Micro-collision detection method and device, vehicle, electronic equipment and readable storage medium

Abstract

The embodiment of the invention discloses a micro-collision detection method and device, a vehicle, electronic equipment and a readable storage medium. The method comprises the steps that sound signals collected by sound collectors arranged at different positions of the vehicle are acquired; determining a sound source position in response to an intersection between the frequency range of the sound signal and a preset inherent frequency band; and in response to the sound source position on the surface of the vehicle, determining that the vehicle has micro-collision. Therefore, in the embodiment, the vehicle micro-collision is detected according to the frequency range of the collected sound signal and the determined sound source position, and the accuracy of micro-collision detection can be improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a micro-collision detection method, device, vehicle, electronic device, and readable storage medium. Background Technology

[0002] A collision refers to a scrape or impact that occurs between a vehicle and other road users while the vehicle is stationary or in use, and is not sufficient to trigger the onboard restraint system's detection or airbag ignition.

[0003] Current micro-collision recognition and sensing are usually achieved through a sensing system formed by combining various sensors. However, such micro-collision detection sensing systems have a high false recognition rate, and the accuracy of micro-collision detection still needs to be improved. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a micro-collision detection method, apparatus, vehicle, electronic device, and readable storage medium to improve the accuracy of micro-collision detection.

[0005] In a first aspect, embodiments of the present invention aim to provide a micro-collision detection method, the method comprising:

[0006] Acquire sound signals based on sound acquisition devices set up at different locations in the vehicle;

[0007] The location of the sound source is determined in response to the intersection between the frequency range of the sound signal and a preset inherent frequency band;

[0008] In response to the location of the sound source on the surface of the vehicle, it is determined that the vehicle has experienced a micro-collision.

[0009] Furthermore, determining the location of the sound source includes:

[0010] The location of the sound source is determined based on the acquisition time of each sound signal.

[0011] Furthermore, determining the sound source location based on the acquisition time of each of the sound signals includes:

[0012] A predetermined number of sound signals with the earliest acquisition time are identified as target sound signals;

[0013] The location of the sound source is determined based on the sound signals of each target using the triangulation method.

[0014] Furthermore, the inherent frequency band is determined based on the following method:

[0015] Acquire collision sound waves generated by micro-collisions between different objects and a vehicle;

[0016] The collision sound waves under different collision types are calibrated and analyzed to determine the corresponding inherent frequency bands.

[0017] Furthermore, the method also includes:

[0018] Vehicle environment images are acquired using an image acquisition device installed on the vehicle;

[0019] The vehicle environment image is identified to verify the micro-collision.

[0020] Furthermore, the method also includes:

[0021] In response to a minor collision, the vehicle is controlled to perform a predetermined processing operation.

[0022] Furthermore, the method also includes:

[0023] In response to a micro-collision occurring in the vehicle, a collision signal is generated;

[0024] The collision signal is sent to determine the corresponding handling measures based on the collision signal.

[0025] Furthermore, the generation of a collision signal in response to a micro-collision of the vehicle includes:

[0026] In response to a minor collision involving the vehicle, the collision type is determined based on the waveform of the sound signal;

[0027] A collision signal is generated based on the location of the sound source and / or the collision type.

[0028] Furthermore, the method also includes:

[0029] In response to the fact that the frequency range of the sound signal does not intersect with the inherent frequency band, it is determined that the vehicle has not experienced a micro-collision; or

[0030] Since the sound source is located outside the vehicle, it is determined that the vehicle has not experienced a micro-collision.

[0031] Furthermore, the sound collector can be located inside or outside the vehicle.

[0032] Secondly, embodiments of the present invention aim to provide a vehicle, the vehicle comprising:

[0033] Sound collectors were installed at different locations on the vehicle;

[0034] The control system is configured to acquire sound signals based on sound acquisition devices located at different positions on the vehicle; determine the location of the sound source in response to an intersection between the frequency range of the sound signals and a preset inherent frequency band; and determine that a micro-collision has occurred on the surface of the vehicle in response to the location of the sound source.

[0035] Thirdly, embodiments of the present invention aim to provide a micro-collision detection device, the device comprising:

[0036] The acquisition unit is used to acquire sound signals based on sound acquisition devices set up at different locations in the vehicle;

[0037] The analysis unit is used to determine the location of the sound source in response to the intersection between the frequency range of the sound signal and a preset inherent frequency band; and to determine that the vehicle has experienced a micro-collision in response to the location of the sound source being on the surface of the vehicle.

[0038] Fourthly, embodiments of the present invention aim to provide a computer program product, the computer program product including a computer program / instruction, which, when executed by a processor, implements the method described in any of the preceding claims.

[0039] Fifthly, embodiments of the present invention aim to provide an electronic device, including a memory and a processor, the memory being used to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method as described in any of the preceding claims.

[0040] Sixthly, embodiments of the present invention aim to provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in any of the preceding claims.

