Active safety control method, device, controller and system for vehicle and vehicle

Abstract

The invention provides an active safety control method, device, controller and system for a vehicle and the vehicle, and the method comprises the steps that when a steering control instruction is triggered, vehicle driving information is obtained, and the vehicle driving information comprises a steering wheel rotation angle measurement value, a vehicle speed value, vehicle braking information and vehicle acceleration information; judging whether the vehicle has a preset-grade hidden danger according to the vehicle driving information; and executing a potential safety hazard avoidance strategy corresponding to the preset-level potential hazard when the vehicle is judged to have the preset-level potential hazard. According to the method, based on the vehicle driving information, potential safety hazards occurring in the vehicle driving process can be recognized in advance, so that a coping strategy can be determined before the potential safety hazards actually occur, the potential safety hazard occurrence possibility is reduced, the purposes of eliminating the potential safety hazards in advance and vehicle active safety are achieved, and powerful guarantee is provided for vehicle driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle driving safety, in particular to an active safety method, device, controller, system and vehicle for a vehicle. BACKGROUND

[0002] Under the background of the continuous development of current automobile safety driving technology, the current mainstream automobile safety systems, such as anti-lock braking system (ABS), traction control system (TCS) and electronic stability control system (ESC) and the like, although can take appropriate remedial measures when dangerous conditions such as rollover occur, however, due to the existence of certain delay in system response, limited accuracy of working condition judgment and other factors, there may still be a situation of not timely remediation, thereby causing vehicle accidents and posing a serious threat to the personal safety of vehicle users. SUMMARY

[0003] The present application provides a method, device, controller, system and vehicle for active safety control of a vehicle to solve the above technical problems in the prior art.

[0004] According to a first aspect of the present application, an active safety control method for a vehicle is provided, the method comprising: acquiring vehicle driving information when a steering control instruction is triggered, the vehicle driving information comprising: a steering wheel angle measurement value, a vehicle speed value, vehicle braking information and vehicle acceleration information; determining whether the vehicle has a preset level of hidden danger according to the vehicle driving information; and executing a safety hidden danger avoidance strategy corresponding to the preset level of hidden danger when it is determined that the vehicle has a preset level of hidden danger.

[0005] According to a second aspect of the present application, an active safety control device for a vehicle is provided, the device comprising: an information acquisition unit configured to acquire vehicle driving information when a steering control instruction is triggered, the vehicle driving information comprising: a steering wheel angle measurement value, a vehicle speed value, vehicle braking information and vehicle acceleration information; a determination unit configured to determine whether the vehicle has a preset level of hidden danger according to the vehicle driving information; and an execution strategy unit configured to execute a safety hidden danger avoidance strategy corresponding to the preset level of hidden danger when it is determined that the vehicle has a preset level of hidden danger.

[0006] According to a third aspect of the present application, a vehicle controller is provided, the vehicle controller comprising: a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the steps of any of the active safety control methods for a vehicle described above.

[0007] According to a fourth aspect of the present application, an active safety control system for a vehicle is provided, comprising a vehicle controller, which implements any of the active safety control methods for a vehicle described above.

[0008] According to a fifth aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the steps of any of the active safety control methods for a vehicle.

[0009] In summary, the active safety control method, device, controller, system and vehicle provided by the present application have at least the following beneficial effects: when the steering control instruction is triggered, the vehicle driving information is used to determine whether the vehicle has a preset level of hidden danger, so that the safety hidden danger occurring during the driving of the vehicle can be identified in advance. In addition, when it is determined that the vehicle has a preset level of hidden danger, the safety hidden danger avoidance strategy corresponding to the preset level of hidden danger is executed, so that the coping strategy can be determined before the safety hidden danger actually occurs, the possibility of occurrence of the safety hidden danger is effectively reduced, the safety hidden danger is eliminated in advance, the purpose of active safety of the vehicle is achieved, and strong guarantee is provided for the driving safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings used in the specific embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings or solutions according to these drawings without creative labor.

[0011] Figure 1 A schematic diagram of the framework of an active safety control system for a vehicle provided by an embodiment of the present application is shown in the figure. Figure 2 A flowchart of an active safety control method for a vehicle provided by an embodiment of the present application is shown in the figure. Figure 3 A structural schematic diagram of an active safety control device for a vehicle provided by an embodiment of the present application is shown in the figure. Figure 4 A structural schematic diagram of a vehicle controller provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0012] In order to make the above and other features and advantages of the present application clearer, the present application will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explanation and are only exemplary, but are not limiting.

