Collision vehicle delayed unlocking method and device, vehicle, medium and product

Abstract

The invention relates to the technical field of vehicle unlocking, discloses a collision vehicle delayed unlocking method and device, a vehicle, a medium and a product, and aims to accurately judge collision positions, collision strength of each collision position and whether the vehicle rolls or not based on a collision detection signal of the vehicle. When the vehicle does not roll over and is slightly collided, the third vehicle door is locked; or when the collision condition is serious, according to the actual collision strength of each collision position, a differentiated automobile door unlocking strategy is generated, the first automobile door which is not collided is unlocked immediately so as to open up an escape way, and the second automobile door which is collided is unlocked after short-time locking and time delay, so that secondary damage to a user is avoided. Therefore, balance between escape of passengers and prevention of secondary injury is guaranteed at the first time when collision occurs, and the safety of the vehicle in a collision scene is improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle unlocking technology, specifically to a delayed unlocking method, device, vehicle, medium, and product for vehicles involved in collisions. Background Technology

[0002] After a vehicle collision, the door controller or area controller will immediately unlock the door upon detecting the collision detection signal. However, the impact of the collision may cause the door to open unexpectedly, increasing the risk of occupants being thrown out and potentially causing secondary injuries.

[0003] Current technology sends locking commands to all doors after a collision is detected to prevent occupants from being ejected from the vehicle. While locking all doors during a collision can prevent secondary injuries to occupants, the vehicles involved in the collision may also have doors that can be safely opened for easy escape. Simply locking all doors may delay occupants' escape time and fail to fully guarantee their safety. Summary of the Invention

[0004] This invention provides a method, device, vehicle, medium, and product for delayed unlocking of a collision vehicle, in order to solve the problem that although locking during a vehicle collision may prevent occupants from being thrown out, it may delay the occupants' escape opportunity.

[0005] In a first aspect, the present invention provides a delayed unlocking method for a collided vehicle, the method comprising: Acquire the vehicle's collision detection signal, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over; If the vehicle does not roll over, determine the third door to be locked based on the collision location and intensity, or determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and determine the corresponding delay unlocking time for the second door; Control the third door to lock, or control the first door to unlock immediately and / or control the second door to lock, and time the locking duration of the second door. If the locking duration is detected to reach the corresponding delayed unlocking time of the second door, control the second door to unlock.

[0006] This invention, based on vehicle collision detection signals, accurately determines the collision location, the collision intensity at each location, and whether the vehicle has rolled over. When the vehicle has not rolled over and the collision is minor, the third door is locked; or, in cases of more severe collisions, a differentiated door unlocking strategy is generated based on the actual collision intensity at each location. The first door, which was not involved in the collision, is immediately unlocked to create an escape route, while the second door, which was involved in the collision, is briefly locked and then unlocked after a delay to prevent secondary injury to the occupants. This achieves a balance between ensuring occupant escape and preventing secondary injury in the immediate aftermath of a collision, thus improving vehicle safety in collision scenarios.

[0007] In one alternative implementation, determining the third door to be locked, or determining the first door to be unlocked immediately and / or the second door to be unlocked with a delay, based on the collision location and collision intensity, includes: If the collision intensity at each collision location is detected to be lower than the collision intensity threshold, all doors of the vehicle are identified as the third door. If the collision intensity at any collision location is detected to be not lower than the collision intensity threshold, the door not located in the neighborhood of any collision location is identified as the first door, and / or the door located in the neighborhood of any collision location is identified as the second door.

[0008] This invention locks all doors when the vehicle has not rolled over and the impact intensity at the collision points is relatively low, indicating a minor scrape or bump during normal driving. However, if a high-intensity collision occurs, the invention determines whether each door should be unlocked immediately or with a delay, based on the impact intensity at each location. This ensures that if the vehicle has not rolled over but the impact intensity is high, the first door is unlocked immediately to create an escape route, while the second door is unlocked with a delay to prevent secondary injury to the user.

[0009] In one alternative implementation, determining the delayed unlocking time of the second door includes: Determine the target collision location adjacent to the second door; The first preset duration that matches the collision intensity at the target collision location is queried to obtain the delayed unlocking time of the second door.

[0010] When a vehicle does not roll over and a high-intensity collision occurs, this invention selects a matching delay unlocking time for the second door based on the actual collision intensity at the collision location. This better suits complex collision scenarios and ensures the accuracy of delay control for each door, thus contributing to user safety.

[0011] In one alternative implementation, the method further includes: If the vehicle rolls over, all doors of the vehicle are identified as the second doors, and the second preset duration is set as the delayed unlocking time for the second doors.

[0012] This invention delays unlocking all doors for a second preset time when the vehicle rolls over, preventing users from being thrown out of the vehicle during the rollover and ensuring user safety.

[0013] In one alternative implementation, if the vehicle does not roll over, after locking the second door and before unlocking it, the method further includes: If a rollover is detected, the locking duration of the second door will be reset.

[0014] In this embodiment, if the vehicle rolls over during the delayed unlocking process, the locking time is restarted, and the corresponding door is unlocked with a delay according to the second preset time corresponding to the rollover state, so as to ensure that all doors are not ejected when the vehicle rolls over.

[0015] In one alternative implementation, after controlling the locking of the second door, the method further includes: If the locking duration is not detected to have reached the corresponding delayed unlocking time for the second door, the unlocking request for the second door from the vehicle's internal unlocking device will be refused. If the locking duration is not detected to have reached the corresponding delayed unlocking time for the second door, the system responds to the unlocking request for the second door sent by the external unlocking device, stops timing the locking duration, and controls the second door to unlock.

