Vehicle control method and system, vehicle and equipment

Abstract

The invention discloses a vehicle control method and system, a vehicle and equipment. The control method of the vehicle comprises the steps that whether forward collision happens to the vehicle or not is judged; when the vehicle is subjected to forward collision, whether secondary collision relieving operation is started or not is judged according to the vehicle speed during collision, the triggering state of an automatic braking system and the opening degree of an acceleration / deceleration pedal; if yes, target deceleration is planned according to the safety belt state, the vehicle load and the current vehicle speed; and controlling the vehicle to execute secondary collision relieving operation according to the target deceleration. By adopting the embodiment of the invention, the forward collision state can be accurately identified according to the vehicle information, and the target deceleration is planned and the vehicle is controlled to execute the mitigation operation after secondary collision mitigation is judged to be needed, so that the secondary collision risk after the forward collision of the vehicle is effectively reduced, and the vehicle protection effect is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a vehicle control method, system, vehicle, and equipment. Background Technology

[0002] In modern traffic scenarios, if a vehicle is involved in a forward collision and is not brought under control immediately, there is a high risk of a secondary collision.

[0003] Most existing vehicles use automatic emergency braking systems, but in actual use, they often lack the accuracy to recognize forward collision conditions, and after a forward collision, there is a lack of effective protective measures or strategies to mitigate or avoid a second collision, thereby increasing the risk of a secondary collision and affecting vehicle driving safety. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle control method, system, vehicle, and equipment to address the aforementioned technical problems. This method can accurately identify the forward collision state based on vehicle information, and after determining that secondary collision mitigation is required, plan a target deceleration and control the vehicle to perform mitigation operations. This effectively reduces the risk of secondary collisions after a forward collision and improves the vehicle's protection effect.

[0005] Firstly, a method for controlling a vehicle is provided, including: Determine if a forward collision has occurred; When the vehicle is involved in a forward collision, the system determines whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedals. If so, then plan the target deceleration based on the seat belt status, vehicle load, and current vehicle speed; The vehicle is controlled to perform a secondary collision mitigation operation based on the target deceleration.

[0006] Furthermore, the determination of whether a forward collision has occurred includes: Obtain collision sensor status, deceleration signals, and forward target perception information; Based on the collision sensor status, deceleration signal, and forward target perception information, it is determined whether the vehicle has been involved in a forward collision.

[0007] Further, determining whether the vehicle has experienced a forward collision based on the collision sensor status, deceleration signal, and forward target perception information includes: When the collision sensor triggers a collision signal and the deceleration signal is less than a first threshold, it is determined that the vehicle has experienced a forward collision; or, When the deceleration signal is less than the second threshold, the time when the vehicle collides with the forward target is less than a predetermined time and the distance between the vehicle and the forward target is less than a predetermined distance, it is determined that the vehicle has caused a forward collision.

[0008] Furthermore, when the vehicle experiences a forward collision, determining whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedals includes: When at least one of the following conditions is met: the automatic braking system is triggered, the vehicle speed at the time of the collision is greater than the first predetermined vehicle speed, the brake pedal opening is greater than the brake pedal opening threshold, and the accelerator pedal opening is greater than the accelerator pedal opening threshold, it is determined that the secondary collision mitigation operation will not be initiated. When the automatic braking system is not triggered, the vehicle speed at the time of the collision is less than the first predetermined vehicle speed, and the brake pedal opening is greater than the brake pedal opening threshold and the accelerator pedal opening is greater than the accelerator pedal opening threshold at the same time, it is determined that a secondary collision mitigation operation will be initiated.

[0009] Furthermore, the step of planning the target deceleration based on the seatbelt status, vehicle load, and current vehicle speed includes: If the seatbelt is not fastened, the first planned deceleration will be used as the target deceleration; If the vehicle load is greater than the predetermined load, or if the seat belt is fastened and the current vehicle speed is within the predetermined range, the second planned deceleration will be used as the target deceleration. If the vehicle load is less than the predetermined load, the seatbelt is fastened, and the current vehicle speed is less than the second predetermined speed, then the third planned deceleration will be used as the target deceleration. Wherein, the absolute value of the first planned deceleration is less than the absolute value of the second planned deceleration, and the absolute value of the second planned deceleration is less than the absolute value of the third planned deceleration.