[0013] In the following description, numerous specific details are set forth to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details. In other instances, well-known steps or operations are not described in detail in order to avoid obscuring the present application.

[0014] One aspect of the present application provides an active safety control system for a vehicle, which can be configured in a vehicle controller 11. Figure 1 As shown in the figure, the active safety control system includes, but is not limited to, the vehicle controller 11, a motor controller 12, a steering wheel angle sensor 13, a vehicle speed sensor 14, a first displacement sensor 15, and a second displacement sensor 16.

[0015] As shown in the figure, the vehicle controller 11 communicates with the steering wheel angle sensor 13, the vehicle speed sensor 14, the first displacement sensor 15, and the second displacement sensor 16 to obtain vehicle driving information and trigger steering control instructions. Figure 1

[0016] The vehicle controller 11 also communicates with the motor controller 12 to control the motor driving motor to adjust the vehicle speed through the motor controller 12.

[0017] In an embodiment of the present application, the steering wheel angle sensor 13 can be arranged in the steering column connected to the steering wheel to measure the steering wheel rotation angle to obtain the steering wheel angle measurement value. The vehicle speed sensor 14 can be arranged on the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel of the vehicle to measure the vehicle speed. The first displacement sensor 15 can be arranged on the brake pedal to detect the structural change of the brake pedal to obtain the vehicle braking information, and the second displacement sensor 16 can be arranged on the accelerator pedal to detect the structural change of the accelerator pedal to obtain the vehicle acceleration information.

[0018] It should be noted that in an embodiment of the present application, the vehicle controller 11 and the motor controller 12 can be arranged separately or integrated together to form a domain controller.

[0019] In an embodiment of the present application, the vehicle controller 11 can execute the active safety method for a vehicle provided by any embodiment of the present application. In this way, the active safety control system can identify the vehicle safety risk in advance and in a timely manner, determine the coping strategy before the safety hazard actually occurs, reduce the possibility of the occurrence of the safety hazard, achieve the purpose of eliminating the safety hazard in advance and vehicle active safety, and provide strong guarantee for vehicle driving safety.

[0020] Another aspect of the present application provides an active safety control method for a vehicle, which can be executed by the active safety control device for a vehicle provided by the embodiments of the present application. The device can be configured in the vehicle controller 11. ​

[0021] As Figure 2 shown, the active safety control method includes the following steps.

[0022] S21, when a steering control instruction is triggered, vehicle driving information is acquired.

[0023] The vehicle driving information involved in an embodiment of the present application includes a steering wheel angle measurement value, a vehicle speed value, vehicle braking information, and vehicle acceleration information. The vehicle speed value can be a speed value at a certain time or an average speed value in a certain time period. The vehicle braking information is used to determine whether a vehicle user has performed a braking operation, and the vehicle acceleration information is used to determine whether a vehicle user has performed an acceleration operation.

[0024] In an embodiment of the present application, the active safety control device receives the steering wheel angle measurement value, and triggers a steering control instruction when the steering wheel angle is not 0. The steering control instruction is used to instruct the motor controller to control the vehicle to steer based on the steering wheel angle measurement value. At this time, the vehicle has not performed steering.

[0025] S22, determining whether the vehicle has a preset level of hidden danger according to the vehicle driving information.

[0026] The preset level of hidden danger involved in an embodiment of the present application can refer to a safety hidden danger that is pre-established and set and can cause an accident of a vehicle user.

[0027] Whether the vehicle has a preset level of hidden danger refers to whether the safety hidden danger of the vehicle is a preset level of hidden danger.

[0028] In an embodiment of the present application, the active safety control device analyzes the vehicle driving information, determines whether the vehicle has a safety hidden danger, and quantitatively classifies the safety hidden danger to determine whether the safety hidden danger is a preset level of hidden danger.

[0029] In an embodiment of the present application, the safety hidden danger can be divided into multiple levels according to industry standards, and the safety hidden danger according to the level division can include but is not limited to a zero-level safety hidden danger, a first-level safety hidden danger, and a second-level safety hidden danger. The zero-level safety hidden danger represents a low safety risk, i.e., the vehicle does not have any safety hidden danger or has a safety hidden danger that causes a minor accident. The first-level safety hidden danger represents a medium safety risk, i.e., the vehicle has a safety hidden danger that causes a rollover. The second-level safety hidden danger represents a high safety risk, i.e., the vehicle has a safety hidden danger that causes a rollover.

