Early warning unlocking method, early warning unlocking system, vehicle and machine readable storage medium
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI LIXIANG AUTOMOBILE CO LTD
- Filing Date
- 2024-11-27
- Publication Date
- 2026-05-29
Smart Images
Figure CN122106342A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle safety management technology, specifically to a warning unlocking method, a warning unlocking system, and a vehicle and machine-readable storage medium. Background Technology
[0002] Most vehicles on the market are equipped with automatic door locking, meaning the doors automatically lock while the vehicle is in motion. In the event of a collision, the doors need to unlock automatically to facilitate rescue of occupants. However, in severe collisions, the automatic unlocking function may fail, preventing rescuers from quickly opening the doors from the outside, increasing the difficulty and time required for the rescue.
[0003] To reduce the failure rate of collision unlocking, some existing vehicle models have a collision unlocking algorithm system. This system includes an airbag control unit that receives vehicle acceleration and collision sensor signals. By detecting the vehicle's collision parameters, and upon determining that a collision has occurred, the airbag control unit sends a collision signal to multiple controllers via hardwire and CAN network. The controllers then generate an unlocking signal based on the collision signal to control the door lock motor to unlock the door.
[0004] However, by the time the airbag control unit receives and issues a collision signal, the collision has often already occurred. Some collisions may cause serious damage to the vehicle's wiring harness, power system, control system, etc., making it impossible to unlock normally. Therefore, this collision unlocking function has a high failure rate and cannot meet the vehicle's escape safety requirements after a collision. Summary of the Invention
[0005] The purpose of this application is to provide a warning unlocking method, a warning unlocking system, a vehicle, and a machine-readable storage medium, which can predict collisions based on the status of various monitoring parameters during vehicle operation and provide warning unlocking of the target vehicle door before a collision occurs, thereby improving the success rate of door unlocking in collision scenarios and increasing the convenience of rescue.
[0006] To achieve the above objectives, a first aspect of this application provides a warning unlocking method, the warning unlocking method comprising: identifying obstacles in the driving environment of a vehicle; determining whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking capability and driving speed; generating a collision warning signal if the vehicle is in the risky state; and controlling the unlocking action of a target door of the vehicle based on the collision warning signal.
[0007] In this embodiment of the application, determining whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking capability and driving speed, includes: determining the relative speed between the vehicle and the obstacle based on the change in the relative distance between the vehicle and the obstacle; determining a safe distance for the vehicle at the relative speed based on the vehicle's braking capability and driving speed; and determining that the vehicle is in the risky state if the relative distance is less than the safe distance.
[0008] In this embodiment of the application, after controlling the unlocking action of the target door of the vehicle according to the collision warning signal, the warning unlocking method further includes: setting a collision unlocking flag on the vehicle, wherein the initial state of the collision unlocking flag is a first state, the collision unlocking flag switches to a second state after the collision warning signal is triggered, and the collision unlocking flag switches to the first state after the target door performs the unlocking action; detecting the state of the collision unlocking flag; and controlling the unlocking action of the target door of the vehicle to be performed again when the collision unlocking flag is in the second state.
[0009] In this embodiment of the application, after generating the collision warning signal, the warning unlocking method further includes: determining the expected collision time of the vehicle; detecting whether a collision signal exists within a first set time after generating the collision warning signal, wherein the collision signal is generated when the vehicle experiences a real collision, and the first set time is greater than the expected collision time; continuously generating the collision warning signal at a set frequency when the collision signal is detected; and generating a false alarm signal when the collision signal is not detected, wherein the false alarm signal controls the locking action of the target door.
[0010] In this embodiment of the application, after generating the collision warning signal, the warning unlocking method further includes: controlling the target door not to execute any unlocking or locking request within a second set time after generating the collision warning signal, wherein the second set time is greater than the expected collision time and less than or equal to the first set time.