[0041] The technical solution of this invention detects micro-collisions by combining the frequency range of sound signals collected by sound acquisition devices at different locations on the vehicle with the determined location of the sound source. When the frequency range of the sound signal intersects with a preset inherent frequency band and the sound source is located on the vehicle's surface, a micro-collision is determined, thus improving the accuracy of micro-collision detection. Furthermore, since this embodiment can use the vehicle's existing hardware to collect sound signals for micro-collision detection, accurate collision detection can be achieved simply by designing new collision detection logic. This avoids additional costs to the vehicle system and does not burden the vehicle's overall power consumption, resulting in lower energy consumption and operating costs. Attached Figure Description

[0042] The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0043] Figure 1 This is a schematic diagram of a vehicle according to an embodiment of the present invention;

[0044] Figure 2 This is a flowchart of the micro-collision detection method according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram illustrating the determination of the collision location according to an embodiment of the present invention;

[0046] Figure 4 This is a flowchart of micro-collision detection according to an embodiment of the present invention;

[0047] Figure 5 This is a flowchart of the micro-collision processing method according to an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of a micro-collision detection device according to an embodiment of the present invention;

[0049] Figure 7 This is another schematic diagram of the micro-collision detection device according to an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0051] The present application is described below based on embodiments, but it is not limited to these embodiments. In the detailed description of the present application below, certain specific details are described in detail. Those skilled in the art can fully understand the present application without these details. To avoid obscuring the substance of the present application, well-known methods, processes, flows, elements, and circuits are not described in detail.

[0052] Furthermore, those skilled in the art should understand that the accompanying drawings provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0053] Unless the context explicitly requires it, words such as "including" or "contains" throughout the application should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0054] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0055] The solutions described in this specification and embodiments, if involving information acquisition, will collect data under legal and compliant conditions, ensuring the legality of the data source, and will take appropriate technical and management measures to ensure data security. If involving personal information processing, processing will be carried out under legal grounds (e.g., obtaining the consent of the personal information subject, or being necessary for contract performance), and will only be conducted within the prescribed or agreed scope. A user's refusal to process personal information beyond what is necessary for basic functions will not affect the user's use of basic functions.

[0056] With the development of autonomous driving systems, the previous method of identifying collision events through driver perception and observation has been replaced by in-vehicle systems. Various new technologies or systems combining different sensors have emerged for micro-collision detection, but the detection results are still unsatisfactory, and the accuracy of collision detection needs further improvement. Therefore, this invention aims to provide a micro-collision detection method that uses on-vehicle hardware to perform micro-collision detection on the vehicle, thereby improving the accuracy of micro-collision detection.

[0057] Figure 1 This is a schematic diagram of a vehicle according to an embodiment of the present invention. Figure 1 As shown, the vehicle in this embodiment includes sound acquisition devices and a control system 10 (i.e., ADS in the figure) installed at different locations. Each sound acquisition device is used to collect sound signals generated during vehicle use at different locations. The control system 10 is configured to perform fault detection based on the collected sound signals. Optionally, as... Figure 1 As shown in the diagram, the sound acquisition device in this embodiment is a microphone, including an in-vehicle microphone 11 and an external microphone 12. Therefore, this embodiment can acquire sound signals generated during vehicle use using the vehicle's existing hardware, and while implementing collision detection based on the acquired sound signals, it reduces the vehicle's collision detection costs and overall power consumption.

[0058] It should be understood that the placement of the sound acquisition device and control system in this embodiment is merely an example, and the specific placement method can be consistent with the placement method of the sound acquisition device and control system in a vehicle for micro-fault detection.

[0059] Figure 2 This is a flowchart of the micro-collision detection method according to an embodiment of the present invention. Figure 2 As shown, the micro-collision detection method in this embodiment is applied to the control system, and the micro-collision detection of the vehicle is achieved through the following method.

[0060] In step S210, sound signals are acquired based on sound acquisition devices set at different locations on the vehicle.

[0061] In this embodiment, sound signals are collected using the vehicle's existing sound acquisition devices. Each sound acquisition device is located in a different position, either inside or outside the vehicle.

[0062] Optionally, in this embodiment, collision detection can be performed based on sound signals collected by in-vehicle microphones and / or external microphones located at different positions within the vehicle. Further, in this embodiment, collision detection is performed based on sound signals collected by in-vehicle microphones and external microphones located at different positions within the vehicle. Therefore, this embodiment can simultaneously combine sound acquisition from both inside and outside the vehicle, allowing for the use of more types of sound information when performing collision detection based on the collected sound signals, which is beneficial for improving the accuracy of collision detection.

[0063] Optionally, the specific placement of the sound collector inside or outside the vehicle in this embodiment can be determined based on the microphone configuration in the specific vehicle model. For example, a sound collector placed inside the vehicle can be positioned at one of the four corners of the vehicle's cabin, such as the left front corner corresponding to the junction of the left headlight or hood and the body, the right front corner symmetrical to the left front corner, the left rear corner corresponding to the junction of the left taillight or rear bumper and the body, and the right rear corner symmetrical to the left rear corner. A sound collector placed outside the vehicle can be positioned on the roof of the vehicle. Thus, this embodiment can collect sound signals generated during vehicle use using the vehicle's existing hardware, thereby reducing collision detection costs and overall vehicle power consumption while achieving collision detection based on the collected sound signals.