[0030] In an embodiment of the present application, the preset level of hidden danger can include but is not limited to the first-level safety hidden danger and the second-level safety hidden danger.

[0031] S23, in a case where it is determined that the vehicle has a preset level of hidden danger, a safety hidden danger avoidance strategy corresponding to the preset level of hidden danger is executed.

[0032] The safety hazard avoidance strategy involved in an embodiment of the present application can be a strategy for avoiding a safety hazard corresponding to a safety hazard level. That is, by executing the safety hazard avoidance strategy, the safety hazard of the vehicle can be avoided, and the probability of an accident can be reduced.

[0033] It should be noted that different preset levels of hazards correspond to different safety hazard avoidance strategies.

[0034] In an embodiment of the present application, after the vehicle active safety control device determines that the vehicle has a preset level of hazard, the strategy library is searched, a safety hazard avoidance strategy matching the preset level of hazard is determined, and other components of the vehicle are controlled according to the safety hazard strategy to perform avoidance actions.

[0035] In this way, the safety hazard of the vehicle can be eliminated before the vehicle performs a steering action, the safety of the vehicle can be ensured, and the purpose of vehicle active safety can be achieved.

[0036] The present applicant has long been engaged in vehicle safety research and has made a key discovery in actual work: vehicle safety is not determined by isolated factors, but is closely related to vehicle operating core parameters such as vehicle speed, vehicle steering angle, and vehicle acceleration. Moreover, the braking and acceleration operations of the vehicle user are also key variables affecting vehicle safety. Especially when the vehicle is in a high-speed driving state, the influence of the above factors on vehicle safety is dramatically amplified.

[0037] Therefore, in some embodiments of the present application, S22, determining whether the vehicle has a preset level of hazard according to vehicle driving information can include: comparing the vehicle speed value with the vehicle speed threshold to obtain a first comparison result; comparing the steering wheel rotation angle measurement value with the rotation angle threshold to obtain a second comparison result; determining whether the vehicle has a braking operation according to vehicle braking information to obtain a first determination result; determining whether the vehicle has an acceleration operation according to vehicle acceleration information to obtain a second determination result; and determining whether the vehicle has a preset level of hazard based on the first comparison result, the second comparison result, the first determination result, and the second determination result.

[0038] The vehicle speed threshold and the rotation angle threshold involved in an embodiment of the present application are used to determine the level of the safety hazard of the vehicle, and can be determined according to the process parameters of the vehicle itself.

[0039] The first comparison result involved in an embodiment of the present application is used to indicate whether the vehicle speed value is greater than the vehicle speed threshold. The second comparison result is used to indicate whether the steering wheel rotation angle measurement value is greater than the rotation angle threshold. The first determination result is used to indicate whether the vehicle has a braking operation. The second determination result is used to indicate whether the vehicle has an acceleration operation.

[0040] In an embodiment of the present application, the vehicle speed threshold value can include a plurality of different vehicle speed values, each corresponding to a safety risk level. The steering angle threshold value can include a plurality of different steering angle values, each corresponding to a safety risk level.

[0041] In some embodiments described above, by comparing the vehicle speed value with the vehicle speed threshold value, comparing the steering angle measurement value with the steering angle threshold value, and combining the judgment of the vehicle braking and acceleration information, various potential risk factors during vehicle driving can be comprehensively and accurately captured. Based on the comparison results and judgment results in multiple dimensions, the safety risk level can be determined to quickly and timely identify the safety risks in different working conditions and determine whether the safety risk is a preset level risk, thereby meeting the safety risk judgment needs in different working conditions, providing early warning for vehicle users, effectively reducing the probability of accidents, and significantly improving the overall safety factor of vehicle driving.

[0042] In some embodiments of the present application, the vehicle speed threshold value includes but is not limited to a first vehicle speed threshold value and a second vehicle speed threshold value, and the steering angle threshold value can include a first steering angle threshold value and a second steering angle threshold value.

