Door lock control method and system supporting secondary collision

Abstract

The application relates to the technical field of intelligent automobiles and discloses a door lock control method and system supporting secondary collision, which comprises the following steps: calculating a collision severity index according to vehicle sensor data; judging whether a first collision occurs according to the collision severity index, if yes, determining a collision type, and setting a door lock unlocking parameter threshold according to the collision severity index and the collision type; continuously monitoring the vehicle state after the first collision, if a secondary collision is detected, resetting or maintaining the door lock unlocking parameter threshold according to the comparison result of the current collision severity index and the collision severity index of the first collision; and outputting an unlocking signal when the vehicle state meets the unlocking condition corresponding to the current door lock unlocking parameter threshold. The application adjusts the door lock unlocking threshold intelligently by comprehensively using various sensor data, is suitable for various secondary collision scenes, and effectively overcomes the problem that the existing door lock unlocking algorithm adopts a fixed threshold and cannot adapt to various secondary collision scenes.

Description

Technical Field

[0001] This invention relates to the field of intelligent vehicle technology, specifically to a door lock control method and system that supports secondary collisions. Background Technology

[0002] Following an initial collision, vehicles often experience secondary or even multiple collisions within a short period, such as chain-reaction rear-end collisions, vehicles crashing through guardrails and falling off bridges or cliffs, or multiple collisions during rollovers. Most existing vehicle collision safety systems are designed for single-collision events, typically unlocking the vehicle doors immediately after the initial impact. However, when a secondary collision occurs, traditional door lock control strategies suffer from the following problems: 1. The complex motion state that the vehicle may undergo after a secondary collision (such as rotation or slippage) was not fully considered.

[0003] 2. The fixed threshold used in the unlocking algorithm cannot adapt to the ever-changing secondary collision scenarios, which may lead to premature unlocking (risk of occupants being thrown out) or delayed unlocking (delaying the escape opportunity). Summary of the Invention

[0004] This invention provides a door lock control method and device system that supports secondary collisions, in order to solve the problem that existing door lock unlocking algorithms use fixed thresholds and cannot adapt to changing secondary collision scenarios, resulting in premature unlocking (risk of occupants being thrown out) or delayed unlocking (delaying escape opportunities) in continuous collision accidents.

[0005] In a first aspect, the present invention provides a door lock control method supporting secondary collisions, the method comprising: The collision severity index is calculated based on vehicle sensor data; Determine whether a first collision has occurred based on the collision severity index. If so, determine the collision type and set the door lock unlocking parameter threshold based on the collision severity index and collision type. After the first collision, the vehicle status continues to be monitored. If a second collision is detected, the door lock unlocking parameter threshold is reset or maintained based on the comparison between the current collision severity index and the collision severity index of the first collision. When the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold, an unlocking signal is output.

[0006] This invention provides a door lock control method that supports secondary collisions. By calculating the collision severity index in real time and dynamically setting the door lock unlocking parameter threshold according to the severity and type of the first collision, the method selects to reset or maintain the original threshold when a secondary collision is detected, based on the comparison result between the current and the severity index of the first collision. This allows the unlocking threshold to be adaptively adjusted with the collision process, thereby avoiding the problem that a fixed threshold may lead to premature or delayed unlocking in variable secondary collision scenarios, effectively balancing occupant protection and escape requirements.

[0007] In one alternative implementation, the collision severity index is calculated using a weighted fusion algorithm, as shown in the following formula: CSI=k1×A+k2×P+k3×ω+k4×ΔV; Where A is the magnitude of the acceleration vector, P is the rate of change of the pressure sensor, ω is the angular velocity, ΔV is the velocity change, and k1, k2, k3 and k4 are all preset weight values, and satisfy k1+k2+k3+k4=1.

[0008] In the above technical solution, the weighted fusion algorithm can comprehensively and accurately quantify the severity of collisions by fusing multi-dimensional sensor data and using normalized weight coefficients, providing a reliable basis for the dynamic adjustment of subsequent unlocking strategies.

[0009] In one optional implementation, determining whether a first collision has occurred based on a collision severity index includes: When the collision severity index reaches or exceeds the preset first collision determination threshold, the first collision is determined to have occurred.

[0010] In the above technical solution, the collision severity index of the fused multi-sensor data is quantitatively judged by a preset threshold, which enables rapid and accurate identification of the first collision.

[0011] In one optional implementation, a threshold for door lock unlocking parameters is set based on a collision severity index and a collision type, including: Determine the corresponding threshold range for door lock unlocking parameters based on the type of collision. The collision severity index is used as a linear interpolation factor to perform linear interpolation calculations within the threshold range of the door lock unlocking parameters, thereby generating the threshold values ​​for the door lock unlocking parameters.

[0012] In the above technical solution, the threshold range is determined by the collision type, which ensures the basic adaptability of the unlocking strategy under different collision scenarios. At the same time, the collision severity index is used as a linear interpolation factor for dynamic calculation, so that the unlocking parameters can change continuously with the collision intensity. This achieves a precise match between the unlocking timing and the collision severity, effectively avoiding the problem of unlocking too early or too late in variable secondary collision scenarios where the fixed threshold may be used.