[0016] This invention refuses to respond to unlocking requests from inside the vehicle if the locking duration has not reached the corresponding delayed unlocking time, preventing occupants from accidentally activating the central locking switch or the second door from being accidentally opened due to vehicle collision or deformation. Furthermore, it can respond to valid unlocking requests from outside the vehicle to facilitate external rescue.

[0017] In one optional implementation, the vehicle is equipped with multiple collision detection devices, and the collision detection signals include a collision occurrence signal, collision speed, and collision intrusion amount detected by each collision detection device; based on the collision detection signals, determining at least one collision location and the collision intensity corresponding to each collision location includes: At least one target collision detection device that identifies a valid collision signal is obtained, and at least one collision location of the vehicle is obtained based on the installation location of the target collision detection device. The collision intensity at each collision location is obtained based on the collision velocity and collision intrusion amount at each collision location.

[0018] This invention uses multiple collision detection devices to accurately locate multiple collision points of a vehicle, and combines the collision speed and collision intrusion amount at the corresponding locations to quantify the collision intensity of each collision point, so as to differentiate the collision intensity of each door area and perform differentiated unlocking control for each door.

[0019] In one optional implementation, when the collision detection device does not detect a collision, a collision occurrence signal is sent as a first-cycle signal; the method further includes: When a collision signal is detected and sent as a second-cycle signal, the collision signal is determined to be valid; wherein the second-cycle signal is out of phase with the first-cycle signal.

[0020] This invention determines whether a collision event has occurred by reversing the waveform of the collision signal. It can be clearly distinguished from abnormal situations such as power short circuit, ground short circuit, or open circuit, thereby accurately determining the validity of the collision signal and reducing the risk of secondary injury to occupants due to misjudgment of collision and failure to unlock immediately or delayed unlocking.

[0021] In a second aspect, the present invention provides a collision vehicle delayed unlocking device, the device comprising: The first processing module is used to acquire the collision detection signal of the vehicle, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over. The second processing module is used to determine, based on the collision location and collision intensity, the third door to be locked if the vehicle does not roll over, or to determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and to determine the corresponding delay unlocking time for the second door. The third processing module is used to control the locking of the third door, or to control the immediate unlocking of the first door and / or to control the locking of the second door. It counts the locking duration of the second door, and if it detects that the locking duration has reached the corresponding delayed unlocking time of the second door, it controls the second door to unlock.

[0022] Thirdly, the present invention provides a vehicle comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the collision vehicle delay unlocking method of the first aspect or any corresponding embodiment described above.

[0023] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the collision vehicle delay unlocking method of the first aspect or any corresponding embodiment described above.

[0024] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the collision vehicle delay unlocking method described in the first aspect or any corresponding embodiment thereof.

[0025] The beneficial effects of this invention are as follows: This invention, based on vehicle collision detection signals, accurately determines the collision location, the collision intensity at each location, and whether the vehicle has rolled over. When the vehicle has not rolled over and the collision is minor, the third door is locked; or, in cases of more severe collisions, a differentiated door unlocking strategy is generated based on the actual collision intensity at each location. The first door, which was not involved in the collision, is immediately unlocked to create an escape route, while the second door, which was involved in the collision, is briefly locked and then unlocked after a delay to prevent secondary injury to the occupants. This achieves a balance between ensuring occupant escape and preventing secondary injury in the immediate aftermath of a collision, thus improving vehicle safety in collision scenarios. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the first process of the delayed unlocking method for a collision vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a second process for a delayed unlocking method for a collision vehicle according to an embodiment of the present invention; Figure 4 This is a timing diagram of the collision occurrence signal according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the state switching of the door lock drive circuit according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the third process of the delayed unlocking method for collision vehicles according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a collision vehicle delayed unlocking device according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0030] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In relevant collision unlocking technologies, the door controller or area controller unlocks the doors immediately upon detecting a collision signal. However, the impact of a collision may cause the doors to open unexpectedly, increasing the risk of occupants being ejected or suffering secondary injuries. For example, during a severe collision, door structural deformation or vehicle rollover triggers unlocking, generating tremendous impact force. If all doors unlock simultaneously and immediately, they may open unexpectedly during the collision unlocking process, putting occupants at risk of being ejected from the vehicle and failing to adequately guarantee their safety.

[0032] This invention provides a delayed unlocking method for vehicles involved in collisions or rollovers. It delays unlocking of vehicle doors during collisions or rollovers, accurately pinpointing the collision location and intensity for different doors, and differentially controlling the unlocking time for each door. This invention does not simply achieve rapid unlocking; rather, it differentiates the unlocking timing of different doors based on the collision location and intensity, thus resolving the problem of accidental door opening.

[0033] According to embodiments of the present invention, a delayed unlocking system for collision vehicles is provided, such as... Figure 1 As shown, the system includes a controller, a collision detection module, and multiple collision detection devices installed at different locations. The collision detection module is connected to each collision detection device and collects collision occurrence signals, collision speed, collision intrusion amount, and other signals detected by each module, as well as signals collected by its own lateral / longitudinal acceleration sensors and rollover sensors, to form a collision detection signal.

[0034] Furthermore, the collision detection signal is sent to the controller via hardwire and CAN bus. After receiving the collision hardwire signal and collision CAN bus signal sent by the collision detection module, the controller processes the collision hardwire signal and collision CAN bus signal to determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, or to determine the third door to be locked. The controller then uses the door lock drive circuit to drive the door lock motor M1 of the corresponding door, thereby controlling the third door to lock, or controls the first door to unlock immediately and / or controls the second door to lock first and then unlock with a delay.