[0043] In an embodiment of the present application, the first vehicle speed threshold value is calculated using the following formula (1), (1) wherein, is the first vehicle speed threshold value, g is the acceleration of gravity, B is the wheelbase of the vehicle, hg is the height of the center of gravity of the vehicle, L is the front and rear wheelbase, a is the steering angle measurement value, and i is the steering transmission ratio.

[0044] In an embodiment of the present application, the difference between the second vehicle speed threshold value and the first vehicle speed threshold value is not less than a preset vehicle speed difference, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value. Optionally, the preset vehicle speed difference is not less than 5 kilometers per hour.

[0045] In an embodiment of the present application, the first steering angle threshold value is calculated using the following formula (2), (2) wherein, is the first steering angle threshold value, g is the acceleration of gravity, B is the wheelbase of the vehicle, hg is the height of the center of gravity of the vehicle, L is the front and rear wheelbase, v is the vehicle speed value, and i is the steering transmission ratio.

[0046] In an embodiment of the present application, the difference between the second steering angle threshold value and the first steering angle threshold value is not less than a preset steering angle difference, and the second steering angle threshold value is greater than the first steering angle threshold value. Optionally, the preset steering angle difference is not less than 5 degrees.

[0047] In some embodiments of the present application, based on the first comparison result, the second comparison result, the first determination result and the second determination result, it is determined whether the vehicle has a preset level of hidden danger, comprising: when the first comparison result is that the vehicle speed value is greater than the first speed threshold, the second comparison result is that the steering wheel angle measurement value is greater than the first angle threshold, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation, it is determined that the vehicle has a first level of safety hidden danger.

[0048] In an embodiment of the present application, the vehicle speed value greater than the first speed threshold indicates that the vehicle is in a non-low speed state. The steering wheel angle measurement value greater than the first angle threshold indicates that the future steering angle of the vehicle belongs to a non-small angle category.

[0049] That is, when the vehicle speed value is greater than the first speed threshold, the steering wheel angle measurement value is greater than the first angle threshold, and the vehicle has no braking operation, or when the vehicle speed value is greater than the first speed threshold, the steering wheel angle measurement value is greater than the first angle threshold, and the vehicle has an acceleration operation, it can be determined that, under the current vehicle working condition, if the vehicle steers according to the steering wheel angle measurement value, the vehicle may have a rollover risk. Therefore, it is determined that the safety hidden danger matched with the vehicle working condition is a first level of safety hidden danger, and it is determined that the vehicle has a preset level of hidden danger.

[0050] In some embodiments of the present application, based on the first comparison result, the second comparison result, the first determination result and the second determination result, it is determined whether the vehicle has a preset level of hidden danger, comprising: when the first comparison result is that the vehicle speed value is greater than the second speed threshold, the second comparison result is that the steering wheel angle measurement value is greater than the second angle threshold, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation, it is determined that the vehicle has a second level of safety hidden danger.

[0051] In an embodiment of the present application, the vehicle speed value greater than the second speed threshold indicates that the vehicle is in a high speed state. The steering wheel angle measurement value greater than the first angle threshold indicates that the future steering angle of the vehicle belongs to a large angle category.

[0052] That is, when the vehicle speed value is greater than the second speed threshold, the steering wheel angle measurement value is greater than the second angle threshold, and the vehicle has no braking operation, or when the vehicle speed value is greater than the second speed threshold, the steering wheel angle measurement value is greater than the second angle threshold, and the vehicle has an acceleration operation, it can be determined that, under the current vehicle working condition, if the vehicle steers according to the steering wheel angle measurement value, the vehicle may have a rollover risk. Therefore, it is determined that the level of safety hidden danger matched with the vehicle working condition is a second level of safety hidden danger, and it is determined that the vehicle has a preset level of hidden danger.

[0053] In some embodiments of the present application, when the first comparison result, the second comparison result, the first determination result and the second determination result do not satisfy the determination condition of the first-level safety hazard and the determination condition of the second-level safety hazard, it is determined that the vehicle has a zero-level safety hazard.

[0054] In some embodiments of the present application, the safety hazard avoidance strategy can include but is not limited to the first-level safety hazard avoidance strategy and the second-level safety hazard avoidance strategy.

[0055] In one of the embodiments, the first-level safety hazard avoidance strategy sends a torque limiting instruction to the motor controller of the vehicle to limit the output of the vehicle torque and reduce the vehicle speed.