[0010] Furthermore, the step of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration includes: The vehicle is braked according to the target deceleration; Turn on the vehicle's hazard lights; Control the vehicle's transmission to shift into neutral; Control the electronic parking brake to engage.

[0011] Furthermore, the process of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration also includes: Determine whether the conditions for exiting the secondary collision mitigation operation are met based on the opening of the acceleration / deceleration pedals; or, determine whether the conditions for exiting the secondary collision mitigation operation are met based on the current vehicle speed, gear signal, and electronic parking brake status. When the exit conditions for the secondary collision mitigation operation are met, the secondary collision mitigation operation is exited.

[0012] Secondly, a vehicle control system is provided, comprising: The judgment module is used to determine whether a forward collision has occurred; The triggering module is used to determine whether to initiate a secondary collision mitigation operation when the vehicle is involved in a forward collision, based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedal. The planning module is used to plan a target deceleration based on the seat belt status, vehicle load, and current vehicle speed when the triggering module determines that a secondary collision mitigation operation should be initiated. The control module is used to control the vehicle to perform secondary collision mitigation operations based on the target deceleration.

[0013] Thirdly, a vehicle is provided, comprising: a control system for the vehicle according to the second aspect described above.

[0014] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the steps of the vehicle control method of the first aspect and any possible implementation thereof.

[0015] The embodiments of this application first determine whether a forward collision has occurred. If a forward collision occurs, based on the vehicle speed at the time of collision, the activation status of the automatic braking system, and the opening of the acceleration / deceleration pedals, it is determined whether to initiate a secondary collision mitigation operation. If so, a target deceleration is planned based on the seatbelt status, vehicle load, and current vehicle speed. Finally, the vehicle is controlled to perform the secondary collision mitigation operation based on the target deceleration. Therefore, the forward collision status can be accurately identified based on vehicle information, and a target deceleration can be planned and the vehicle controlled to perform mitigation operations after determining that secondary collision mitigation is necessary, thereby effectively reducing the risk of secondary collisions after a forward collision and improving vehicle protection. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 A diagram illustrating the device module configuration provided in the embodiments of this application; Figure 3 Information transmission flowchart provided for embodiments of this application; Figure 4A structural block diagram of the vehicle control system provided in an embodiment of this application; Figure 5 This is a structural block diagram of a computer device provided in an embodiment of this application. Detailed Implementation

[0017] The present application will now be described in further detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the application. Furthermore, it should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings.

[0018] It should be noted that, unless otherwise specified, the embodiments and features of the embodiments in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] The following describes in detail, with reference to the accompanying drawings, a vehicle control method, system, vehicle, and device according to embodiments of this application.

[0020] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application. Figure 1 As shown, the vehicle control method according to an embodiment of this application includes the following steps: S101: Determine whether a forward collision has occurred.

[0021] In one embodiment of this application, determining whether a vehicle has experienced a forward collision includes: obtaining the state of a collision sensor, a deceleration signal, and forward target perception information; and determining whether the vehicle has experienced a forward collision based on the state of the collision sensor, the deceleration signal, and the forward target perception information.

[0022] The collision sensor is installed on the front longitudinal beam of the vehicle body to collect collision trigger signals; the acceleration sensor collects deceleration signals; and forward-facing millimeter-wave radar and camera collect forward target perception information.

[0023] In one embodiment of this application, determining whether the vehicle has experienced a forward collision based on the collision sensor status, deceleration signal, and forward target perception information includes: determining that the vehicle has experienced a forward collision when the collision sensor triggers a collision signal and the deceleration signal is less than a first threshold; or, determining that the vehicle has experienced a forward collision when the deceleration signal is less than a second threshold, the time when the forward target is lost is less than a predetermined time, and the distance between the vehicle and the forward target is less than a predetermined distance.