[0035] In this embodiment, the collision detection device can be a collision sensor, meaning the vehicle can be equipped with a left front collision sensor, a right front collision sensor, a left side collision sensor, a right side collision sensor, and a left rear collision sensor. By mounting the collision sensors at the front, sides, and rear of the vehicle, they are used to detect signals such as collision speed, collision intrusion amount, collision impact force, and changes in collision acceleration during collisions at different locations. The collision sensors are connected to the collision detection module via hardwired connections. When a collision is detected, the collision sensor immediately sends signals such as collision speed, collision intrusion amount, collision impact force, and changes in collision acceleration / deceleration to the collision detection module.

[0036] It should be noted that the type and number of collision sensors can be set according to the actual scenario. They can be sensors that only detect collision acceleration / deceleration, sensors that only detect collision impact force, or sensors that can detect both collision acceleration and collision impact force, etc.

[0037] In this embodiment, the collision detection module is typically installed in the center of the vehicle, in a position unlikely to be damaged in a collision. The collision detection module integrates lateral / longitudinal acceleration sensors and a roll sensor. The lateral / longitudinal acceleration sensors detect information such as lateral acceleration, longitudinal acceleration, and yaw rate to analyze and determine if the vehicle's trajectory has deviated from its intended course or if there have been abnormal acceleration or deceleration events. The roll sensor detects the vehicle's tilt or roll angle and angular velocity to analyze and determine if the vehicle has tilted at a large angle or rolled over. The collision detection module is hardwired to multiple collision sensors, receiving signals from different locations so that the controller can determine whether a collision event has occurred and analyze the collision location and intensity.

[0038] Specifically, see again Figure 1The collision detection module collects signals such as lateral / longitudinal acceleration, yaw rate, tilt angle, rollover state, and collision occurrence signal, collision velocity, and collision intrusion amount from the collision detection device. These signals can be transmitted to the controller via hardwire and CAN bus. Furthermore, in practical scenarios, the collision detection module and controller can be connected via multiple CAN channels or Ethernet to acquire collision detection signals, ensuring the effectiveness and reliability of collision detection signal transmission.

[0039] See you again Figure 1 The controller incorporates a collision unlocking processing unit to receive collision detection signals such as lateral / longitudinal acceleration and vehicle rollover information from the collision detection module. It analyzes the collision location and intensity, and uses a collision delay unlocking algorithm to immediately or delay unlock the corresponding door. The controller supports configuration of parameters such as collision intensity threshold, unlocking location, and delay time. It also includes a built-in door lock drive circuit to control the door lock motor to perform unlocking and locking actions.

[0040] In this embodiment, see again Figure 1 The collision detection signal can be transmitted to the controller via hardwire or CAN bus. The controller analyzes and verifies the validity of the collision based on the collision hardwire signal and collision CAN bus signal sent by the collision detection module.

[0041] It should be noted that the controller is not limited to one or a few specific control modules. The controller can be a central domain controller for centralized control of all doors; it can also be two area controllers, each controlling the doors within its designated area; or it can include multiple door lock controllers, each controlling its corresponding door individually. The type and number of door locks for the door lock motors can be set according to the actual scenario. It can be a single standard door lock motor, an electric release lock motor, or a standard door lock motor plus an electronic child lock motor, etc.

[0042] The collision vehicle delayed unlocking system provided in this embodiment accurately determines the collision location, the collision intensity at each collision location, and whether the vehicle has rolled over through collision detection. When the vehicle has not rolled over and the collision is minor, the third door is locked; or, in cases of more severe collisions, a differentiated door unlocking strategy is generated based on the actual collision intensity at each collision location. The first door, which was not involved in the collision, is immediately unlocked to open an escape route, while the second door, which was involved in the collision, is briefly locked and then unlocked after a delay to avoid secondary injury to the user. This achieves a balance between ensuring occupant escape and preventing secondary injury in the immediate aftermath of a collision, improving vehicle safety in collision scenarios.

[0043] According to an embodiment of the present invention, a method for delayed unlocking of a collided vehicle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0044] This embodiment provides a delayed unlocking method for collision vehicles, which can be used as follows: Figure 1 The unlocking controller shown is such as a microcontroller, MCU, etc. Figure 2 This is a flowchart of a delayed unlocking method for a collided vehicle according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Obtain the vehicle's collision detection signal, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over.

[0045] In this embodiment, see again Figure 1 The vehicle is equipped with multiple collision detection devices. When a collision occurs, each collision detection device sends a valid collision occurrence signal and transmits the corresponding collision speed and collision intrusion amount to the collision detection module. Based on the collision occurrence signal, collision speed, collision intrusion amount, and signals such as lateral / longitudinal acceleration, roll angle, and roll angular velocity, the collision detection module obtains a collision detection signal and transmits the collision detection signal to the controller via hardwire and CAN bus.

[0046] Specifically, the controller analyzes the received collision detection signals, determining the collision location and intensity based on signals such as the collision occurrence signal, collision speed, and collision intrusion amount. It also combines these signals with those of roll angle and roll velocity to determine whether the vehicle has rolled over.

[0047] It should be noted that there is at least one collision location, and each collision location corresponds to a collision intensity. That is, the vehicle may be hit in multiple locations, and the collision intensity of each collision location may be different.

[0048] Step S202: If the vehicle does not roll over, determine the third door to be locked based on the collision location and collision intensity, or determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and determine the corresponding delay unlocking time for the second door.

[0049] Specifically, if the vehicle does not roll over, the collision intensity at each point of impact is analyzed to determine the impact condition of each door. If the collision is minor (e.g., a door scraping against an obstacle), it falls under normal driving conditions and will not cause structural deformation of the door. In this case, the corresponding third door should be locked to ensure user safety. If the collision is severe, the actual collision intensity at each point of impact needs to be analyzed to determine if immediately unlocking the first door will not harm the user, allowing for timely escape in the collision scenario. Additionally, the second door should be analyzed to determine if immediate unlocking might harm the user (e.g., door deformation or the impact of the door opening). In this case, the second door should be unlocked with a delay.