[0056] In one of the embodiments, the second-level safety hazard avoidance strategy includes: sending a torque limiting instruction to the motor controller of the vehicle to limit the output of the vehicle torque and reduce the vehicle speed, or starting an emergency braking function to stop the vehicle, and sending an alarm instruction to control the vehicle alarm system to alarm the abnormal state of the vehicle.

[0057] In one of the embodiments, the second-level safety hazard avoidance strategy further includes: when it is detected that the vehicle is in automatic driving or auxiliary driving, exiting the automatic driving or auxiliary driving.

[0058] In one embodiment of the present application, S23, in the case where it is determined that the vehicle has a preset level hazard, a safety hazard avoidance strategy corresponding to the preset level hazard is executed, including: in the case where it is determined that the vehicle has a first-level safety hazard, a first-level safety hazard avoidance strategy is executed.

[0059] In this way, by executing the first-level safety hazard avoidance strategy corresponding to the first-level safety hazard, the risk of vehicle rollover can be reduced when the vehicle is not driving at low speed and will make a non-small angle turn in the future.

[0060] In one embodiment of the present application, S23, in the case where it is determined that the vehicle has a preset level hazard, a safety hazard avoidance strategy corresponding to the preset level hazard is executed, including: in the case where the vehicle has a second-level safety hazard, a second-level safety hazard avoidance strategy is executed.

[0061] In this way, by executing the second-level safety hazard avoidance strategy corresponding to the second-level safety hazard, the risk of vehicle rollover can be reduced when the vehicle is driving at high speed and will make a large angle turn in the future.

[0062] One aspect of the present application provides an active safety control device for a vehicle, as shown in the accompanying drawings, the active safety control device comprises: an information acquisition unit 310, a determination unit 320 and an execution strategy unit 330. Figure 3

[0063] ​The information acquisition unit 310 is configured to acquire vehicle driving information when the steering control instruction is triggered, the vehicle driving information comprising a steering wheel angle measurement value, a vehicle speed value, vehicle braking information, and vehicle acceleration information.

[0064] The determination unit 320 is configured to determine whether the vehicle has a preset level of hidden danger according to the vehicle driving information.

[0065] The execution strategy unit 330 is configured to execute a safety hidden danger avoidance strategy corresponding to the preset level of hidden danger when it is determined that the vehicle has the preset level of hidden danger.

[0066] In the above embodiment, when the steering control instruction is triggered, the vehicle driving information is used to determine whether the vehicle has a preset level of hidden danger, so that the safety hidden danger occurring during vehicle driving can be identified in advance. When it is determined that the vehicle has the preset level of hidden danger, the safety hidden danger avoidance strategy corresponding to the preset level of hidden danger is executed, so that the coping strategy can be determined before the safety hidden danger actually occurs, the possibility of the safety hidden danger is effectively reduced, the safety hidden danger is eliminated in advance, and the purpose of active safety of the vehicle is achieved, thereby providing strong guarantee for the safety of the vehicle driving.

[0067] In some embodiments of the present application, the determination unit 320 is configured to compare the vehicle speed value with a vehicle speed threshold value to obtain a first comparison result, compare the steering wheel angle measurement value with an angle threshold value to obtain a second comparison result, determine whether the vehicle has a braking operation according to the vehicle braking information to obtain a first determination result, determine whether the vehicle has an acceleration operation according to the vehicle acceleration information to obtain a second determination result, and determine whether the vehicle has a preset level of hidden danger based on the first comparison result, the second comparison result, the first determination result, and the second determination result.

[0068] In one of the embodiments, the determination unit 320 is specifically configured to determine that the vehicle has a first level of safety hidden danger when the first comparison result is that the vehicle speed value is greater than a first vehicle speed threshold value, the second comparison result is that the steering wheel angle measurement value is greater than a first angle threshold value, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation.

[0069] In one of the embodiments, the determination unit 320 is specifically configured to determine that the vehicle has a second level of safety hidden danger when the first comparison result is that the vehicle speed value is greater than a second vehicle speed threshold value, the second comparison result is that the steering wheel angle measurement value is greater than a second angle threshold value, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation; wherein a difference between the second vehicle speed threshold value and the first vehicle speed threshold value is not less than a preset vehicle speed difference, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value; a difference between the second angle threshold value and the first angle threshold value is not less than a preset angle difference, and the second angle threshold value is greater than the first angle threshold value.