[0024] The first threshold, second threshold, predetermined time, and predetermined distance can be set according to actual needs. In a specific example, when the collision sensor triggers a collision signal and the deceleration is <0.6g, a forward collision is determined; or when the deceleration signal is <-10m / s², a forward collision is determined. 2 If the time between the vehicle and the forward target being lost is less than 0.3s and the distance between the vehicle and the forward target is less than 2m, then the vehicle is considered to have experienced a forward collision.

[0025] S102: When the vehicle is involved in a forward collision, determine whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedal.

[0026] In one embodiment of this application, when the vehicle experiences a forward collision, determining whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedal includes: determining not to initiate a secondary collision mitigation operation when at least one of the following conditions is met: the automatic braking system is triggered, the vehicle speed at the time of the collision is greater than a first predetermined vehicle speed, the brake pedal opening is greater than a brake pedal opening threshold, and the accelerator pedal opening is greater than an accelerator pedal opening threshold; determining to initiate a secondary collision mitigation operation when the automatic braking system is not triggered, the vehicle speed at the time of the collision is less than the first predetermined vehicle speed, and both the brake pedal opening and the accelerator pedal opening are greater than an accelerator pedal opening threshold.

[0027] like Figure 2 As shown, the triggering state of the automatic braking system, the accelerator pedal opening, and the brake pedal opening are provided by the information acquisition module. The first predetermined vehicle speed, the brake pedal opening threshold, and the accelerator pedal opening threshold can be set according to actual needs. In a specific example, if the automatic braking system is triggered, or the vehicle speed at the time of collision is >80 kph, or the brake pedal opening is >50%, or the accelerator pedal opening is >80%, the secondary collision mitigation operation is not initiated; if the automatic braking system is not triggered, and the vehicle speed at the time of collision is <80 kph, and the brake pedal opening is >50%, and the accelerator pedal opening is >80%, the secondary collision mitigation operation is initiated.

[0028] S103: If so, then plan the target deceleration based on the seat belt status, vehicle load, and current vehicle speed.

[0029] In one embodiment of this application, the step of planning a target deceleration based on the seat belt status, vehicle load, and current vehicle speed includes: if the seat belt is not fastened, then using a first planned deceleration as the target deceleration; if the vehicle load is greater than a predetermined load, or the seat belt is fastened and the current vehicle speed is within a predetermined range, then using a second planned deceleration as the target deceleration; if the vehicle load is less than the predetermined load, the seat belt is fastened, and the current vehicle speed is less than a second predetermined speed, then using a third planned deceleration as the target deceleration, wherein the absolute value of the first planned deceleration is less than the absolute value of the second planned deceleration, and the absolute value of the second planned deceleration is less than the absolute value of the third planned deceleration.

[0030] Specifically, when the seat belt is not fastened, a smaller deceleration should be used to prioritize the comfort of the driver and passengers and avoid injury caused by sudden braking; when the vehicle load is large, or the seat belt is fastened but the speed is high, a moderate deceleration should be used to balance braking efficiency and vehicle stability; when the vehicle load is small, the seat belt is fastened, and the speed is low, a larger deceleration should be used to achieve rapid braking and shorten the stopping distance.

[0031] The first planned deceleration, second planned deceleration, third planned deceleration, second predetermined speed, predetermined speed range, and predetermined load can be set according to actual needs. In a specific example, if the seatbelt is not fastened, then -1.5m / s² will be applied. 2 The deceleration rate; if the vehicle load is >30t, or the seatbelt is fastened and the vehicle speed is in the range of 50~80kph, then -3m / s 2 The deceleration; if the vehicle load is <30t, the seat belt is fastened, and the vehicle speed is ≤50kph, then -5m / s 2 The deceleration.

[0032] S104: Control the vehicle to perform a secondary collision mitigation operation based on the target deceleration.

[0033] In one embodiment of this application, the step of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration includes: controlling the vehicle to brake based on the target deceleration; activating the vehicle's hazard lights; shifting the vehicle's transmission into neutral; and engaging the electronic parking brake.

[0034] Depend on Figure 2 As shown, the execution model performs secondary collision mitigation operations based on the instructions output by the decision module. Specifically, it controls the vehicle's braking according to the target deceleration to achieve precise deceleration; it illuminates the vehicle's hazard lights to warn surrounding vehicles of danger; it controls the vehicle's transmission to shift into neutral to cut off the vehicle's power output; and it controls the electronic parking brake to engage to assist in braking and prevent the vehicle from rolling.