[0050] This embodiment analyzes whether each door is locked, unlocked immediately, or unlocked with a delay, and selects an appropriate delay unlocking time for the second door that needs to be unlocked with a delay, based on the corresponding collision intensity, thereby differentiating the unlocking control of each door in a collision scenario.

[0051] In some embodiments, there may be multiple second doors, and the delayed unlocking time of each second door is matched with its collision intensity, that is, the delayed unlocking time of each second door may be different.

[0052] Step S203: Control the third door to lock, or control the first door to unlock immediately and / or control the second door to lock. The locking duration of the second door is timed. If the locking duration is detected to reach the corresponding delayed unlocking time of the second door, the second door is unlocked.

[0053] Specifically, for the third door to be locked, the controller drives the corresponding door lock motor to maintain the locked state. For the first door to be unlocked immediately, the controller drives the corresponding door lock motor to unlock immediately, so that the user can escape in time through the relatively safe first door where the collision was not severe. For the second door to be unlocked after a delay, the controller first drives the second door to lock to prevent damage to the user (such as passengers being thrown out or crushed due to hasty opening of the door), and then controls the second door to unlock after the locking time has reached the corresponding delayed unlocking time.

[0054] In this embodiment, the third door is locked during a minor collision to protect the user's safety. In a more severe collision, the first door is unlocked immediately and / or the second door is unlocked with a delay, thus differentiating the unlocking strategy for each door. Compared to the traditional approach of immediately unlocking all doors, this prevents the user from being ejected during a severe collision, thereby protecting their safety. Furthermore, compared to locking all doors during a collision, it allows the user to escape quickly through the relatively safe first door, and the temporary locking of the second door further ensures the user's personal safety.

[0055] The collision vehicle delayed unlocking method provided in this embodiment accurately determines the collision location, the collision intensity at each collision location, and whether the vehicle has rolled over based on the vehicle's collision detection signal. When the vehicle has not rolled over and the collision is minor, the third door is locked; or, in cases of severe collision, a differentiated door unlocking strategy is generated based on the actual collision intensity at each collision location. The first door, which was not involved in the collision, is immediately unlocked to open an escape route, while the second door, which was involved in the collision, is briefly locked and then unlocked after a delay to avoid secondary injury to the user. This achieves a balance between ensuring occupant escape and preventing secondary injury in the immediate aftermath of a collision, improving vehicle safety in collision scenarios.

[0056] This embodiment provides a delayed unlocking method for collision vehicles, which can be used as follows: Figure 1 The unlocking controller shown is such as a microcontroller, MCU, etc. Figure 3 This is a flowchart of a delayed unlocking method for a collided vehicle according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps: Step S301: Obtain the vehicle's collision detection signal, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over.

[0057] Specifically, step S301 includes: Step S3011: Obtain the vehicle's collision detection signal.

[0058] Specifically, based on the collision detection signal, a collision occurrence signal is obtained for each collision detection device. Before a collision occurs, the controller can diagnose the connection status between the collision detection module and the controller based on the waveforms of the collision occurrence signal on the CAN bus and hardwired connections. Taking hardwired connection status detection as an example, if a power short circuit occurs in the hardwire, the collision occurrence signal waveform will be a continuous high level; if a short circuit to ground occurs in the hardwire, the collision occurrence signal waveform will be a continuous low level; if the hardwire is open-circuited, the collision occurrence signal waveform will be empty. The connection status diagnosis of the CAN bus is similar.

[0059] Specifically, to ensure the accuracy of the delayed unlocking strategy, it is necessary to effectively and accurately determine the occurrence of collision events. When the collision detection device does not detect a collision, the collision signal is invalid, and the detected collision signal is sent as a first-cycle signal. When the controller detects that the collision signal is sent as a second-cycle signal, it determines that the collision signal is valid, i.e., a collision event has occurred. The second-cycle signal is inverted from the first-cycle signal.

[0060] In some embodiments, such as Figure 4As shown, when no collision occurs, the waveform of the collision occurrence signal is initialized to a high level. After initialization, the collision occurrence signal is sent cyclically with a low level time T1 and a high level time T2. When a collision occurs, the duty cycle of the collision occurrence signal waveform is reversed, and it is sent cyclically with a low level time T2 and a high level time T1.

[0061] This embodiment can clearly distinguish from abnormal situations such as power short circuit (continuous high level), ground short circuit (continuous low level), or open circuit (no waveform change) in the collision hard line by the high and low level changes of the waveform and the duty cycle changes before and after the collision. This allows for accurate determination of the validity of the collision signal and reduces the risk of secondary injury to occupants due to misjudgment of the collision and failure to unlock immediately or delayed unlocking.

[0062] Step S3012: Identify at least one target collision detection device with a valid collision signal, and obtain at least one collision location of the vehicle based on the installation location of the target collision detection device.

[0063] Specifically, after the system is initialized and powered on, collision detection devices at different installation locations continuously detect collision signals and provide the controller with the original collision signal and signal identifier ID. The controller then determines the installation location of the collision detection device based on the signal identifier ID. For example, ID=A11 → left front collision detection device, signal value=X; ID=A12 → right front collision detection device, signal value=Y.