[0013] In one alternative implementation, secondary collisions are detected in the following manner: After the initial collision, vehicle sensor data is collected in real time, and the current collision severity index is calculated in real time. If the current collision severity index is greater than the preset secondary collision determination threshold, and the current time is within the set time window after the first collision, then a secondary collision is determined to have occurred.

[0014] In the above technical solution, the collision severity index is continuously calculated in real time after the first collision, and a dual judgment is made based on the preset secondary collision judgment threshold and the set time window after the first collision. This can accurately identify subsequent collisions in a series of collision events, avoid false triggering caused by sensor signal fluctuations or the continuation of a single collision, and improve the accuracy and timeliness of secondary collision recognition.

[0015] In one optional implementation, the door lock unlocking parameter threshold is reset or maintained based on a comparison between the current collision severity index and the collision severity index of the first collision, including: Determine if the collision type has changed; If the current collision severity index is greater than the collision severity index of the first collision, or if the collision type changes, it is determined that the collision condition has changed, the door lock unlocking parameter threshold is reset and the unlocking wait timer is reset. If the current collision severity index is less than or equal to the collision severity index of the first collision and the collision type is the same, then the original door lock unlocking parameter threshold will be maintained, and monitoring will continue according to the door lock unlocking parameter threshold set for the first collision.

[0016] In the above technical solution, the decision-making mechanism can accurately determine whether the collision condition has undergone substantial change by comprehensively comparing the severity index and collision type consistency between the current and the first collision: when the collision intensifies or changes in type, the unlocking parameters and timer are reset in a timely manner to adapt to the new condition; when the collision intensity weakens or remains the same and the type remains unchanged, the original threshold is maintained to ensure the continuity of the strategy. This selective reset strategy ensures that the adjustment of the unlocking threshold is always synchronized with the collision evolution process, avoiding the timing deviation of unlocking due to misjudgment of the condition.

[0017] In one optional implementation, determining whether the collision type has changed includes: If the main direction of acceleration, the trigger position of the pressure sensor, the characteristics of the acceleration waveform, or the classification result of multi-sensor fusion are inconsistent with those of the first collision, then the collision type is determined to have changed.

[0018] In the above technical solution, by comprehensively comparing multi-dimensional features such as the main direction of acceleration, pressure triggering position, waveform characteristics, and multi-sensor fusion classification results, the change in collision type can be identified comprehensively and accurately.

[0019] In one alternative implementation, the unlocking conditions include at least: The time after a collision is between the shortest and longest unlock waiting times. The current vehicle speed is less than the preset vehicle speed unlock threshold; The current angular velocity is less than the preset angular velocity threshold; The current water pressure is greater than the preset water pressure threshold.

[0020] In the above technical solution, the unlocking conditions comprehensively consider multiple factors such as time after the collision, vehicle speed, angular velocity, and water pressure, thereby achieving comprehensive monitoring of the vehicle's status and ensuring that unlocking is triggered in a timely manner when any key safety condition is met.

[0021] In one alternative implementation, the method further includes: When a vehicle is detected to be in a rollover scenario, the door locks remain locked until the vehicle's angular velocity is lower than a preset angular velocity threshold and remains so for a set time, at which point the doors are unlocked. When the vehicle is detected to be in a water-filled environment and the water pressure is greater than the preset water pressure threshold, the vehicle will be unlocked immediately.

[0022] In the above technical solutions, the vehicle remains locked until it comes to a complete stop in a rolling scenario, avoiding the risk of occupants being thrown out if the vehicle is unlocked before it has come to a complete stop; in a water wading scenario, the vehicle is unlocked immediately, ensuring that occupants can escape in time in an emergency.

[0023] Secondly, the present invention provides a door lock control system that supports secondary collisions, the system comprising: A collision handling module is used to execute the door lock control method supporting secondary collisions described in the first aspect or any corresponding embodiment above; The unlocking execution unit is connected to the collision processing module and is used to output an unlocking signal to unlock the car door according to the instructions of the collision processing module.

[0024] Thirdly, the present invention provides a door lock control device supporting secondary collisions, the device comprising: The collision severity index calculation module is used to calculate the collision severity index based on vehicle sensor data. The first collision determination module is used to determine whether a first collision has occurred based on the collision severity index; if so, it determines the collision type. The threshold setting module is used to set the threshold values ​​for door lock unlocking parameters based on the collision severity index and collision type. The secondary collision detection and comparison decision module is used to continue monitoring the vehicle status after the first collision. If a secondary collision is detected, the door lock unlocking parameter threshold is reset or maintained based on the comparison result between the current collision severity index and the collision severity index of the first collision. The unlocking condition monitoring and unlocking signal output module is used to output an unlocking signal when the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold.

[0025] Fourthly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the door lock control method supporting secondary collision described in the first aspect or any corresponding embodiment.

