

[0051] User control module 112 may respond to user input by activating the camera to capture video of the vehicle's interior and exterior environment until a collision occurs, a predetermined time is reached (e.g., 5 minutes), or the user stops capturing video (e.g., by pressing and holding a button located on the seatbelt for 3 seconds), and then send a third message to a contact via the communication module, which may include the captured video and the vehicle's location information.

[0052] By manually triggering the system in this way, the failure of the aforementioned collision warning can be avoided. Additionally, the scenery along the way can be recorded and shared when no accident occurs.

[0053] In one embodiment, the user control module 112 may include user input mechanisms (e.g., buttons or virtual touch keys) that may be located on one or more of the seat belt, steering wheel, instrument panel, or center console. For example, in Figure 2-4 In the example, referring to scenarios 200-400, the user input mechanism is embedded in the seatbelt as button B, located below the camera. Pressing button B allows simultaneous control of both cameras being turned on and off. Of course, it is understood that any other suitable form can be used to configure the user input mechanism.

[0054] In one implementation, the communication module 106 can also send the aforementioned first, second, or third messages to contacts according to different levels of urgency, wherein, when no vehicle collision has been detected, the first or third message is sent at a lower level of urgency (e.g., refer to...). Figure 5 The 500 is marked in yellow), and when a vehicle collision is detected, a second message is sent at a higher level of urgency (e.g., reference). Figure 6 (The 600 is marked in red).

[0055] In one implementation, the communication module 106 can also determine whether the contact has viewed the message after sending the second message to the contact (e.g., by determining whether a confirmation of receipt has been received). If the contact has not viewed the message within a predetermined time period (e.g., 2 minutes), the message is sent to the rescue center (i.e., an alarm is automatically sent to the rescue center) (e.g., the accident location and fault diagnosis information can be repeatedly broadcast), thereby ensuring timely rescue.

[0056] Those skilled in the art will understand that the systems of the present invention can be implemented in hardware or software, and the systems can be combined or merged in any suitable manner.

[0057] Figure 7 An example flowchart of a hierarchically triggered accident early monitoring and recording method 700 according to an embodiment of the present invention is shown.

[0058] Method 700 begins at step S1, determining whether user input has been received (e.g., by pressing a button). Figure 2-4 (The button embedded in the seatbelt shown).

[0059] If so (i.e., user input is received), proceed to step S2 and turn on the camera (e.g., Figure 2-4 The two cameras shown are used to capture video of the environment inside and outside the vehicle until a collision occurs, a predetermined time is reached, or the user stops recording.

[0060] Subsequently, after the shooting is completed, a third message including the shot video and vehicle location information is sent to the contact in step S3, and the method continues to S8.

[0061] If not (i.e. no user input is received), proceed to step S4 to determine whether a collision has occurred (e.g., based on whether the rate of change of acceleration is abnormal).

[0062] If a collision occurs, proceed directly to S8.

[0063] If not (i.e., no collision has occurred), proceed to step S5 to determine whether a collision is about to occur (i.e., whether the collision time between the vehicle and the obstacle is less than a predetermined threshold (e.g., 3s)).

[0064] In a preferred embodiment, the Kalman filter algorithm can also be used to optimize the calculated collision time to obtain the final determined collision time.

[0065] If a collision is imminent, proceed to step S6, activate the camera to record video of the event before it occurs, or the predetermined time is reached, or the user stops recording. Otherwise, the method ends.

[0066] Subsequently, after the shooting is completed, a first message including the shot video and vehicle location information is sent to the contact in step S7, and the method continues to S8.

[0067] In step S8, when a vehicle collision is detected, the camera is activated to capture accident video and perform vehicle fault diagnosis.

[0068] Then in step S9, a second message is sent to the contact person via the communication module. The second message may include the captured video, vehicle location information, and fault diagnosis information.

[0069] In one implementation, when a vehicle collision is detected, a Kalman filter algorithm can be used to diagnose software faults, hardware faults, electronic and electrical faults, mechanical system faults, or communication faults of the vehicle. The fault diagnosis information may include one or more of the following: fault type, fault severity, fault occurrence time, and fault cause.

[0070] In one embodiment, the second message may also include information about the collision location of the vehicle (e.g., front, side, rear), posture information (e.g., rollover, overturned, upright), damage level information (e.g., minor, moderate, severe), and the nearest local police phone number to the accident site.