[0064] In this embodiment, the collision location is determined based on the installation position of the collision detection device and the collision signal. For example, if the collision signal with ID=A11 or ID=A12 is valid, it is determined as F1 [frontal collision], meaning the collision location is in front of the vehicle. The collision signal with ID=A21 is valid and is determined to be F21 [collision in the left front door area]; The collision signal with ID=A22 is valid and is determined to be F22 [collision in the right front door area]; The collision signal with ID=A31 is valid and is determined to be F31 [collision in the left rear door area]; The collision signal with ID=A32 is valid and is determined to be F32 [collision in the right rear door area]; If the collision signal with ID=A41 or ID=A42 is valid, it is determined as F4 [rear-end collision], meaning the collision occurred at the rear of the vehicle; Furthermore, if multiple collisions occur validly, it is classified as F5 [Multiple Composite Collision], and multiple composite collisions simultaneously report the locations of the collisions. Only when a valid collision signal is detected (excluding interference such as road bumps) will the subsequent collision intensity detection and delayed unlocking process begin, to avoid accidentally triggering the door unlocking.

[0065] Step S3013: Based on the collision velocity and collision intrusion amount corresponding to each collision location, obtain the collision intensity corresponding to each collision location.

[0066] Specifically, collision sensors can convert changes in the corresponding sensor signal values ​​into equivalent collision speed V and collision intrusion amount D to determine the collision intensity. For details, please refer to relevant technologies.

[0067] In this embodiment, for each collision location, the collision intensity corresponding to that collision location is determined based on the collision speed and the amount of intrusion at that collision location. For example, if V < a first speed threshold (e.g., 15 km / h) or D < a first intrusion threshold (e.g., 80 mm), the collision intensity is determined to be low; if the first speed threshold (e.g., 15 km / h) ≤ V < a second speed threshold (e.g., 30 km / h) or the first intrusion threshold (e.g., 80 mm) ≤ D < a second intrusion threshold (e.g., 150 mm), the collision intensity is determined to be medium; if V ≥ a second speed threshold (e.g., 30 km / h) or D ≥ a second intrusion threshold (e.g., 150 mm), the collision intensity is determined to be high.

[0068] This embodiment uses multiple collision detection devices to accurately locate multiple collision points of the vehicle, and combines the collision speed and collision intrusion amount at the corresponding locations to quantify the collision intensity of each collision point, so as to differentiate the collision intensity of each door area and perform differentiated unlocking control for each door.

[0069] Step S3014: Determine whether the vehicle has rolled over.

[0070] For example, based on lateral and longitudinal acceleration, vehicle rollover angle, etc., it is determined whether a collision rollover event has occurred. If the lateral and longitudinal acceleration after the collision is greater than the acceleration threshold and the vehicle rollover angle is greater than the angle threshold (e.g., 90 degrees), it is determined that the vehicle has experienced a high-intensity collision rollover event.

[0071] Step S302: If the vehicle does not roll over, determine the third door to be locked based on the collision location and collision intensity, or determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and determine the corresponding delay unlocking time for the second door.

[0072] Specifically, if the vehicle does not roll over, step S302 includes: Step S3021: If the collision intensity at each collision location is detected to be lower than the collision intensity threshold, determine all doors of the vehicle as the third door.

[0073] Specifically, if the collision intensity at all collision locations is low (i.e., the collision intensity threshold is low), a locking command is output to the door lock drive circuits of all vehicle doors. For multi-location collision scenarios, as long as a collision intensity of medium or high is detected at any collision location, step S3022 is executed.

[0074] Step S3022: If the collision intensity at any collision location is detected to be not lower than the collision intensity threshold, the door not located in the neighborhood of any collision location is identified as the first door, and / or the door located in the neighborhood of any collision location is identified as the second door.

[0075] In some embodiments, for any collision location with medium or high impact intensity, doors within the vicinity of the collision location are unlocked with a delay, while doors not within the vicinity are unlocked immediately, ensuring that the escape route is opened first.

[0076] Step S3023: Determine the target collision location adjacent to the second door; query the first preset duration that matches the collision intensity of the target collision location to obtain the delayed unlocking time of the second door.

[0077] Specifically, for the second door that requires delayed unlocking, the delay unlocking time is selected based on the collision intensity at the second door; the higher the collision intensity, the longer the delay unlocking time. For example, when the collision intensity of the second door is medium, the delay unlocking time can be 2 seconds; when the collision intensity is high, the delay unlocking time can be 5 seconds. The specific delay unlocking time can be set according to actual needs.

[0078] In this embodiment, when the vehicle does not roll over and a high-intensity collision occurs, the delay unlocking time of the second door is selected based on the actual collision intensity at the collision location. This makes it more suitable for complex collision scenarios and ensures the accuracy of delay control for each door, which is beneficial to protecting user safety.

[0079] Taking a vehicle with four doors as an example, if the collision location is F1 [frontal collision], all doors will be unlocked immediately; If the collision location is F21 [left front door area collision], and the collision intensity corresponding to the left front door is high, the left front door will unlock after a 5-second delay, while the other three non-collision doors will unlock immediately. If the collision location is F22 [right front door area collision], and the collision intensity corresponding to the right front door is medium, the right front door will unlock after a 2-second delay, while the other three non-collision doors will unlock immediately. If the collision location is F31 [left rear door area collision], and the collision intensity corresponding to the left rear door is high, the left rear door will unlock after a 5-second delay, while the other three non-collision doors will unlock immediately. If the collision location is F32 [right rear door area collision], and the collision intensity corresponding to the right rear door is medium, the right rear door will unlock after a 2-second delay, while the other three non-collision doors will unlock immediately; If the collision location is F4 [rear-end collision], immediately unlock all doors; If the collision location is F5 [multiple compound collision], including F1 [frontal collision] and F4 [rear-end collision], immediately unlock all doors; If the collision location is F5 [multiple compound collisions], including F1 [frontal collision] and F21 [left front door area collision], and the collision intensity corresponding to the left front door is high, the left front door will be unlocked after a 5-second delay, while the other three non-collision doors will be unlocked immediately; If the collision location is F5 [multiple compound collisions], including F1 [frontal collision], F21 [left front door area collision], and F31 [left rear door area collision], and the collision intensity corresponding to the left front door is high and the collision intensity corresponding to the left rear door is high, the left front door and left rear door will be unlocked after a 5-second delay, while the two non-collision doors on the right will be unlocked immediately; If the collision location is F5 [multiple compound collision], including F21 [left front door area collision] and F32 [right rear door area collision], and the collision intensity corresponding to the left front door is high and the collision intensity corresponding to the right rear door is medium, the left front door will unlock after a 5-second delay, the right rear door will unlock after a 2-second delay, and the two non-collision doors, left rear and right front, will unlock immediately.