[0064] It should be understood that when the existing sound acquisition devices in the vehicle cannot meet the sound acquisition needs, this embodiment can also deploy a corresponding number of sound acquisition devices on the vehicle according to the actual application scenario, so as to facilitate collision detection based on the sound signals collected by the sound acquisition devices.

[0065] Furthermore, since most vehicles are hollow objects, when an external impact occurs, the sound inside the vehicle is amplified. Also, because the wavebands and frequencies generated by the vehicle's metal shell when struck or impacted are within a fixed range, this embodiment, after acquiring the sound signals from each sound collector, compares the sound signals with preset inherent frequency bands to determine the vehicle's micro-collision state based on the comparison results.

[0066] In step S220, in response to the intersection between the frequency range of the sound signal and the preset inherent frequency band, the location of the sound source is determined.

[0067] In this embodiment, the preset inherent frequency band corresponds to the vehicle. The inherent frequency band is used to characterize the frequency coverage range of the sound waves generated by the vehicle when it experiences micro-collisions of various collision types, and can be used to determine whether the vehicle has experienced a micro-collision (micro-collisions here include any collision type). Alternatively, the preset inherent frequency band in this embodiment can also correspond to the collision type. The inherent frequency band is used to characterize the frequency range of the sound waves generated by the vehicle when it experiences a micro-collision of the corresponding collision type, and can be used to determine whether the vehicle has experienced a micro-collision of the corresponding collision type.

[0068] Furthermore, in this embodiment, the preset inherent frequency band adopts a frequency coverage range corresponding to the vehicle. The inherent frequency band includes the frequency range corresponding to the sound waves generated when the vehicle experiences micro-collisions of different collision types. Optionally, in this embodiment, the collision type is related to the material (e.g., plastic, leather, metal), structure (e.g., hollow, solid), and volume of the object. For example, the collision type could be a stone falling onto the roof, a ball hitting the door, or a wheel running over a plastic bottle.

[0069] Optionally, in this embodiment, the inherent frequency bands corresponding to different vehicles are determined through pre-calibration before the control system is deployed. Further, in this embodiment, a simulation system can be used to construct vehicle and collision object objects. By simulating collisions between objects and vehicles, the scenarios of objects colliding with vehicles under different collision types in real-world scenarios are simulated, and the inherent frequency bands corresponding to the vehicles are determined through the sound signals generated under different collision types. Therefore, by determining the inherent frequency bands corresponding to the vehicles, a direct logical relationship between the frequency range of sound signals and vehicle micro-collisions can be established, making the determination of vehicle collision states more efficient and reliable.

[0070] Specifically, in the simulated scenario, this embodiment acquires the collision sound waves generated by micro-collisions between different objects (i.e., colliding objects) and the vehicle, and determines the corresponding inherent frequency bands by calibrating and analyzing the collision sound waves under different collision types. The calibration and analysis of different collision sound waves includes spectral analysis of each collision sound wave to determine the frequency range corresponding to each collision sound wave, and the frequency range with the largest coverage is determined as the inherent frequency band of the corresponding vehicle. Simultaneously, this embodiment also stores the sound attribute information such as the spectral waveforms corresponding to different collision types, as well as the spectral characteristic diagnostic program, in the control system for later use in further analysis. Therefore, this embodiment determines the inherent frequency bands corresponding to different vehicles through the above method, and uses these inherent frequency bands as the preset inherent frequency bands used in collision detection, providing a reliable basis for collision detection and improving the reliability and accuracy of collision detection results.

[0071] It should be understood that the above method for determining the inherent frequency band corresponding to a vehicle micro-collision is only an example. Other methods can also be used to determine the inherent frequency band corresponding to a vehicle micro-collision in this embodiment. For example, before the vehicle leaves the factory, the corresponding inherent frequency band can be determined by testing different real objects hitting the vehicle and calibrating and analyzing the sound signals generated when different real objects hit the vehicle. The appropriate method can be selected according to the actual test conditions.

[0072] Optionally, in this embodiment, after determining the inherent frequency band corresponding to the vehicle, the inherent frequency band is solidified into the micro-collision detection logic of the corresponding vehicle, and the inherent frequency band is used as a preset inherent frequency band for subsequent micro-collision detection processes.

[0073] Furthermore, in this embodiment, after acquiring the sound signal collected by the sound acquisition device on the vehicle, the frequency range of the sound signal is compared with a preset inherent frequency band, so as to perform subsequent micro-collision detection based on the comparison result.

[0074] Optionally, in this embodiment, if the comparison results show that the frequency range of the sound signal does not intersect with the preset inherent frequency band, it is determined that no micro-collision has occurred. However, if the comparison results show that the frequency range of the sound signal intersects with the preset inherent frequency band, that is, the frequency range of the sound signal is partially or entirely within the inherent frequency band, the operation of determining the sound source location is triggered. This allows for simultaneous micro-collision detection based on the relationship between the sound signal and the inherent frequency band, as well as the sound source location, thereby improving the accuracy of micro-collision detection.