[0011] In this embodiment of the application, controlling the target door of the vehicle to perform an unlocking action according to the collision warning signal includes: performing multiple unlocking actions on the target door at set intervals according to the collision warning signal; detecting the door lock status of the target door at a third set time after performing the multiple unlocking actions; and generating the collision warning signal again if the door lock status of the target door is locked.
[0012] In this embodiment of the application, the target vehicle door includes: the driver's door, the driver and passenger doors, or all vehicle doors.
[0013] In this embodiment of the application, when the target vehicle door includes a concealed door handle, the unlocking action includes: popping out the concealed door handle; and / or when the target vehicle door includes a child lock, the unlocking action includes: unlocking the child lock.
[0014] This application also provides a warning unlocking system, comprising: an identification device for identifying obstacles in the vehicle's driving environment; a risk determination device for determining whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking capability and driving speed; a warning generation device for generating a collision warning signal when the vehicle is in the risky state; and a control device for controlling the unlocking action of a target door of the vehicle based on the collision warning signal.
[0015] This application also provides a vehicle that includes the warning unlocking system described above.
[0016] In another aspect, this application provides a machine-readable storage medium storing instructions that cause a machine to execute the warning unlocking method described above.
[0017] This application, in another aspect, provides a processor for running a program, wherein the program is executed to perform: the warning unlocking method described above.
[0018] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the warning unlocking method described above.
[0019] Through the above technical solution, this invention can identify obstacles and determine the vehicle's risk status based on the status of various monitoring parameters during vehicle operation. When the vehicle is in a risky state before a collision, it can provide a warning and unlock the target door, thereby preventing damage to the vehicle's wiring harness, control system, and power supply system from a collision, which could lead to a loss of door unlocking control. This invention can improve the success rate of door unlocking in collision scenarios and increase the convenience of rescue.
[0020] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description
[0021] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:
[0022] Figure 1 The illustration shows a flowchart of a warning unlocking method according to an embodiment of this application;
[0023] Figure 2 This illustration schematically shows a flowchart of the method for implementing an early warning unlocking system according to an embodiment of this application;
[0024] Figure 3a This schematically illustrates a prior art power network control scheme;
[0025] Figure 3b This illustration schematically depicts a power network control scheme according to an embodiment of the present application;
[0026] Figure 4 The diagram illustrates a pre-warning unlocking system according to an embodiment of this application. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0028] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.
[0029] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.
[0030] First, this application provides a warning unlocking method 100, such as... Figure 1 As shown in the flowchart, the warning unlocking method may include steps S110-S140.
[0031] Step S110: Identify obstacles in the vehicle's driving environment.
[0032] One method is to use visual recognition to identify objects around the vehicle to identify obstacles (usually other vehicles, but could also be roadside barriers, etc.). Generally, this can be achieved through visual perception, for example, by... Figure 2 The camera shown identifies road markings ahead of the vehicle, estimates its current lane, and then visually identifies whether there are obstacles in the current lane. For example, current intelligent vehicles are equipped with numerous environmental sensors, including surround-view cameras, forward-view cameras, and side-view cameras. With the help of these existing sensors, the vehicle can accurately perceive its surroundings. For instance, obstacles in front of the vehicle's current lane can be easily identified using devices such as forward-view cameras, while obstacles behind the vehicle's current lane can also be identified visually (e.g., by rear-view or surround-view cameras). Simultaneously, obstacles (usually other vehicles) in adjacent lanes can also be identified visually (e.g., by side-view cameras).
[0033] Additionally, based on the vehicle's current speed, steering wheel position, and road or navigation information, the vehicle's path over a given period can be predicted to determine if there are obstacles in the lanes it will travel through. Specifically, the vehicle's current driving status can be obtained through steering wheel and speed information. For example, in highway scenarios, the environment and road markings are relatively simple, so the vehicle's current environmental sensors are sufficient. In other words, based on speed, steering wheel position, and the highway scenario, the vehicle's current lane and subsequent path can be estimated using speed and time, thereby enabling obstacle identification within the vehicle's driving environment.