[0080] The door unlocking strategy described above at the collision location is merely an example; specific settings can be implemented based on the actual control requirements of the scenario. This embodiment employs a two-dimensional collision location and collision intensity matching unlocking strategy, defining delay unlocking times for different collision intensities to ensure strategy accuracy.

[0081] In this embodiment, if the collision intensity at the vehicle's impact points is relatively low when the vehicle has not rolled over, it indicates that the collision is a minor scrape or bump during normal driving. In this case, all doors are locked. Whenever a collision with high intensity occurs, the system determines whether each door should be unlocked immediately or with a delay, based on the impact intensity at each location. This ensures that if the vehicle has not rolled over but the collision intensity is high, the first door is unlocked immediately to create an escape route, while the second door is unlocked with a delay to prevent secondary injury to the user.

[0082] In some optional implementations, if the vehicle rolls over, regardless of the intensity of the collision, all doors of the vehicle are identified as the second doors to be unlocked with a delay, and a second preset duration is determined as the delay unlocking time for the second doors. The second preset duration is greater than or equal to the first preset duration.

[0083] For example, if a vehicle rollover is detected, all doors will unlock after a 5-second delay. This delays unlocking all doors for a second preset duration during a rollover, preventing users from being thrown out of the vehicle and ensuring their safety.

[0084] Step S303: Control the third door to lock, or control the first door to unlock immediately and / or control the second door to lock. The locking duration of the second door is timed. If the locking duration is detected to reach the corresponding delayed unlocking time of the second door, the second door is unlocked.

[0085] In some alternative implementations, after controlling the second door to lock, if it is detected that the locking duration has not reached the corresponding delayed unlocking time of the second door, the second door unlocking request from the vehicle's internal unlocking device is refused.

[0086] Specifically, when the delayed unlocking strategy is triggered, the second door is prohibited from responding to unlocking requests from inside the vehicle. This prevents occupants from accidentally activating the central locking switch or the second door from being ejected due to abnormal vehicle deformation caused by a collision. Simultaneously, a timer for the unlocking restriction period begins. During this timer, the vehicle's acceleration and rollover status are continuously monitored. Once the vehicle's condition stabilizes or the set restriction period is reached, the timer stops, and the door lock drive circuit is controlled to execute the door lock motor unlocking action. The aforementioned restriction period can be consistent with the corresponding delayed unlocking time for the second door.

[0087] In some optional implementations, after controlling the second door to lock, if it is detected that the locking duration has not reached the corresponding delayed unlocking time of the second door, the system responds to the unlocking request sent by the external unlocking device of the vehicle, stops timing the locking duration, and controls the second door to unlock.

[0088] Specifically, if a valid second door unlocking request is received from outside the vehicle before the second door's locking duration has reached the corresponding delayed unlocking time, the unlocking prohibition command and the locking duration timer are lifted, without affecting external rescue efforts.

[0089] In some embodiments, such as Figure 5 As shown, the states of the door lock drive circuit for each door include initialization state, IO control state, and collision unlocking state. The initialization state only exists after a software reset and then immediately jumps to the other states without any unlocking action. In the IO control state, the door lock drive device is controlled according to the transmitted IO parameters. In the collision unlocking state, the corresponding collision unlocking process is executed based on the collision signal and the transmitted IO parameters.

[0090] See you again Figure 5When condition 1 is met, the door lock drive circuit transitions from the initialization state to the IO control state. Condition 1 is: (no hard-wire signal collision and (no CAN signal collision or CAN signal fault) or the collision unlocking process has been completed. It should be noted that "no hard-wire signal collision" means that the collision signal sent by the collision detection device near the door area via the hard wire is invalid, and "no CAN signal collision" means that the collision signal sent by the corresponding collision detection device via the CAN bus is invalid.

[0091] When condition 2 is met, the door lock drive circuit switches from the IO control state to the collision unlock state. Condition 2 is: (hard wire signal has a collision or (CAN signal has a collision and CAN signal is fault-free) and the collision unlock stroke has not been executed.

[0092] When condition 3 is met, the door lock drive circuit switches from the collision unlock state to the IO control state. Condition 3 is: the collision unlock process is completed.

[0093] When condition 4 is met, the door lock drive circuit jumps from the initialization state to the collision unlock state. Condition 4 is: (hard wire signal has a collision or (CAN signal has a collision and CAN signal is fault-free) and the collision unlock stroke has not been executed.

[0094] In this embodiment, see again Figure 5 After executing the corresponding collision unlocking action (immediate unlocking or delayed unlocking), the door lock drive circuit sends back the unlocking result through the status feedback unit to ensure that the unlocking command is executed properly. If the collision unlocking is not completed, a retry step (such as retrying 4 times) is added to deal with unlocking failures caused by temporary mechanical jamming, thereby improving system reliability.