[0075] Furthermore, in determining the location of the sound source, this embodiment can determine the location of the sound source of the vehicle micro-collision based on the attribute characteristics of the collected sound signal, such as the collection time, sound amplitude, phase, etc.

[0076] Optionally, since the distance between the sound acquisition device and the sound source varies at different locations, the propagation distance of the sound from the sound source to the sound acquisition device also varies. Meanwhile, the propagation speed of the sound from the sound source to the sound acquisition device is relatively stable (approximately 340 m / s). This results in different times for each sound acquisition device to receive the sound signal (i.e., the sound signal acquisition time). Therefore, in this embodiment, the sound source location can be determined based on the acquisition time of each sound signal.

[0077] Furthermore, in this embodiment, when determining the sound source location based on the acquisition time of each sound signal, a predetermined number of sound signals with the earliest acquisition time are identified as target sound signals, and the sound source location is determined based on each target sound signal using the triangulation method. The predetermined number is three.

[0078] Figure 3 This is a schematic diagram illustrating the determination of the collision location according to an embodiment of the present invention. Figure 3As shown, the vehicle in this embodiment of the invention is equipped with seven sound acquisition devices, including four in-vehicle microphones 111-114 and three external microphones 121-123 mounted on the roof. When using the triangulation method to determine the sound source location, assuming the sound source location is S, the earliest sound signals received are from the in-vehicle microphones 112, 114, and 123. The sound signals acquired by these microphones are then identified as the target sound signals. Simultaneously, the locations of the in-vehicle microphones 112, 114, and 123 are A, B, and C, respectively, and the corresponding acquisition times of the target sound signals are t1, t2, and t3, respectively. Since the speed of sound propagation is known, the distances from S to A, B, and C are d1 = v*t1, d2 = v*t2, and d3 = v*t3, respectively (where v is the speed of sound propagation). Then, based on the principle of triangulation, a system of equations is established using the positions A, B, C and the distances d1, d2, d3 from the sound source S to A, B, C respectively. Solving this system of equations will yield the position of the sound source S, which is the location of the sound source.

[0079] In step S230, in response to the sound source being located on the surface of the vehicle, it is determined that a micro-collision has occurred on the vehicle.

[0080] In this embodiment, after determining the location of the sound source, the location of the sound source can be determined based on parameters such as the relative positional relationship between the sound collector and the sound source (which can be characterized by parameters such as distance and angle) and the positional relationship between the sound source and the vehicle surface (which can be characterized by parameters such as the distance between the sound source and the vehicle surface).

[0081] Optionally, when determining whether the sound source is on the vehicle surface based on the positional relationship between the sound source location and the vehicle surface, in this embodiment, if the distance between the sound source location and the vehicle surface is greater than a predetermined distance (e.g., 5cm), the sound source location is determined to be outside the vehicle; while if the distance between the sound source location and the vehicle surface is less than or equal to the predetermined distance, the sound source location is determined to be on the vehicle surface.

[0082] Furthermore, when the sound source is determined to be located outside the vehicle, i.e., not on the vehicle's surface, it is determined that no micro-collision has occurred. Conversely, when the sound source is determined to be on the vehicle's surface, a micro-collision is determined, and the sound source location is the collision location. Therefore, this embodiment determines a micro-collision by recognizing an intersection between the sound signal's frequency range and its inherent frequency band, and by placing the sound source on the vehicle's surface. This allows for the combination of sound frequency information and sound source location information in micro-collision detection, resulting in more accurate detection results and thus improving the accuracy rate of micro-collision detection.

[0083] Optionally, in this embodiment, after determining that a minor collision has occurred, in order to reduce the negative impact of the minor collision, the vehicle will be controlled to perform predetermined processing operations in response to the minor collision. These predetermined processing operations include sending a warning message, pulling over to the side of the road, slowing down, and stopping at the nearest autonomous driving station. The predetermined processing operations can be set according to the actual usage scenario of the vehicle. For example, the corresponding processing operation can be determined based on the characteristics of the sound signal during collision detection (e.g., the amplitude of the sound signal) and / or collision information (including at least one of the following: collision time, vehicle position, vehicle type, vehicle identification, etc.) to improve the efficiency of handling abnormal vehicle situations, minimize the impact of minor collisions, and ensure user safety and a good experience.

[0084] Optionally, since the impact of micro-collisions of different severity varies, in this embodiment, when a micro-collision occurs and the vehicle is controlled to perform a predetermined handling operation, different levels of handling operations can be adopted for micro-collision situations of different severity. Furthermore, in this embodiment, the severity of the micro-collision can be characterized by parameters such as collision level; a higher collision level indicates a greater collision severity, and the corresponding handling operation is more stringent.

[0085] Furthermore, considering that the amplitude of the sound produced when objects of different masses collide and when objects impact at different speeds is different (i.e., the magnitude of the collision sound varies), this embodiment can determine the collision level based on the amplitude of the sound signal when a micro-collision occurs in a vehicle, and then determine the corresponding processing operation based on the collision level. The larger the amplitude, the higher the collision level, and the more stringent the corresponding processing operation.