[0034] Step S120: Determine whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking ability and driving speed.
[0035] In this embodiment of the application, step S120 may include the following steps S121-S123:
[0036] Step S121: Determine the relative speed between the vehicle and the obstacle based on the change in the relative distance between them.
[0037] Among them, it can be achieved through Figure 2 The millimeter-wave radar shown is used to sense the relative distance between the vehicle and surrounding obstacles. Various sensors, such as front millimeter-wave radar, corner millimeter-wave radar, lidar, and ultrasonic radar, can be used to achieve distance measurement. Then, the electronic control unit can calculate the relative speed between the vehicle and the obstacle based on changes in the relative distance.
[0038] Step S122: Determine the safe distance between the vehicles at relative speeds based on the vehicle's braking capacity and driving speed.
[0039] Braking capacity can be determined based on vehicle speed, load distribution, vehicle posture, road conditions, and coefficient of friction. In other words, a vehicle's braking capacity can be evaluated based on vehicle state parameters such as speed, load distribution, vehicle posture, road conditions, and coefficient of friction. Then, based on the vehicle's braking capacity and speed, the safe distance at that relative speed can be determined. It can be understood that the safe distance at a given relative speed is inversely correlated with the vehicle's braking capacity and positively correlated with its speed. That is, the stronger the vehicle's braking capacity, the greater the acceleration during braking, and the shorter the braking distance to reduce the vehicle speed to a safe speed; conversely, the faster the vehicle's speed, the longer the braking time to reduce that speed to a safe speed with a constant braking capacity (acceleration), and the greater the required safe distance.
[0040] For example, under ideal conditions where external factors do not affect the vehicle's acceleration, the acceleration corresponding to the vehicle's braking capacity can be considered a fixed value. Then, based on the braking acceleration a corresponding to the vehicle's braking capacity and the driving speed V0, the safe distance L of the vehicle at the relative speed ΔV can be determined by the following formula: L=ΔV(2V0-ΔV) / 2a.
[0041] In addition, to account for overtaking in adjacent lanes, a minimum threshold for relative speed needs to be set. That is, when the relative speed between a vehicle and an obstacle is below a certain threshold, no safe distance is calculated, and no subsequent comparison between the safe distance and the relative distance is made. For example, this threshold could be defined as 10-15 km / h.
[0042] Step S123: If the relative distance is less than the safe distance, determine that the vehicle is in a risky state.
[0043] In this step, the measured relative distance is compared with the calculated safe distance. If the relative distance is greater than or equal to the safe distance, it means that the vehicle is not in a risky state. If the relative distance is less than the safe distance, it means that the vehicle is in a risky state and there is a risk of collision with the obstacle, and then the subsequent steps need to be performed.
[0044] Furthermore, the driving environment places high demands on sensing time. Considering the lag in the aforementioned calculations, a preset safe distance can also be used to determine the risk status. That is, to more quickly determine whether a vehicle is in a risky state, the collision risk level can be pre-divided into at least three levels based on the driver's driving habits, such as safe distance, general danger distance, and emergency danger distance. Understandably, the safe distance, general danger distance, and emergency danger distance decrease in that order, and the specific distance settings can be calibrated according to actual application. Specifically, at the safe distance, the vehicle is determined not to be in a risky state, and the safety margin is relatively sufficient, so there is considered no collision risk. At the general danger distance, there is a possibility that the vehicle will collide with an obstacle, thus there is a certain collision risk. At the emergency danger distance, it is highly likely that the vehicle will collide with an obstacle, thus there is a high probability of risk. Further judgment can then be made based on the driver's driving state. If the driver's driving state is aggressive, the vehicle can only be determined to be in a risky state when entering the emergency danger distance; while if the driver's driving state is conservative, the vehicle can be determined to be in a risky state when entering the general danger distance. Among them, the driver's driving status can be comprehensively judged by indicators such as the vehicle's driving mode (whether it is in sport mode), driving habits (such as the number of times the driver has braked and turned in the past), and fuel consumption per 100 kilometers.