[0095] In some embodiments, the door lock motor may include a standard door lock motor and a child lock motor, see again Figure 5 After performing a collision unlocking action on a regular door lock, it is also necessary to determine whether the child lock has been successfully unlocked. If the child lock is not unlocked, it is necessary to perform an unlocking action on the child lock, and add unlocking status feedback for the child lock and a retry mechanism when unlocking fails.

[0096] In some alternative implementations, if the vehicle does not roll over, and if a rollover is detected after the second door is locked but before it is unlocked, the locking duration of the second door is reset.

[0097] Specifically, if the vehicle has not yet rolled over, and a rollover is detected during the delayed unlocking process of the second door, the locking duration is refreshed, and the delayed unlocking is performed according to the second preset duration corresponding to the rollover situation. If the unlocking action of the second door has already begun, the locking duration is not refreshed.

[0098] The collision vehicle delayed unlocking method provided in this embodiment receives collision hardwire signals and collision CAN bus signals sent by the collision detection module, and analyzes and verifies the validity of the collision. By acquiring collision detection signals in real time, the collision location and collision intensity are determined. If the collision intensity at each collision location is lower than the collision intensity threshold, all doors are locked. If the collision intensity at any collision location is not lower than the collision intensity threshold, it is determined whether each door should be unlocked immediately or with a delayed unlocking. This achieves a balance between ensuring occupant escape and preventing secondary injuries in the first moment of a collision, thus improving vehicle safety in collision scenarios.

[0099] The following detailed description of the collision vehicle delayed unlocking scheme of the present invention is based on a specific application example.

[0100] like Figure 6 As shown, after system initialization, the collision detection module acquires the sensor IDs and raw sensor signals of the left front collision sensor, right front collision sensor, left side collision sensor, right side collision sensor, left rear collision sensor, as well as the lateral / longitudinal acceleration sensor and roll sensor, and analyzes and determines whether a valid collision has occurred.

[0101] If a valid collision signal is detected, the collision location and intensity are identified, and it is determined whether a vehicle rollover event has occurred. Based on the collision location, intensity, and whether a rollover has occurred, an unlocking strategy is then matched.

[0102] When each collision is a low-intensity collision, the vehicle damage is relatively small, the possibility of secondary injury to occupants is smaller, no delayed unlocking event is set, and all doors remain locked.

[0103] When there is at least one medium-intensity or high-intensity collision location, if it is a frontal or rear-end collision, all doors will be unlocked immediately. Otherwise, the doors at the collision location may be severely deformed. To prevent the doors from being immediately unlocked and opening, causing secondary injury to the occupants, an unlocking prohibition command is set for the doors at the collision location, and a delayed unlocking is initiated for the doors at the collision location (e.g., a 5-second delay). The other doors will unlock immediately, protecting the doors affected by the collision from being opened during the delayed unlocking time. The other doors can be quickly unlocked after the vehicle collision is confirmed to be valid.

[0104] When a vehicle is involved in a high-intensity collision and rolls over, unlocking the doors while the vehicle is in a rollover state may throw the occupants out of the vehicle. To prevent the doors from being ejected while the vehicle is in a rollover state, a door unlocking command is first set, and all doors are unlocked with a delay.

[0105] This embodiment also provides a collision vehicle delayed unlocking device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0106] This embodiment provides a delayed unlocking device for collision vehicles, such as... Figure 7 As shown, it includes: The first processing module 701 is used to acquire the collision detection signal of the vehicle, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over. The second processing module 702 is used to determine, based on the collision location and collision intensity, the third door to be locked if the vehicle does not roll over, or to determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and to determine the corresponding delay unlocking time for the second door. The third processing module 703 is used to control the locking of the third door, or to control the immediate unlocking of the first door and / or to control the locking of the second door. It counts the locking duration of the second door and controls the second door to unlock if the locking duration reaches the corresponding delayed unlocking time of the second door.

[0107] In some optional embodiments, the vehicle is equipped with multiple collision detection devices, and the collision detection signal includes a collision occurrence signal, collision speed, and collision intrusion amount detected by each collision detection device; the first processing module 701 is further configured to: At least one target collision detection device that identifies a valid collision signal is obtained, and at least one collision location of the vehicle is obtained based on the installation location of the target collision detection device. The collision intensity at each collision location is obtained based on the collision velocity and collision intrusion amount at each collision location.

[0108] In some optional implementations, when the collision detection device does not detect a collision, the collision occurrence signal is sent as a first-cycle signal; the first processing module 701 is further configured to: When a collision signal is detected and sent as a second-cycle signal, the collision signal is determined to be valid; wherein the second-cycle signal is out of phase with the first-cycle signal.

[0109] In some optional implementations, the second processing module 702 is further configured to: If the collision intensity at each collision location is detected to be lower than the collision intensity threshold, all doors of the vehicle are identified as the third door. If the collision intensity at any collision location is detected to be not lower than the collision intensity threshold, the door not located in the neighborhood of any collision location is identified as the first door, and / or the door located in the neighborhood of any collision location is identified as the second door.

[0110] In some optional implementations, the second processing module 702 is further configured to: Determine the target collision location adjacent to the second door; The first preset duration that matches the collision intensity at the target collision location is queried to obtain the delayed unlocking time of the second door.

[0111] In some optional implementations, the second processing module 702 is further configured to: If the vehicle rolls over, all doors of the vehicle are identified as the second doors, and the second preset duration is set as the delayed unlocking time for the second doors.

[0112] In some alternative implementations, if the vehicle does not roll over, after locking the second door and before unlocking it, the third processing module 703 is further configured to: If a rollover is detected, the locking duration of the second door will be reset.