[0035] In one embodiment of this application, during the process of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration, the method further includes: determining whether the exit condition for the secondary collision mitigation operation is met based on the opening of the acceleration / deceleration pedal; or, determining whether the exit condition for the secondary collision mitigation operation is met based on the current vehicle speed, gear signal, and electronic parking brake status; when the exit condition for the secondary collision mitigation operation is met, the secondary collision mitigation operation is exited.

[0036] Specifically, during the secondary collision mitigation operation, the information acquisition module monitors relevant parameters in real time. When the brake pedal opening meets the conditions, it indicates that the driver has actively applied the brakes; when the accelerator pedal opening meets the conditions, it indicates that the driver has actively accelerated; when the vehicle speed is zero, the electronic parking brake is engaged, and the gear position meets the conditions, it indicates that the vehicle has come to a safe stop. In these three situations, the system will exit the secondary collision mitigation operation. In a specific example, the secondary collision mitigation operation will exit when the brake pedal opening is >50%; or the accelerator pedal opening is >80%; or the vehicle speed is 0 kph and the gear is in neutral or park, and the electronic parking brake is engaged.

[0037] Figure 2 A schematic diagram of the device module configuration for vehicle control, such as... Figure 2 As shown, the device mainly includes an information acquisition module, a decision-making module, and an execution module. The information acquisition module is connected to the perception-based automatic braking module, sensor module, body module, and chassis module via communication lines. Internally, it includes a collision perception unit, an environmental perception and automatic braking control unit, and a vehicle status unit. The collision perception unit is responsible for collecting collision trigger signals and deceleration data; the environmental perception and automatic braking control unit is responsible for collecting data on the distance to the forward target, the time of collision between the vehicle and the forward target when the target is lost, and the status of the target loss and automatic braking trigger; the vehicle status unit is responsible for collecting data on vehicle speed, load, seatbelt status, accelerator pedal opening, brake pedal opening, electronic parking brake status, gear status, and hazard warning status. According to the data, the decision control module adopts a dual-core microcontroller with built-in collision judgment algorithm, mitigation trigger algorithm, deceleration planning algorithm, and exit judgment algorithm. It is responsible for receiving input data from the information acquisition module and outputting control commands according to preset logic. The execution module contains multiple execution units, including a braking execution unit that includes an electro-hydraulic brake pump, which adjusts the braking pressure after receiving a deceleration command; a lighting execution unit that includes a hazard light drive circuit, which controls the hazard lights to illuminate after receiving a command; a gear shifting execution unit that includes an electronic gear shift motor, which drives the gearbox to engage the corresponding gear after receiving a command; and an electronic parking brake execution unit that includes an electronic parking brake motor, which performs the pull-up operation after receiving a command.

[0038] Figure 3 A flowchart of information transmission in vehicle control, such as Figure 3As shown, the information acquisition module collects vehicle information and senses automatic braking information. Based on the above information, it determines whether a forward collision has occurred. If a forward collision has occurred, it further determines whether to initiate a secondary collision mitigation operation based on the conditions. If the initiation conditions are met, it determines which planning strategy to adopt based on the above information. At the same time, it collects vehicle information and senses automatic braking information in real time to determine whether the exit conditions are met. If they are met, the secondary collision mitigation operation is exited; if not, the actuator performs braking control, gear control, electronic parking brake control, and hazard warning according to the above planning strategy.

[0039] According to the vehicle control method of this application embodiment, firstly, it is determined whether a forward collision has occurred; when a forward collision occurs, based on the vehicle speed at the time of collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedals, it is determined whether to initiate a secondary collision mitigation operation; if so, a target deceleration is planned based on the seat belt status, vehicle load, and current vehicle speed; finally, the vehicle is controlled to perform the secondary collision mitigation operation based on the target deceleration. Therefore, the forward collision state can be accurately identified based on vehicle information, and a target deceleration can be planned after determining that secondary collision mitigation is necessary, controlling the vehicle to perform the mitigation operation, thereby effectively reducing the risk of secondary collisions after a forward collision and improving vehicle protection.