[0086] Specifically, in this embodiment, multiple amplitude ranges, collision levels corresponding to each amplitude range, and corresponding processing operations can be pre-set. When a minor collision occurs and processing is required, the control system determines the collision level by comparing the sound signal with the largest amplitude with each amplitude range, and then determines the corresponding processing operation based on the collision level. Therefore, this embodiment predicts the severity of a minor collision based on the amplitude of the sound signal and executes corresponding processing operations based on the collision severity, making the vehicle's processing operations more realistic and ensuring the safety of both the user and the vehicle while meeting the user's travel needs.

[0087] Meanwhile, to ensure that minor collisions are handled in a timely manner, this embodiment will also transmit the collision situation to the operation backend or other vehicles outside the current vehicle after a minor collision occurs, so that the operation backend or other vehicles can take over the current vehicle.

[0088] Correspondingly, in this embodiment, a collision signal is generated and sent in response to a minor collision involving the vehicle, so as to determine the corresponding handling measures based on the collision signal. For example, when reporting a minor collision event to the operations backend, this embodiment will send the collision signal to the operations backend after a minor collision occurs and a collision signal is generated, so that the operations backend can promptly dispatch support vehicles or personnel to inspect and take over the vehicle based on the minor collision situation, thereby avoiding potential hazards to the vehicle in subsequent use.

[0089] Optionally, considering that in this embodiment, during the calibration phase, the collision type and corresponding spectral waveform of the vehicle micro-collision are pre-stored in the database, when a vehicle micro-collision occurs and a collision signal is generated, this embodiment will respond to the micro-collision by determining the collision type based on the waveform of the sound signal; and then generate a collision signal based on the sound source location and / or collision type. Therefore, generating a collision signal using the above method allows the operations backend to easily understand the sound source location and / or collision type corresponding to the current vehicle micro-collision situation based on the collision signal, and to take timely and effective handling measures based on the actual micro-collision situation, which is beneficial to further improving the handling efficiency of micro-collision accidents.

[0090] Optionally, when determining the collision type based on the waveform of the sound signal, this embodiment matches the waveform of the acquired sound signal with preset waveforms in the database to determine the collision type based on the matching result. Further, this embodiment determines the collision type by matching the earliest acquired or largest amplitude sound signal in the acquired sound signal with preset waveforms in the database. When a waveform identical to the acquired sound signal exists in the database, the collision type corresponding to the waveform is determined as the collision type corresponding to the current collision state. Therefore, this embodiment determines the collision type using representative sound signals acquired by sound acquisition devices at different locations, which reduces the amount of sound signal matching calculation while ensuring matching accuracy, facilitating rapid collision type determination and improving collision detection efficiency.

[0091] Furthermore, in this embodiment, if a waveform identical to the collected sound signal waveform does not exist in the database, it indicates that the current collision type and its corresponding waveform have not yet been recorded in the database. In this case, information such as the sound signal, occurrence time, and collision location related to the collision event can be recorded and sent to the operations backend for analysis to determine the collision type. After determining the collision type, the collision type, its corresponding waveform, and related information are stored in the database for subsequent detection of other collision events using the waveform of that collision type.

[0092] Optionally, in addition to the sound source location and / or collision type, the collision signal generated in this embodiment may also include collision information. The collision information includes at least one of the following collision-related information: collision time, collision level, vehicle location, vehicle type, vehicle identification, etc., so as to facilitate the cloud backend to determine the corresponding processing measures based on the collision recognition signal and to handle the collision accident in a timely and effective manner.

[0093] Optionally, to further improve the accuracy of collision detection, this embodiment can also use other types of sensors installed on the vehicle (such as image acquisition devices such as cameras, radar sensors, etc.) to verify the micro-collisions that occur to the vehicle.

[0094] Optionally, in this embodiment, an image acquisition device mounted on the vehicle can be used to acquire and identify the vehicle environment image to verify the collision state. Further, in this embodiment, the image acquisition device acquires an image of the vehicle surface. During micro-collision verification, a target detection algorithm is used to identify objects in the vehicle environment image in real time to determine whether there are other objects besides the vehicle (e.g., pedestrians, vehicles, trunks, etc.). If other objects besides the vehicle are present in the vehicle environment image, the verification result is determined to be a micro-collision. If no other objects besides the vehicle are present in the vehicle environment image, the verification result is determined to be no micro-collision. Therefore, in this embodiment, by using the vehicle environment image acquired by the image acquisition device to verify the vehicle's collision state, the accuracy of collision state identification can be improved.

[0095] Furthermore, to reduce the impact of minor collisions, this embodiment will also send a collision signal to the operations backend using the aforementioned method when the verification result indicates a minor collision has occurred, and control the vehicle to perform predetermined processing operations. For example, if a minor collision between a vehicle and a pedestrian is detected during the verification process, this embodiment will send a collision signal to the operations backend, prompting the operations backend to promptly dispatch a support vehicle or personnel to check and take over the vehicle. At the same time, the vehicle will be controlled to pull over and wait for processing, ensuring that the minor collision accident is handled in a timely manner and preventing the vehicle from escaping and causing negative impacts.