[0113] In some alternative implementations, after controlling the locking of the second door, the third processing module 703 is further configured to: If the locking duration is not detected to have reached the corresponding delayed unlocking time for the second door, the unlocking request for the second door from the vehicle's internal unlocking device will be refused. If the locking duration is not detected to have reached the corresponding delayed unlocking time for the second door, the system responds to the unlocking request for the second door sent by the external unlocking device, stops timing the locking duration, and controls the second door to unlock.

[0114] The collision vehicle delay unlocking device provided in this embodiment of the invention can execute the collision vehicle delay unlocking method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the various modules and units described above are the same as in the corresponding embodiments described above, and will not be repeated here.

[0115] Figure 8 This is a structural schematic diagram of a vehicle provided in an embodiment of the present invention.

[0116] The following is a detailed reference. Figure 8The diagram illustrates a structural schematic suitable for implementing a vehicle according to an embodiment of the present invention. The vehicle may include a processor (e.g., a central processing unit, graphics processor, etc.) 801, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for vehicle operation. The processor 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0117] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 807 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; memory devices 808 including, for example, magnetic tape, hard disk, etc.; and communication devices 809. Communication device 809 allows the vehicle to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 Vehicles with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0118] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the collision vehicle delayed unlocking method of the embodiments of the present invention.

[0119] Figure 8 The vehicle shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0120] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the collision vehicle delayed unlocking method shown in the above embodiments is implemented.

[0121] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0122] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for delayed unlocking of a collided vehicle, characterized in that, The method includes: Acquire the collision detection signal of the vehicle, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over; If the vehicle does not roll over, the third door to be locked is determined based on the collision location and the collision intensity; or, the first door to be unlocked immediately and / or the second door to be unlocked with a delay are determined, and the corresponding delay unlocking time for the second door is determined. Control the third door to lock, or control the first door to unlock immediately and / or control the second door to lock, and time the locking duration of the second door. If the locking duration is detected to reach the corresponding delayed unlocking time of the second door, control the second door to unlock.

2. The delayed unlocking method for a collided vehicle according to claim 1, characterized in that, The step of determining the third door to be locked, or determining the first door to be unlocked immediately and / or the second door to be unlocked with a delay, based on the collision location and the collision intensity, includes: If the collision intensity at each collision location is detected to be lower than the collision intensity threshold, all doors of the vehicle are determined to be third doors. If the collision intensity at any collision location is detected to be not lower than the collision intensity threshold, the door that is not within the neighborhood of any collision location is identified as the first door, and / or the door that is within the neighborhood of any collision location is identified as the second door.

3. The delayed unlocking method for a collided vehicle according to claim 2, characterized in that, Determining the delayed unlocking time of the second vehicle door includes: Determine the target collision location adjacent to the second vehicle door; The delay unlocking time of the second door is obtained by querying a first preset duration that matches the collision intensity at the target collision location.

4. The delayed unlocking method for a collided vehicle according to claim 1, characterized in that, The method further includes: If the vehicle rolls over, all doors of the vehicle are identified as second doors, and the second preset duration is determined as the delayed unlocking time of the second doors.

5. The delayed unlocking method for a collided vehicle according to claim 4, characterized in that, If the vehicle does not roll over, the method further includes, after locking the second door and before unlocking the second door: If a rollover is detected, the locking duration of the second door will be reset.

6. The delayed unlocking method for a collided vehicle according to any one of claims 1-5, characterized in that, After controlling the locking of the second door, the method further includes: If the locking duration is not detected to have reached the corresponding delayed unlocking time for the second door, the unlocking request for the second door from the vehicle's internal unlocking device will be refused. If the locking duration is not detected to have reached the corresponding delayed unlocking time of the second door, the system responds to the unlocking request sent by the external unlocking device of the vehicle, stops timing the locking duration, and controls the second door to unlock.

7. The delayed unlocking method for a collision vehicle according to any one of claims 1-5, characterized in that, The vehicle is equipped with multiple collision detection devices, and the collision detection signals include a collision occurrence signal, collision speed, and collision intrusion amount detected by each collision detection device; based on the collision detection signals, at least one collision location and the collision intensity corresponding to each collision location are determined, including: At least one target collision detection device that identifies a valid collision signal is used to obtain at least one collision location of the vehicle based on the installation location of the target collision detection device. The collision intensity at each collision location is obtained based on the collision velocity and collision intrusion amount at each collision location.

8. The delayed unlocking method for a collided vehicle according to claim 7, characterized in that, When the collision detection device does not detect a collision, the collision occurrence signal is sent as a first-cycle signal; the method further includes: When the collision signal is detected to be sent in the form of a second periodic signal, the collision signal is determined to be valid; wherein the second periodic signal is out of phase with the first periodic signal.

9. A delayed unlocking device for a collision vehicle, characterized in that, The device includes: The first processing module is used to acquire the collision detection signal of the vehicle, determine at least one collision location and the collision intensity corresponding to each collision location based on the collision detection signal, and determine whether the vehicle has rolled over. The second processing module is used to determine, if the vehicle does not roll over, the third door to be locked based on the collision location and the collision intensity, or to determine the first door to be unlocked immediately and / or the second door to be unlocked with a delay, and to determine the corresponding delay unlocking time for the second door; The third processing module is used to control the locking of the third door, or to control the immediate unlocking of the first door and / or to control the locking of the second door, to time the locking duration of the second door, and to control the unlocking of the second door if the locking duration is detected to reach the corresponding delayed unlocking time of the second door.

10. A vehicle, characterized in that, include: A memory and a processor are communicatively connected, the memory storing computer instructions, and the processor executing the computer instructions to perform the collision vehicle delay unlocking method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the collision vehicle delay unlocking method according to any one of claims 1 to 8.

12. A computer program product, characterized in that, Includes computer instructions for causing a computer to execute the delayed unlocking method for a collision vehicle as described in any one of claims 1 to 8.

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