[0040] Figure 4 This is a structural block diagram of a vehicle control system according to an embodiment of this application. Figure 4 As shown, the vehicle control system according to an embodiment of this application includes: a judgment module 410, a triggering module 420, a planning module 430, and a control module 440, wherein: The judgment module 410 is used to determine whether a forward collision has occurred; The trigger module 420 is used to determine whether to initiate a secondary collision mitigation operation when the vehicle is involved in a forward collision, based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedal. Planning module 430 is used to plan a target deceleration based on seat belt status, vehicle load and current vehicle speed when the triggering module determines that a secondary collision mitigation operation should be initiated. The control module 440 is used to control the vehicle to perform a secondary collision mitigation operation based on the target deceleration.

[0041] According to the vehicle control system of this application embodiment, it first determines whether a forward collision has occurred. If a forward collision occurs, it determines whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of collision, the trigger status of the automatic braking system, and the opening of the acceleration / deceleration pedals. If so, it plans a target deceleration based on the seatbelt status, vehicle load, and current vehicle speed. Finally, it controls the vehicle to perform the secondary collision mitigation operation based on the target deceleration. Therefore, the forward collision state can be accurately identified based on vehicle information, and a target deceleration can be planned and the vehicle controlled to perform the mitigation operation after determining that secondary collision mitigation is necessary, thereby effectively reducing the risk of secondary collisions after a forward collision and improving vehicle protection.

[0042] Specific limitations regarding the vehicle control system can be found in the limitations on vehicle control methods described above, and will not be repeated here. The various modules of the aforementioned vehicle control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the computer device's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0043] Furthermore, a vehicle is provided, comprising: a control system for the vehicle according to any of the above embodiments. The vehicle first determines whether a forward collision has occurred; when a forward collision occurs, it determines whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedals; if so, it plans a target deceleration based on the seatbelt status, vehicle load, and current vehicle speed; finally, it controls the vehicle to perform the secondary collision mitigation operation based on the target deceleration. Thus, the forward collision state can be accurately identified based on vehicle information, and a target deceleration can be planned and the vehicle controlled to perform mitigation operations after determining that secondary collision mitigation is necessary, thereby effectively reducing the risk of secondary collisions after a forward collision and improving vehicle protection.

[0044] Furthermore, other components and functions of the vehicle according to the embodiments of this application are known to those skilled in the art and will not be described in detail here.

[0045] In one embodiment, a computer device is provided. Figure 5 This is a structural block diagram of the computer device provided in the embodiments of this application, with reference to... Figure 5The computer device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned vehicle control method embodiment. For example, it executes: determining whether a forward collision has occurred; when a forward collision occurs, determining whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedals; if so, planning a target deceleration based on the seat belt status, vehicle load, and current vehicle speed; and controlling the vehicle to perform the secondary collision mitigation operation based on the target deceleration.

[0046] This application also provides a computer-readable storage medium storing a computer program. When the processor executes the computer program, it implements the aforementioned vehicle control method embodiment. For example, it executes: determining whether a forward collision has occurred; when a forward collision occurs, determining whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedals; if so, planning a target deceleration based on the seat belt status, vehicle load, and current vehicle speed; and controlling the vehicle to perform the secondary collision mitigation operation based on the target deceleration.

[0047] This application provides a computer program product including instructions that, when executed, cause the method described in this application embodiment to be performed. For example, it can execute... Figure 1 The steps of the vehicle control method shown include, for example, determining whether a forward collision has occurred; when a forward collision occurs, determining whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering state of the automatic braking system, and the opening of the acceleration / deceleration pedals; if so, planning a target deceleration based on the seat belt status, vehicle load, and current vehicle speed; and controlling the vehicle to perform the secondary collision mitigation operation based on the target deceleration.

[0048] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the methods described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0049] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling a vehicle, characterized in that, include: Determine if a forward collision has occurred; When the vehicle is involved in a forward collision, the system determines whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedals. If so, then plan the target deceleration based on the seat belt status, vehicle load, and current vehicle speed; The vehicle is controlled to perform a secondary collision mitigation operation based on the target deceleration.