[0045] Step S130: When the vehicle is in a risky state, a collision warning signal is generated.
[0046] Step S140: Based on the collision warning signal, control the target door of the vehicle to be unlocked.
[0047] The principle of this invention is that, if the vehicle is determined to be in a risky state through steps S110-S120, it indicates a high level of collision risk, and a collision is unavoidable. Then, in step S130, a collision warning signal (pre-collision signal) is generated within a pre-collision calibrated time, and in step S140, the collision warning signal is sent to the corresponding door controller to execute unlocking. For example, it can be achieved through... Figure 2The body controller or door module controller shown is used to drive the door lock motor to achieve the door unlocking function.
[0048] The target doors include: the driver's door, the driver and passenger doors, or all doors. That is, the driver's side or both driver and passenger doors can be unlocked individually, or all doors of the vehicle can be unlocked simultaneously; this invention does not impose specific limitations on this.
[0049] Additionally, if the target door includes a concealed door handle, the unlocking action may also include: popping out the concealed door handle. If the target door includes a child lock, the unlocking action may also include: unlocking the child lock. Specifically, if the vehicle is equipped with a concealed door handle, upon receiving a pre-collision signal, the body controller or door module controller detects that the door lock unlocking has been triggered and simultaneously drives the door handle to pop out. If the vehicle is equipped with an electric child lock, when it is determined that a collision warning unlocking action is required, the electronic child lock is unlocked simultaneously. The above implementation methods are only illustrative examples, and the present invention does not impose specific limitations on them.
[0050] In this embodiment of the application, in order to prevent the car door from failing to unlock or fully unlocking due to a malfunction, step S140 may further include the following steps S141-S143:
[0051] Step S141: Based on the collision warning signal, perform multiple unlocking actions on the target door at set intervals.
[0052] For example, the unlock signal can be continuously output 5 or more times at intervals of 1-3 seconds to drive the four-door lock motor, so that the four-door lock motor can perform the unlocking action.
[0053] Step S142: After performing multiple unlocking actions, at the third set time, detect the door lock status of the target door.
[0054] For example, after 2-5 seconds of performing 5 collision unlocks, the door lock status of the target door can be checked again, and the door lock status feedback can be used to determine whether all the locks are unlocked.
[0055] Step S143: If the target door is locked, generate a collision warning signal again.
[0056] For example, if the door lock status feedback indicates that the driver's side door lock is locked, a collision warning signal needs to be generated again via the body control controller or door module controller to unlock the driver's side door once. If the door lock status feedback indicates that any of the four door locks is locked, a collision warning signal needs to be generated again via the body control controller or door module controller to unlock all four door locks once. Additionally, if the vehicle is equipped with concealed door handles, the concealed door handles will be simultaneously deployed when a collision unlocking action is determined. If the vehicle is equipped with electric child locks, the electronic child locks will be simultaneously unlocked when a collision unlocking action is determined.
[0057] In another embodiment, since sensors may misjudge situations, it is necessary to identify whether the collision warning signal is a real or false collision. Specifically, after step S130, the warning unlocking method 100 may further include:
[0058] Step S151: Determine the expected collision time of the vehicle.
[0059] Step S152: Detect whether a collision signal exists within a first set time after the collision warning signal is generated.
[0060] The collision signal is generated when a real collision occurs. For example, the vehicle acceleration monitoring unit and the airbag control unit can detect relevant collision parameters of the vehicle, and when a collision is determined, the collision signal is sent to the vehicle controller through hard wiring and the CAN (Controller Area Network) bus.
[0061] In addition, the initial set time should be longer than the expected collision time, meaning that it is necessary to detect whether a real collision has occurred within the expected time frame for a collision.
[0062] Step S153: If a collision signal is detected, a collision warning signal is continuously generated at a set frequency.