[0070] In one embodiment, the execution strategy unit 330 is configured to execute a first-level safety hazard avoidance strategy when it is determined that the vehicle has a first-level safety hazard; wherein the first-level safety hazard avoidance strategy comprises sending a torque limiting instruction to a motor controller of the vehicle to limit the torque output of the vehicle and reduce the vehicle speed.

[0071] In one embodiment, the execution strategy unit 330 is configured to execute a second-level safety hazard avoidance strategy when it is determined that the vehicle has a second-level safety hazard; wherein the second-level safety hazard avoidance strategy comprises sending a torque limiting instruction to a motor controller of the vehicle to limit the torque output of the vehicle and reduce the vehicle speed, or starting an emergency braking function to stop the vehicle, and sending an alarm instruction to control the vehicle alarm system to alarm the abnormal state of the vehicle; and further comprising exiting the automatic driving or the assisted driving when it is detected that the vehicle is in the automatic driving or the assisted driving.

[0072] It should be understood that the specific features, operations and details described above with respect to the method of the present application can be similarly applied to the apparatus and system of the present application, or vice versa. In addition, each step of the method of the present application described above can be performed by the corresponding component or unit of the apparatus or system of the present application.

[0073] It should be understood that each module / unit of the apparatus of the present application can be implemented in whole or in part by software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in a processor of the electronic device in hardware or firmware form, or independent of the processor, or in software form stored in a memory of the electronic device for being invoked by the processor to perform the operations of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module.

[0074] In yet another aspect, the present application provides a vehicle controller, such as Figure 4 As shown, the vehicle controller 400 includes a processor 401 and a memory 402 storing computer program instructions. When the processor 401 executes the computer program instructions, each step of the active control method for a vehicle described above is implemented. The vehicle controller 400 can be a server, a terminal, or any other vehicle controller with necessary computing and / or processing capabilities.

[0075] In one embodiment, the vehicle controller 400 can include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the vehicle controller 400 can be configured to provide necessary computing, processing and / or control capabilities. The memory of the vehicle controller 400 can include a non-volatile storage medium and an internal memory. The non-volatile storage medium can store an operating system, a computer program, etc. The internal memory can provide an environment for running of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the vehicle controller 400 can be configured to connect and communicate with external devices through a network. The computer program, when executed by the processor, performs the steps of the method of the present application.

[0076] In addition, the present application provides a computer readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the active safety control method for a vehicle described above.

[0077] Those skilled in the art can understand that the steps of the method of the present application can be instructed by a computer program to relevant hardware such as the vehicle controller 400 or the processor, and the computer program can be stored in a non-transitory computer readable storage medium, and the computer program, when executed, causes the steps of the present application to be executed. According to the circumstances, any reference to a memory, storage or other medium herein can include a non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0078] The technical features described above can be combined in any way. Although not all possible combinations of the technical features are described, any combination of the technical features should be considered as covered by the present specification, as long as such a combination does not result in a contradiction.

[0079] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An active safety control method for a vehicle, characterized by, The method comprises: When triggering the steering control instruction, acquiring vehicle driving information, the vehicle driving information comprising: a steering wheel angle measurement value, a vehicle speed value, vehicle braking information and vehicle acceleration information; According to the vehicle driving information, determining whether the vehicle has a preset level of hidden danger; In the case where it is determined that the vehicle has a preset level of hidden danger, executing a safety hidden danger avoidance strategy corresponding to the preset level of hidden danger.

2. The method of claim 1, wherein, The determination of whether the vehicle has a preset level of hidden danger according to the vehicle driving information comprises: comparing the vehicle speed value with a vehicle speed threshold value to obtain a first comparison result; comparing the steering wheel angle measurement value with a steering angle threshold value to obtain a second comparison result; determining whether the vehicle has a braking operation according to the vehicle braking information to obtain a first determination result; determining whether the vehicle has an acceleration operation according to the vehicle acceleration information to obtain a second determination result; based on the first comparison result, the second comparison result, the first determination result and the second determination result, determining whether the vehicle has a preset level of hidden danger.