2. The vehicle control method according to claim 1, characterized in that, The determination of whether a vehicle has been involved in a forward collision includes: Obtain collision sensor status, deceleration signals, and forward target perception information; Based on the collision sensor status, deceleration signal, and forward target perception information, it is determined whether the vehicle has been involved in a forward collision.

3. The vehicle control method according to claim 2, characterized in that, The step of determining whether the vehicle has been involved in a forward collision based on the collision sensor status, deceleration signal, and forward target perception information includes: When the collision sensor triggers a collision signal and the deceleration signal is less than a first threshold, it is determined that the vehicle has experienced a forward collision; or, When the deceleration signal is less than the second threshold, the time when the vehicle collides with the forward target is less than a predetermined time and the distance between the vehicle and the forward target is less than a predetermined distance, it is determined that the vehicle has experienced a forward collision.

4. The vehicle control method according to claim 1, characterized in that, When the vehicle experiences a forward collision, the system determines whether to initiate a secondary collision mitigation operation based on the vehicle speed at the time of the collision, the activation status of the automatic braking system, and the opening of the acceleration / deceleration pedals. This includes: When at least one of the following conditions is met: the automatic braking system is triggered, the vehicle speed at the time of the collision is greater than the first predetermined vehicle speed, the brake pedal opening is greater than the brake pedal opening threshold, and the accelerator pedal opening is greater than the accelerator pedal opening threshold, it is determined that the secondary collision mitigation operation will not be initiated. When the automatic braking system is not triggered, the vehicle speed at the time of the collision is less than the first predetermined vehicle speed, and the brake pedal opening is greater than the brake pedal opening threshold and the accelerator pedal opening is greater than the accelerator pedal opening threshold at the same time, it is determined that a secondary collision mitigation operation will be initiated.

5. The vehicle control method according to claim 1, characterized in that, The process of planning a target deceleration based on seatbelt status, vehicle load, and current vehicle speed includes: If the seatbelt is not fastened, the first planned deceleration will be used as the target deceleration; If the vehicle load is greater than the predetermined load, or if the seat belt is fastened and the current vehicle speed is within the predetermined range, the second planned deceleration will be used as the target deceleration. If the vehicle load is less than the predetermined load, the seatbelt is fastened, and the current vehicle speed is less than the second predetermined speed, then the third planned deceleration will be used as the target deceleration. Wherein, the absolute value of the first planned deceleration is less than the absolute value of the second planned deceleration, and the absolute value of the second planned deceleration is less than the absolute value of the third planned deceleration.

6. The vehicle control method according to any one of claims 1-5, characterized in that, The step of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration includes: The vehicle is braked according to the target deceleration; Turn on the vehicle's hazard lights; Control the vehicle's transmission to shift into neutral; Control the electronic parking brake to engage.

7. The vehicle control method according to claim 1, characterized in that, The process of controlling the vehicle to perform a secondary collision mitigation operation based on the target deceleration also includes: Determine whether the conditions for exiting the secondary collision mitigation operation are met based on the opening of the acceleration / deceleration pedals; or, determine whether the conditions for exiting the secondary collision mitigation operation are met based on the current vehicle speed, gear signal, and electronic parking brake status. When the exit conditions for the secondary collision mitigation operation are met, the secondary collision mitigation operation is exited.

8. A vehicle control system, characterized in that, include: The judgment module is used to determine whether a forward collision has occurred; The triggering module is used to determine whether to initiate a secondary collision mitigation operation when the vehicle is involved in a forward collision, based on the vehicle speed at the time of the collision, the triggering status of the automatic braking system, and the opening of the acceleration / deceleration pedal. The planning module is used to plan a target deceleration based on the seat belt status, vehicle load, and current vehicle speed when the triggering module determines that a secondary collision mitigation operation should be initiated. The control module is used to control the vehicle to perform secondary collision mitigation operations based on the target deceleration.

9. A vehicle, characterized in that, include: The vehicle control system according to claim 8.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the vehicle control method according to any one of claims 1-7.

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