[0063] The collision signal indicates that the collision warning signal is real. Therefore, in order to further ensure that the door lock is open, it is necessary to continuously generate the collision warning signal at a set frequency (e.g., 0.2-1Hz) to control the target door to perform the unlocking action multiple times to ensure that the door is unlocked.
[0064] Step S154: If no collision signal is detected, a false alarm signal is generated.
[0065] Among them, a false alarm signal indicates that the collision warning signal is not real. Therefore, the vehicle needs to control the locking action of the target door after receiving the false alarm signal.
[0066] In summary, within the calibrated period of the expected collision time, the collision signal can be used to determine whether a real collision has occurred. If no collision occurs, all locking functions are restored within the subsequent calibrated time; if a collision occurs, the collision unlocking function continues. Simultaneously, the door handle can be extended or retracted based on whether a real collision has occurred. That is, if no collision occurs, the door handle retracting function is restored within the subsequent calibrated time; if a collision occurs, the door handle extending function continues.
[0067] In another embodiment, to prevent erroneous execution commands from being issued due to damage to certain circuits or controllers in the event of a real collision, the warning unlocking method 100 may further include the following after step S130:
[0068] Step S160: Within a second predetermined time period after the collision warning signal is generated, the target door is controlled not to execute any unlocking or locking requests. The second predetermined time is greater than the expected collision time and less than or equal to the first predetermined time. That is, within the calibrated period of the expected collision time, the collision signal can be used to determine whether a real collision has occurred. Before receiving a collision signal, no unlocking or locking requests are executed. To couple with the functions of steps S151-S154 above, this "shielding state" second predetermined time should not exceed the first predetermined time. That is, the expected collision time is less than the second predetermined time, and the second predetermined time is less than or equal to the first predetermined time. Within the second predetermined time, any unlocking or locking requests are blocked. After the first predetermined time, depending on whether the collision warning signal is a real collision signal, the system controls the continued generation of collision warning signals to unlock the target door; or it generates a false alarm signal to lock the target door.
[0069] Specifically, during the operation of the four door lock motors and the subsequent calibrated second set time period, the body controller or door module controller will discard unlocking or locking requests from other systems, including central locking, remote control, PKE (Passive Keyless Entry), BLE (Bluetooth Low Energy), and mechanical keys. Simultaneously, even if the collision signal recovers from an unreal state to a normal state within this ignition cycle, all locking functions remain disabled until the first set time, after which five unlocking actions are performed again. During this period, the body controller or door module controller only restores all locking functions when the system power restarts—that is, when the system switches from IGN ON mode to OFF / ACC mode and then back to IGN ON mode.
[0070] In another embodiment, to better address the problem of failure to unlock due to power failure during the collision unlocking process, the present invention also provides a power failure handling strategy during the collision unlocking process. Specifically, after step S140, the warning unlocking method 100 of the present invention may further include:
[0071] Step S171: Set a collision unlock flag on the vehicle. The initial state of the collision unlock flag is a first state. After a collision warning signal is triggered, the collision unlock flag switches to a second state. After the target door performs an unlocking action, the collision unlock flag switches back to the first state.
[0072] Specifically, a collision unlock flag can be set first to indicate whether the unlocking process is complete. For example, this flag can be stored in an EEPROM (Electrically Erasable Programmable Read-Only Memory) with an initial value of zero (first state). When a collision warning signal is triggered and the unlocking action is about to be performed (after a 3-second timer in non-real collision cases), the current state can be stored as the second state, i.e., the collision unlocking state. After the unlocking action is completed, for example, after five unlocking actions, the current second state is switched back to the first state, i.e., the collision unlocking state is cleared. In this way, the state of the collision unlock flag can be used to determine whether the unlocking action is complete.
[0073] Step S172: Detect the status of the collision unlock flag.
[0074] Step S173: When the collision unlock sign is in the second state, control the target door of the vehicle to be unlocked again.