[0071] Subsequently, in step S10, it can be determined whether the contact has viewed the second message. If the contact has viewed the message, the method ends and the system can wait for the contact to call for help. If the contact has not viewed the second message within the predetermined time period, the second message is automatically sent to the rescue center in step S11 to request help.

[0072] In one implementation, the different messages mentioned above can be sent with different identifiers according to their urgency (e.g., a yellow pop-up appears in less urgent scenarios, and a red pop-up appears in urgent scenarios (e.g., an accident has occurred)).

[0073] Therefore, through the above method and process, it is possible to determine in real time whether a vehicle is about to collide or has already collided, and send the information recorded at the scene and the fault diagnosis to the contact person or rescue team immediately before and after the collision, thereby improving the accident survival rate and being able to preserve key accident evidence in a timely manner.

[0074] Figure 8 Another example architecture diagram of an accident early detection and recording system 800 according to an embodiment of the present invention is shown. System 800 can be configured to perform various methods described herein (including, for example, regarding...). Figure 7 The methods described cover all aspects.

[0075] like Figure 8As shown, system 800 may include one or more processors 802. The one or more processors 802 may include a central processing unit (CPU), which in some examples may be a multi-core CPU. Instructions executed at the CPU may be loaded, for example, from program memory associated with the CPU or from memory 804. The one or more processors 802 may also include additional processing components tailored for specific functions, such as a graphics processing unit (GPU), a digital signal processor (DSP), or a neural processing unit (NPU). In some examples, the one or more processors 802 may be based on the ARM or RISC-V instruction set.

[0076] System 800 also includes memory 804. Memory 804 may include RAM, ROM, or a combination thereof. Memory 804 may store computer-executable instructions that, when executed by at least one processor 802, cause the at least one processor to perform various functions described herein, including: acquiring sensor data in real time regarding distance and speed parameters between the vehicle and an obstacle; determining the current location of the vehicle; determining the collision time between the vehicle and the obstacle based on the acquired sensor data; activating a camera to capture pre-accident video when the collision time is less than a predetermined threshold, until a collision occurs, the predetermined time is reached, or the user stops recording; sending a first message to a linked contact including the captured video and the vehicle's location information; and activating the camera to capture accident video and perform vehicle fault diagnosis when a collision is detected based on sensor data; and sending a second message to a contact or rescue center including the captured video, the vehicle's location information, and fault diagnosis information. In some cases, memory 804 may particularly include a BIOS that controls basic hardware or software operations, such as interaction with peripheral components or devices.

[0077] Understandable. Figure 8 This is merely one example of a system, and other systems with fewer, additional, or alternative aspects may also be consistent with this disclosure.

[0078] Furthermore, the present invention also discloses a vehicle that supports early accident monitoring and recording, which may include the aforementioned early accident monitoring and recording system 100.

[0079] In addition, this application also discloses a computer-readable storage medium including computer-executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the methods of the embodiments described herein.

[0080] Additionally, this application discloses an apparatus including a processor and a memory storing computer-executable instructions that, when executed by the processor, cause the processor to perform the methods of the embodiments described herein.

[0081] The various illustrative blocks and modules described herein can be implemented or executed using a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices (e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors working in conjunction with a DSP core, or any other such configuration).

[0082] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored or transmitted as one or more instructions or code on a computer-readable medium. Other examples and implementations fall within the scope of this disclosure and the appended claims. For example, due to the nature of software, the functions described herein can be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Features implementing the functions can also be physically located in various locations, including being distributed such that different parts of the function are implemented at different physical locations.

[0083] The foregoing description includes examples of various aspects of the claimed subject matter. It is certainly impossible to describe every conceivable combination of components or methods for the purpose of depicting the claimed subject matter, but those skilled in the art will recognize that many further combinations and arrangements of the claimed subject matter are possible. Thus, the disclosed subject matter is intended to cover all such changes, modifications, and variations that fall within the spirit and scope of the appended claims.