[0096] Optionally, in this embodiment, when a minor collision occurs, a notification message can be sent to the user through the vehicle's interactive interface to reduce the user's panic caused by the minor collision and improve the user's riding experience. For example, the user can be interacted with through the vehicle's microphone to inquire about their feelings and confirm the extent of the minor collision's impact, and a notification message can be sent to the user to alleviate any negative feelings and improve the user experience.

[0097] The technical solution of this invention detects micro-collisions by combining the frequency range of sound signals collected by sound acquisition devices at different locations on the vehicle with the determined location of the sound source. When the frequency range of the sound signal intersects with a preset inherent frequency band and the sound source is located on the vehicle's surface, a micro-collision is determined, thus improving the accuracy of micro-collision detection. Furthermore, since this embodiment can use the vehicle's existing hardware to collect sound signals for micro-collision detection, accurate collision detection can be achieved simply by designing new collision detection logic. This avoids additional costs to the vehicle system and does not burden the vehicle's overall power consumption, resulting in lower energy consumption and operating costs.

[0098] Figure 4 This is a flowchart of micro-collision detection according to an embodiment of the present invention. Figure 4 As shown, in this embodiment, micro-collision detection of vehicles is achieved through the following steps.

[0099] In step S410, the sound signal is acquired.

[0100] In this embodiment, sound signals are collected by microphones placed at different locations on the vehicle, and micro-collision detection of the vehicle is performed based on the collected sound signals.

[0101] In step S420, it is determined whether the frequency range of the sound signal overlaps with the preset inherent frequency band.

[0102] In this embodiment, the frequency range of the sound signal is compared with a preset inherent frequency band corresponding to the occurrence of a minor collision between the vehicle and the preset inherent frequency band to determine whether there is any overlap between the frequency range of the sound signal and the preset inherent frequency band. If the frequency range of the sound signal overlaps with the preset inherent frequency band or falls within the preset inherent frequency band, steps S430 and S470 are executed; otherwise, if the frequency range of the sound signal does not overlap with the preset inherent frequency band, step S460 is executed.

[0103] In step S430, the location of the sound source is determined.

[0104] In this embodiment, the three earliest collected sound signals are selected as target sound signals from the collected sound signals, and the sound source location is determined by the triangulation method based on the collection time and microphone position corresponding to each target sound signal.

[0105] In step S440, it is determined whether the sound source is located on the surface of the vehicle.

[0106] In this embodiment, when the distance between the sound source location and the vehicle surface is less than or equal to a predetermined distance, the sound source location is determined to be on the vehicle surface, and step S450 is executed. When the distance between the sound source location and the vehicle surface is greater than the predetermined distance, the sound source location is determined to be outside the vehicle, that is, not on the vehicle surface, and step S460 is executed.

[0107] In step S470, a collision check is performed.

[0108] In this embodiment, an image acquisition device on the vehicle acquires images of the vehicle's environment. Real-time object recognition within these images determines whether any objects other than the vehicle exist, thereby verifying the vehicle's collision status. A value of 0 indicates a minor collision, while a value of 0 indicates no minor collision.

[0109] In step S480, it is determined whether the verification passes.

[0110] In this embodiment, when there are other objects besides the vehicle in the vehicle environment image, it indicates that the probability of the vehicle causing a micro-collision is high. At this time, the verification is determined to pass and step S450 is continued. When there are no other objects besides the vehicle in the vehicle environment image, it indicates that the probability of the vehicle causing a micro-collision is low. At this time, the verification is determined to fail and step S460 is continued.

[0111] In step S450, it is determined that a minor collision has occurred with the vehicle.

[0112] In this embodiment, when the frequency range of the sound signal is determined to be within a preset inherent frequency band, the sound source is located on the vehicle surface, and the verification is passed, it is determined that a micro-collision has occurred in the vehicle.

[0113] In step S460, it is determined that no minor collision has occurred to the vehicle.

[0114] It should be understood that the specific processing methods for each step in this embodiment have been described in detail in the foregoing content, and will not be repeated here.

[0115] The technical solution of this embodiment detects vehicle micro-collisions by determining whether there is an overlap between the frequency range of the sound signal and the inherent frequency band corresponding to the micro-collision of the vehicle, and whether the sound source location corresponding to the sound signal is on the surface of the vehicle. It can simultaneously combine the frequency information and sound source location information for micro-collision detection, making the detection results more accurate and thus improving the accuracy rate of micro-collision detection. Furthermore, by using vehicle environment images acquired by an image acquisition device to verify the vehicle's collision state, and combining this with the sound frequency information, sound source location information, and verification results to determine that a micro-collision has occurred, the accuracy rate and reliability of the micro-collision detection results can be further improved.

[0116] Figure 5 This is a flowchart of the micro-collision processing method according to an embodiment of the present invention. Figure 5 As shown, in this embodiment, the handling of vehicle micro-collision accidents is achieved by performing the following processing method.

[0117] In step S510, it is determined that a minor collision has occurred with the vehicle.