[0075] In other words, when the body control or door module control is powered on again, the status of the collision unlock flag can be detected to determine whether the unlocking action has been completed. If the collision unlock flag is detected to be in the second state (i.e., not cleared), the unlocking action will be executed again regardless of the power mode. For example, the collision unlocking action will be executed 5 times, and this collision unlocking is considered a new round of collision unlocking. The ignition cycle still needs to be restarted before all locking functions can be activated.
[0076] Furthermore, even if the collision signal recovers from a collision state to a normal state within this ignition cycle, the collision unlocking function will not be disabled: after five unlocking actions, if a collision signal transitions from a normal state to a true collision state, or from a true collision state to an untrue collision state, the body controller or door module controller will execute the collision unlocking function again. This indicates that the invention can be implemented multiple times provided the preconditions are met. To better implement this invention, during the calibration time of the door lock motor's locking / unlocking process and subsequently, if a true collision signal unlock or an untrue collision signal unlock occurs, the collision unlocking request must be recorded as a basis for subsequent data review, thereby allowing for improvement and optimization of frequent untrue collision signals.
[0077] In implementing this invention, the applicant also discovered that, Figure 3a As shown, some existing vehicle models employ a redundant power network scheme of two low-voltage batteries + DC-DC converter to improve the reliability of the power supply system based on the collision unlocking algorithm. When a short circuit occurs during a collision, the power isolation controller can isolate the power supply network on the short-circuited side, while the batteries in the other power supply network can support the collision unlocking system to control the door unlocking. Although this system increases the reliability of the door unlocking power supply and can improve the safety of vehicle use to a certain extent, if the door lock system or other related systems are damaged in a severe collision, it will still lead to unlocking failure. In addition, this system requires an additional low-voltage backup power supply, which places higher demands on the overall vehicle layout space and increases costs significantly, making it unacceptable to most OEMs. Therefore, to balance functionality and cost, in one embodiment, the power network scheme of the present invention can adopt the following... Figure 3b The proposed solution isolates the faulty low-voltage power network using a power monitoring controller, forming a low-voltage redundant power supply system with a single DC-DC converter and a single low-voltage battery. Compared to existing solutions that add a low-voltage backup power supply, this setup achieves the same functionality without incurring additional hardware costs, making it more practical.
[0078] Through the above steps, this invention can identify obstacles in the driving environment and determine the vehicle's risk status based on the relative speed and distance between the vehicle and the obstacle, as well as the vehicle's state parameters. When the vehicle is in a risky state before a collision, it provides a warning and unlocks the target door, simultaneously actuating the door handle to extend. The beneficial technical effects of this invention include:
[0079] 1) Because this invention unlocks the doors before a collision, it can greatly improve the success rate of unlocking the doors in a collision scenario. Even if the subsequent collision damages the vehicle's wiring harness, control system, and power supply system, causing the doors to be unable to unlock due to software or hardware reasons, the doors are already in an open state, which will not affect the escape of personnel and increases the convenience of rescue;
[0080] 2) This invention can combine subsequent collision signals to identify whether the collision warning signal is real or not, thereby identifying false alarms and optimizing the collision warning mechanism accordingly.
[0081] 3) To prevent erroneous commands to the car door during a collision, the present invention also includes a command blocking time.
[0082] 4) Compared with the existing technical solutions that add a low-voltage backup power supply, the present invention achieves the same basic function without increasing hardware costs, making it more practical.
[0083] On the other hand, this application also provides a warning unlocking system 200, such as Figure 4 As shown in the structural diagram, the early warning unlocking system 200 may include:
[0084] The identification device 210 is used to identify obstacles in the driving environment of a vehicle.
[0085] Risk determination device 220 is used to determine whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking ability and driving speed.
[0086] The warning generation device 230 is used to generate a collision warning signal when the vehicle is in the risky state.