Claims

1. A vehicle accident early detection and recording system, the system comprising: The data acquisition module includes a camera for capturing images of the environment inside and outside the vehicle, and is configured to acquire sensor data in real time regarding the distance and speed parameters between the vehicle and obstacles. A positioning module, configured to determine the current location of the vehicle; A communication module for communicating with the linked contact person or rescue center; Collision warning module, the collision warning module is configured to: The collision time between the vehicle and the obstacle is determined based on the collected sensor data; and When the collision time is less than a predetermined threshold, the camera is activated to capture video of the event preceding it, until a collision occurs, the predetermined time is reached, or the user stops recording; and The first message, which includes the captured video and the vehicle's location information, is sent to the contact via the communication module. The collision detection module is configured to: The system detects whether a collision has occurred based on the collected sensor data. When a collision is detected with the vehicle, the camera is activated to capture accident video and perform vehicle fault diagnosis. as well as A second message is sent to the contact person or rescue center via the communication module. The second message includes the captured video, the vehicle's location information, and fault diagnosis information.

2. The system as described in claim 1, characterized in that, The system further includes a user control module, which is configured to: In response to user input, the camera is activated to capture video of the vehicle's interior and exterior environment until a collision occurs, a predetermined time is reached, or the user stops recording; and A third message is sent to the contact via the communication module. The third message includes the captured video and the vehicle's location information.

3. The system as described in claim 2, characterized in that, The user control module includes a user input mechanism, which is disposed on one or more of the seat belt, steering wheel, instrument panel, or center console.

4. The system as described in claim 1, characterized in that, The camera is positioned on one or more of the driver's seatbelt or the left B-pillar of the driver's side.

5. The system as described in claim 1, characterized in that, Determining the collision time between the vehicle and the obstacle based on the collected sensor data further includes: The collision time between the vehicle and the obstacle is calculated based on the distance between the vehicle and the obstacle, their relative speed, and the vehicle's speed; and The Kalman filter algorithm is used to optimize the collision time to obtain the final determined collision time.

6. The system as described in claim 1, characterized in that, Detecting whether a collision has occurred based on the collected sensor data further includes: The system detects whether a collision has occurred by judging whether the vehicle's rate of acceleration change is abnormal.

7. The system as described in claim 1, characterized in that, Fault diagnosis upon detection of a collision involving the vehicle further includes: When a collision is detected in the vehicle, the Kalman filter algorithm is used to diagnose software faults, hardware faults, electronic and electrical faults, mechanical system faults, or communication faults of the vehicle. The fault diagnosis information includes one or more of the following: fault type, fault severity, fault occurrence time, and fault cause.

8. The system as described in claim 2, characterized in that, The communication module is further configured to: The first message, the second message, or the third message are sent to the contact at different levels of urgency, wherein a lower level of urgency is used when no collision has been detected with the vehicle, and a higher level of urgency is used when a collision has been detected with the vehicle.

9. The system as described in claim 1, characterized in that, The second message further includes one or more of the following: the collision location of the vehicle, the vehicle's posture information, the extent of damage to the vehicle, and the nearest local police phone number to the accident site, wherein the vehicle's posture information includes whether it is overturned, overturned on its back, or upright.

10. The system as claimed in claim 1, characterized in that, The communication module is further configured to: After sending the second message to the contact, determine whether the contact has viewed the second message; If the contact person does not view the second message within the predetermined time period, the second message will be sent to the rescue center.

11. A method for early accident monitoring and recording of vehicles, the method comprising: Real-time acquisition of sensor data regarding the distance and speed parameters between the vehicle and obstacles; Determine the current location of the vehicle; The collision time between the vehicle and the obstacle is determined based on the collected sensor data; When the collision time is less than a predetermined threshold, The camera is activated to record video before the accident, until a collision occurs, a predetermined time is reached, or the user stops recording. Send a first message to the linked contact, including the captured video and the vehicle's location information; as well as When a collision is detected in the vehicle based on the sensor data The camera is activated to capture accident videos and perform vehicle fault diagnosis. A second message is sent to the contact person or rescue center, including the video footage, the vehicle's location information, and fault diagnosis information.

12. The method as described in claim 11, characterized in that, The method further includes: In response to user input, the camera is activated to capture video of the vehicle's interior and exterior environment until a collision occurs, a predetermined time is reached, or the user stops recording; and A third message including the captured video and the vehicle's location information is sent to the contact.

13. A vehicle that supports early accident monitoring and recording, said vehicle comprising an early accident monitoring and recording system as claimed in any one of claims 1-10.

14. An accident early detection and recording device for vehicles, comprising: processor; as well as A memory coupled to the processor stores processor-executable instructions that, when executed by the processor, cause the processor to perform the method as described in any one of claims 11-12.

15. A computer-readable storage medium storing instructions that, when executed, cause a vehicle to perform the method as described in any one of claims 11-12.

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