[0118] In this embodiment, the vehicle is subjected to micro-collision detection using the aforementioned method, and it is determined that a micro-collision has occurred. This will not be elaborated further here.

[0119] In step S520, the vehicle is controlled to perform a predetermined processing operation.

[0120] In this embodiment, after a minor collision is determined to have occurred, the vehicle's control system controls the vehicle to perform predetermined processing operations in order to improve the efficiency of handling abnormal vehicle situations, minimize the impact of minor collisions, and ensure user safety and a good experience.

[0121] In step S530, a collision signal is generated.

[0122] In this embodiment, after determining that a minor collision has occurred, the vehicle's control system determines the collision type based on the waveform of the sound signal; then, a collision signal is generated based on the sound source location and / or the collision type.

[0123] In step S540, a collision signal is sent.

[0124] In this embodiment, after generating a collision signal, the vehicle control system sends the collision signal to the operations backend so that the operations backend can promptly dispatch support vehicles or personnel to inspect and take over the vehicle based on the minor collision situation, thereby avoiding potential hazards to the vehicle in subsequent use.

[0125] It should be understood that the specific processing methods for each step in this embodiment have been described in detail in the foregoing content, and will not be repeated here.

[0126] The technical solution of this embodiment improves the efficiency of handling abnormal vehicle situations by controlling the vehicle to perform predetermined processing operations when a minor collision occurs, minimizing the impact of minor collisions and ensuring user safety and a good experience. Simultaneously, by generating and sending a collision signal to the back-end operations team when a minor collision occurs, the team can easily understand the location of the sound source and / or the collision type corresponding to the current minor collision situation, and take timely and effective measures based on the actual circumstances of the minor collision, further improving the efficiency of handling minor collision accidents.

[0127] Figure 6 This is a schematic diagram of a micro-collision detection device according to an embodiment of the present invention. Figure 6As shown, the collision detection device in this embodiment includes a data acquisition unit 1 and an analysis unit 2. The data acquisition unit 1 acquires sound signals collected by sound acquisition devices positioned at different locations on the vehicle, either inside or outside the vehicle. The analysis unit 2 determines the sound source location based on the intersection of the sound signal's frequency range with a preset inherent frequency band; and determines that a micro-collision has occurred if the sound source is located on the vehicle's surface. The inherent frequency band is determined based on the following method: acquiring collision sound waves generated by different objects micro-colliding with the vehicle; and performing calibration analysis on the collision sound waves under different collision types to determine the corresponding inherent frequency band.

[0128] Optionally, in this embodiment, the analysis unit 2, when determining the sound source location, is also used to determine the sound source location based on the acquisition time of each sound signal. Further, when determining the sound source location based on the acquisition time of each sound signal, the analysis unit 2 is specifically used to identify a preset number of sound signals with earlier acquisition times as target sound signals; and to determine the sound source location based on each target sound signal using a triangulation method.

[0129] Optionally, the analysis unit 2 in this embodiment is also used to acquire vehicle environment images based on the image acquisition device installed on the vehicle; and to identify the vehicle environment images in order to verify micro-collisions.

[0130] Furthermore, the analysis unit 2 in this embodiment is also used to determine that the vehicle has not experienced a micro-collision in response to the fact that the frequency range of the sound signal does not intersect with the inherent frequency band; or to determine that the vehicle has not experienced a micro-collision in response to the fact that the sound source is located outside the vehicle.

[0131] The technical solution of this embodiment acquires sound signals from sound collectors located at different positions on the vehicle through a data acquisition unit. The analysis unit 2 determines the sound source location based on the intersection of the sound signal's frequency range with a preset inherent frequency band. Furthermore, it determines a micro-collision by identifying the sound source location on the vehicle's surface. This approach combines the frequency range of the sound signals acquired by the sound collectors at different vehicle positions with the determined sound source location to detect micro-collisions. It determines a micro-collision when the sound signal's frequency range intersects with the preset inherent frequency band and the sound source location is on the vehicle's surface, thus improving the accuracy of micro-collision detection. Moreover, since this embodiment can utilize the vehicle's existing hardware for sound signal acquisition and micro-collision detection, only a new collision detection logic needs to be designed to achieve accurate collision detection. This avoids additional costs to the vehicle system and does not burden the vehicle's overall power consumption, resulting in lower energy consumption and operating costs.

[0132] Figure 7 This is another schematic diagram of the micro-collision detection device according to an embodiment of the present invention. For example... Figure 7 As shown, the collision detection device in this embodiment includes a data acquisition unit 1, an analysis unit 2, and a processing unit 3. The processing unit 3 is used to control the vehicle to perform a predetermined processing operation in response to a micro-collision; to generate a collision signal in response to a micro-collision; and to send the collision signal to determine the corresponding processing measures based on the collision signal.

[0133] Optionally, in this embodiment, when generating a collision signal in response to a micro-collision of the vehicle, the processing unit 3 is further configured to determine the collision type based on the waveform of the sound signal in response to the micro-collision of the vehicle; and generate a collision signal based on the sound source location and / or the collision type.