3. The method of claim 2, wherein, The preset level of hidden danger comprises a first level of safety hidden danger, the vehicle speed threshold value comprises a first vehicle speed threshold value, the steering angle threshold value comprises a first steering angle threshold value, and the determination of whether the vehicle has a preset level of hidden danger based on the first comparison result, the second comparison result, the first determination result and the second determination result comprises: when the first comparison result is that the vehicle speed value is greater than the first vehicle speed threshold value, the second comparison result is that the steering wheel angle measurement value is greater than the first steering angle threshold value, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation, it is determined that the vehicle has a first level of safety hidden danger; the first vehicle speed threshold value is calculated by using formula (1) as follows, （1） wherein, is a first vehicle speed threshold, g is the acceleration due to gravity, B is the wheel base of the vehicle, hg is the height of the center of gravity of the vehicle, L is the wheel base of the vehicle, a is the steering wheel angle measurement, and i is the steering transmission ratio. the first steering angle threshold value is calculated by using formula (2) as follows, （2） wherein, is a first cornering threshold, g is the acceleration of gravity, B is the wheel base of the vehicle, hg is the height of the center of gravity of the vehicle, L is the wheel base of the vehicle, v is the vehicle speed value, and i is the steering transmission ratio.

4. The method according to claim 2 or 3, characterized in that, The preset level of hidden danger comprises a second level of safety hidden danger, the vehicle speed threshold value comprises a second vehicle speed threshold value, the steering angle threshold value comprises a second steering angle threshold value, and the determination of whether the vehicle has a preset level of hidden danger comprises: when the first comparison result is that the vehicle speed value is greater than the second vehicle speed threshold value, the second comparison result is that the steering wheel angle measurement value is greater than the second steering angle threshold value, and the first determination result is that the vehicle has no braking operation or the second determination result is that the vehicle has an acceleration operation, it is determined that the vehicle has a second level of safety hidden danger; wherein the difference between the second vehicle speed threshold value and the first vehicle speed threshold value is not less than a vehicle speed preset difference value, and the second vehicle speed threshold value is greater than the first vehicle speed threshold value; the difference between the second steering angle threshold value and the first steering angle threshold value is not less than a steering angle preset difference value, and the second steering angle threshold value is greater than the first steering angle threshold value.

5. The method of claim 1, wherein, The safety hidden danger avoidance strategy comprises a first level of safety hidden danger avoidance strategy, and the execution of the safety hidden danger avoidance strategy corresponding to the preset level of hidden danger in the case where it is determined that the vehicle has a preset level of hidden danger comprises: In a case where it is judged that the vehicle has a first-level safety hazard, a first-level safety hazard avoidance strategy is executed; wherein the first-level safety hazard avoidance strategy comprises: sending a torque limiting instruction to a motor controller of the vehicle to limit the whole vehicle torque output and reduce the vehicle speed.

6. The method according to claim 1 or 5, characterized in that, The safety hazard avoidance strategy comprises a second-level safety hazard avoidance strategy. The execution of the safety hazard avoidance strategy corresponding to the preset level hazard in a case where it is judged that the vehicle has the preset level hazard comprises: In a case where it is judged that the vehicle has a second-level safety hazard, a second-level safety hazard avoidance strategy is executed; wherein the second-level safety hazard avoidance strategy comprises: sending a torque limiting instruction to a motor controller of the vehicle to limit the whole vehicle torque output and reduce the vehicle speed, or starting an emergency braking function to stop the vehicle, and sending an alarm instruction to alarm the vehicle abnormal state.

7. An active safety control device for a vehicle, characterized by comprising: Comprise: An information acquisition unit is configured to acquire vehicle driving information when a steering control instruction is triggered, the vehicle driving information comprising: a steering wheel angle measurement value, a vehicle speed value, vehicle braking information, and vehicle acceleration information; A judgment unit is configured to judge whether the vehicle has a preset level hazard according to the vehicle driving information; An execution strategy unit is configured to execute a safety hazard avoidance strategy corresponding to the preset level hazard in a case where it is judged that the vehicle has the preset level hazard.

8. A vehicle control unit comprising a memory and a processor, said memory having computer instructions stored thereon, characterized in that, The computer instructions, when executed by the processor, perform the steps of the method for active safety control of a vehicle according to any one of claims 1-6.

9. An active safety control system for a vehicle, characterized by, The vehicle controller according to claim 8.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, performs the steps of the method for active safety control of a vehicle according to any one of claims 1-6. The computer program, when executed by the processor, performs the steps of the method for active safety control of a vehicle according to any one of claims 1-6.

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