[0087] The control device 240 is used to control the target door of the vehicle to be unlocked based on the collision warning signal.
[0088] In this embodiment of the application, the risk determination device 220 can be specifically used to perform the following functions: determining the relative speed between the vehicle and the obstacle based on the change in the relative distance between the vehicle and the obstacle; determining the safe distance of the vehicle at the relative speed based on the braking capability and the driving speed of the vehicle; and determining that the vehicle is in the risk state if the relative distance is less than the safe distance.
[0089] In this embodiment of the application, the braking capability is determined based on the vehicle's driving speed, load distribution, vehicle posture, road conditions, and coefficient of adhesion.
[0090] In this embodiment, a collision unlock flag is provided on the vehicle. The initial state of the collision unlock flag is a first state. After the collision warning signal is triggered, the collision unlock flag switches to a second state. The collision unlock flag switches back to the first state after the target door performs the unlocking action. The control device 240 can also perform the following functions: after controlling the unlocking action on the target door of the vehicle according to the collision warning signal, it detects the state of the collision unlock flag; and when the collision unlock flag is in the second state, it controls the unlocking action on the target door of the vehicle to be performed again.
[0091] In this embodiment of the application, the control device 240 can also be used to perform the following functions: after generating the collision warning signal, determining the expected collision time of the vehicle; detecting whether a collision signal exists within a first set time after generating the collision warning signal, wherein the collision signal is generated when the vehicle experiences a real collision, and the first set time is greater than the expected collision time; continuously generating the collision warning signal at a set frequency when the collision signal is detected; and generating a false alarm signal when the collision signal is not detected, wherein the false alarm signal controls the locking action of the target door.
[0092] In this embodiment of the application, the control device 240 can also be used to perform the following function: after the collision warning signal is generated, within a second set time after the collision warning signal is generated, control the target door not to execute any unlocking or locking request, wherein the second set time is greater than the expected collision time and less than or equal to the first set time.
[0093] In this embodiment of the application, the control device 240 may be specifically used to perform the following functions: according to the collision warning signal, perform multiple unlocking actions on the target door at set intervals; after the multiple unlocking actions are performed, detect the door lock status of the target door at a third set time; and if the door lock status of the target door is locked, generate the collision warning signal again.
[0094] In this embodiment of the application, the target vehicle door includes: the driver's door, the driver and passenger doors, or all vehicle doors.
[0095] In this embodiment of the application, when the target vehicle door includes a concealed door handle, the unlocking action includes: popping out the concealed door handle; and / or when the target vehicle door includes a child lock, the unlocking action includes: unlocking the child lock.
[0096] Through the above solution, this invention can identify obstacles in the driving environment and determine the vehicle's risk status based on the relative speed and distance between the vehicle and the obstacle, as well as the vehicle's state parameters. When the vehicle is in a risk state before a collision, it provides a warning and unlocks the target door, simultaneously actuating the door handle to extend. The beneficial technical effects of this invention include:
[0097] 1) Because this invention unlocks the doors before a collision, it can greatly improve the success rate of unlocking the doors in a collision scenario. Even if the subsequent collision damages the vehicle's wiring harness, control system, and power supply system, causing the doors to be unable to unlock due to software or hardware reasons, the doors are already in an open state, which will not affect the escape of personnel and increases the convenience of rescue;
[0098] 2) This invention can combine subsequent collision signals to identify whether the collision warning signal is real or not, thereby identifying false alarms and optimizing the collision warning mechanism accordingly.
[0099] 3) To prevent erroneous commands to the car door during a collision, the present invention also includes a command blocking time.
[0100] 4) Compared with the existing technical solutions that add a low-voltage backup power supply, the present invention achieves the same basic function without increasing hardware costs, making it more practical.
[0101] On the other hand, this application also provides a vehicle that may include the warning unlocking system described above.
[0102] The beneficial effects of the early warning unlocking system and vehicle provided by this invention can be referred to the above description of an early warning unlocking method, and will not be repeated here.