[0134] The technical solution of this embodiment performs micro-collision detection on vehicles through a data acquisition unit and an analysis unit. When a micro-collision occurs, the processing unit controls the vehicle to perform predetermined processing operations and sends the generated collision signal to the operation backend. This enables timely and effective handling of micro-collision situations, improves the efficiency of handling micro-collision accidents, and thus minimizes the impact of micro-collisions and ensures user safety and a good experience.

[0135] Figure 8 This is a schematic diagram of an electronic device according to an embodiment of the present invention. (For example...) Figure 8 As shown, Figure 8 The illustrated electronic device is a general address lookup device, comprising a general computer hardware architecture, including at least a processor 81 and a memory 82. The processor 81 and memory 82 are connected via a bus 83. The memory 82 is adapted to store instructions or programs executable by the processor 81. The processor 81 can be a standalone microprocessor or a collection of one or more microprocessors. Thus, the processor 81 executes the instructions stored in the memory 82, thereby performing the method flow of the embodiments of the present invention as described above to process data and control other devices. The bus 83 connects the aforementioned components together, and also connects these components to a display controller 84, a display device, and an input / output (I / O) device 85. The input / output (I / O) device 85 can be a mouse, keyboard, modem, network interface, touch input device, motion-sensing input device, printer, and other devices known in the art. Typically, the input / output device 85 is connected to the system via an input / output (I / O) controller 86.

[0136] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus (devices), or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0137] This application is described with reference to flowchart illustrations of methods, apparatus (devices), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions.

[0138] These computer program instructions may be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including an instruction means, the implementation process of which is described in the instruction means. Figure 1 The function specified in one or more processes.

[0139] These computer program instructions may also be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, produce instructions for implementing processes. Figure 1 A device for a function specified in one or more processes.

[0140] Another embodiment of the present invention relates to a non-volatile storage medium for storing a computer-readable program for use by a computer to execute some or all of the above-described method embodiments.

[0141] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program specifying the relevant hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0142] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of micro-collision detection, characterized by, The method comprises: acquiring sound signals collected by sound collectors arranged at different positions of a vehicle; in response to a frequency range of the sound signals intersecting with a preset inherent frequency band, determining a sound source position; in response to the sound source position being on a surface of the vehicle, determining that a micro-collision of the vehicle has occurred.

2. The method of claim 1, wherein, The determination of the sound source position comprises: determining the sound source position according to a collection time of each of the sound signals.

3. The method of claim 2, wherein, The determination of the sound source position according to the collection time of each of the sound signals comprises: determining a preset number of sound signals with earlier collection times as target sound signals from each of the sound signals; and determining the sound source position based on each of the target sound signals by using a triangular ranging method.

4. The method of claim 1, wherein, The inherent frequency band is determined based on the following method: acquiring collision sound waves generated by different objects colliding with the vehicle; performing calibration analysis on the collision sound waves under different collision types to determine corresponding inherent frequency bands.

5. The method of claim 1, wherein, The method further comprises: acquiring vehicle environment images based on image collection devices arranged on the vehicle; identifying the vehicle environment images to verify the micro-collision.

6. The method of claim 1, wherein, The method further comprises: in response to the micro-collision of the vehicle occurring, controlling the vehicle to perform a predetermined processing operation.

7. The method of claim 1, wherein, The method further comprises: in response to the micro-collision of the vehicle occurring, generating a collision signal; sending the collision signal to determine corresponding processing measures based on the collision signal.

8. The method of claim 7, wherein, The generation of the collision signal in response to the micro-collision of the vehicle occurring comprises: in response to the micro-collision of the vehicle occurring, determining a collision type according to a waveform of the sound signals; generating a collision signal according to the sound source position and / or the collision type.

9. The method of claim 1, wherein, The method further comprises: in response to the frequency range of the sound signals not intersecting with the inherent frequency band, or in response to the sound source position being located outside the vehicle, determining that the micro-collision of the vehicle has not occurred.

10. The method of claim 1, wherein, The sound collectors are arranged inside or outside the vehicle.

11. A vehicle characterized by comprising: The vehicle comprises: sound collectors arranged at different positions of the vehicle; a control system configured to acquire sound signals collected by sound collectors arranged at different positions of a vehicle; in response to a frequency range of the sound signals intersecting with a preset inherent frequency band, determine a sound source position; in response to the sound source position being on a surface of the vehicle, determine that a micro-collision of the vehicle has occurred.

12. A micro-collision detection device, characterized by, The device comprises: a collection unit configured to acquire sound signals collected by sound collectors arranged at different positions of a vehicle; an analysis unit configured to, in response to a frequency range of the sound signals intersecting with a preset inherent frequency band, determine a sound source position; in response to the sound source position being on a surface of the vehicle, determine that a micro-collision of the vehicle has occurred.

13. A computer program product, characterised in that, The computer program product comprises computer programs / instructions that are executed by a processor to implement the method of any one of claims 1-10.

14. An electronic device comprising a memory and a processor, characterized in that The memory is configured to store one or more computer program instructions, wherein the one or more computer program instructions are executed by the processor to implement the method of any one of claims 1-10.

15. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-10.

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