[0103] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the aforementioned warning unlocking method.
[0104] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0105] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0106] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0107] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0108] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0109] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0110] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0111] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0112] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
Claims
1. A pre-warning unlocking method, characterized in that, The warning unlocking method includes: Identify obstacles in the vehicle's driving environment; Based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking ability and speed, determine whether the vehicle is in a risky state. When the vehicle is in the aforementioned risky state, a collision warning signal is generated; and Based on the collision warning signal, control the unlocking action of the target door of the vehicle.
2. The early warning unlocking method according to claim 1, characterized in that, Determining whether a vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking capability and speed, includes: The relative speed between the vehicle and the obstacle is determined based on the change in the relative distance between them. Based on the vehicle's braking capability and its travel speed, determine the safe distance between the vehicles at the relative speed; and If the relative distance is less than the safe distance, the vehicle is determined to be in the risky state.
3. The early warning unlocking method according to claim 1, characterized in that, After controlling the unlocking action of the target door of the vehicle according to the collision warning signal, the warning unlocking method further includes: A collision unlocking flag is set on the vehicle, wherein the initial state of the collision unlocking flag is a first state, the collision unlocking flag switches to a second state after the collision warning signal is triggered, and the collision unlocking flag switches back to the first state after the target door performs the unlocking action; Detect the state of the collision unlock flag; and When the collision unlock flag is in the second state, control the system to perform the unlocking action on the target door of the vehicle again.
4. The early warning unlocking method according to claim 1, characterized in that, After generating the collision warning signal, the warning unlocking method further includes: Determine the expected collision time of the vehicle; The system detects whether a collision signal exists within a first set time after the collision warning signal is generated, wherein the collision signal is generated when the vehicle is involved in a real collision, and the first set time is longer than the expected collision time. Upon detecting the presence of the collision signal, the collision warning signal is continuously generated at a set frequency; and If no collision signal is detected, a false alarm signal is generated, wherein the false alarm signal controls the locking action of the target door.
5. The early warning unlocking method according to claim 4, characterized in that, After generating the collision warning signal, the warning unlocking method further includes: Within a second predetermined time period after the collision warning signal is generated, the target door is controlled not to execute any unlocking or locking request, wherein the second predetermined time period is greater than the expected collision time and less than or equal to the first predetermined time period.
6. The early warning unlocking method according to claim 1, characterized in that, The step of controlling the unlocking action of the target door of the vehicle based on the collision warning signal includes: Based on the collision warning signal, the target door is unlocked multiple times at set intervals. At a third predetermined time after performing the multiple unlocking actions, the lock status of the target vehicle door is detected; and If the target door is locked, the collision warning signal is generated again.
7. The early warning unlocking method according to any one of claims 1-5, characterized in that, The target vehicle door includes: the driver's door, the driver and passenger doors, or all doors.
8. The early warning unlocking method according to claim 6, characterized in that, If the target door includes a concealed door handle, the unlocking action includes: ejecting the concealed door handle; and / or If the target door includes a child lock, the unlocking action includes: unlocking the child lock.
9. A pre-warning unlocking system, characterized in that, The early warning unlocking system includes: A recognition device used to identify obstacles in the driving environment of a vehicle; A risk determination device is used to determine whether the vehicle is in a risky state based on the relative distance between the vehicle and the obstacle, as well as the vehicle's braking ability and driving speed. A warning generation device is configured to generate a collision warning signal when the vehicle is in the aforementioned risky state; and A control device is used to control the unlocking action of the target door of the vehicle based on the collision warning signal.
10. A vehicle, characterized in that, The vehicle includes the early warning unlocking system according to claim 9.
11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to execute: the warning unlocking method according to any one of claims 1-8.
12. A processor, characterized in that, Used to run a program, wherein the program is run to execute: the early warning unlocking method according to any one of claims 1-8.
13. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the early warning unlocking method according to any one of claims 1-8.