[0026] Fifthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the door lock control method supporting secondary collision described in the first aspect or any corresponding embodiment thereof.

[0027] In a sixth aspect, the present invention provides a computer program product, including computer instructions for causing a computer to execute the door lock control method supporting secondary collision described in the first aspect or any corresponding embodiment. Attached Figure Description

[0028] 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.

[0029] 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 flowchart of a door lock control method supporting secondary collision according to an embodiment of the present invention; Figure 3 This is a second flowchart illustrating a door lock control method supporting secondary collisions according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the unlocking decision process in the door lock control method supporting secondary collision according to an embodiment of the present invention; Figure 5 This is a structural block diagram of a door lock control device supporting secondary collision according to an embodiment of the present invention; Figure 6This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] As an optional application scenario of this invention, such as Figure 1 As shown, an embodiment of the present invention provides a door lock control system that supports secondary collisions. The system includes: The sensor array includes an accelerometer, a pressure sensor, an inertial measurement unit (IMU), a wheel speed sensor, and a water level / water pressure sensor. The sensor array is used to collect vehicle status data. The Collision Processing Module (CPM) is connected to the sensor array via a CAN bus. It is used to receive sensor data and perform collision detection, Collision Severity Index (CSI) calculation, dynamic management of unlocking thresholds, and unlocking decisions. The unlocking execution unit, connected to the collision handling module, is used to drive the door to unlock according to the unlocking command; the unlocking execution unit includes a motor drive circuit and a door lock execution mechanism.

[0033] A redundant backup power supply is connected to both the collision handling module and the unlocking execution unit to provide operating power when the main power supply fails, i.e., to provide power for unlocking when the collision power is cut off.

[0034] The collision handling module integrates a data acquisition interface, a CSI calculation unit, a dynamic threshold management unit, and an unlocking logic judgment unit.

[0035] According to an embodiment of the present invention, a door lock control method supporting secondary collision 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.

[0036] This embodiment provides a door lock control method that supports secondary collisions, which can be used in the aforementioned door lock control system that supports secondary collisions. Figure 2 This is a flowchart of a door lock control method supporting secondary collision according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S201: Calculate the collision severity index based on vehicle sensor data.

[0037] Specifically, the collision processing module acquires various data from the sensor array in real time via the CAN bus, including the acceleration vector amplitude collected by the accelerometer, the pressure change rate collected by the pressure sensor, the angular velocity collected by the inertial measurement unit (IMU), and the speed change calculated by the wheel speed sensor. After the data acquisition interface inside the CPM filters and normalizes the above multi-source data, the CSI calculation unit performs real-time calculations according to the preset weighted fusion algorithm, and finally generates a quantified collision severity index to characterize the energy intensity and danger level of the current collision.

[0038] Step S202: Determine whether the first collision has occurred based on the collision severity index. If so, determine the collision type and set the door lock unlocking parameter threshold based on the collision severity index and the collision type.

[0039] Among them, the door lock unlocking parameter threshold is a set of quantitative judgment criteria dynamically generated by the collision processing module based on the Collision Severity Index (CSI) and the collision type, which is used to determine under what conditions the door can be unlocked.

[0040] Specifically, the CSI calculation unit in the collision processing module transmits the real-time generated collision severity index to the collision type identification unit. This unit compares the current CSI value with the preset first collision determination threshold. If the value reaches or exceeds the threshold, the first collision is determined to have occurred. The unit then identifies the current collision type based on multi-dimensional features such as the main direction of acceleration and the pressure trigger position. Subsequently, the dynamic threshold management unit retrieves the corresponding unlocking parameter threshold range according to the identified collision type. Using the current CSI value as a linear interpolation factor, the unit dynamically calculates and generates door lock unlocking parameter thresholds such as the shortest unlocking waiting time, the longest unlocking waiting time, the minimum vehicle speed, and the minimum angular velocity within the threshold range, thus completing the initial setting of the unlocking strategy.

[0041] Step S203: After the first collision, continue to monitor the vehicle status. If a second collision is detected, reset or maintain the door lock unlocking parameter threshold based on the comparison between the current collision severity index and the collision severity index of the first collision.

[0042] Specifically, after the initial collision, the unlocking decision logic unit within the collision processing module continues to collect vehicle status data in real time through the sensor array, and the CSI calculation unit continuously generates the current collision severity index. When the secondary collision detection unit determines that a secondary collision has occurred, the comparison decision module compares the current CSI with the CSI value recorded during the initial collision, while the collision type identification unit determines whether the types of the two collisions are consistent. If the current CSI is greater than the initial CSI or the collision type has changed, the dynamic threshold management unit recalculates and resets the door lock unlocking parameter threshold based on the current CSI and the new collision type, while the unlocking decision logic unit resets the unlocking waiting timer. If the current CSI is not greater than the initial CSI and the collision type is the same, the original door lock unlocking parameter threshold and timer status are maintained, and monitoring continues according to the conditions set for the initial collision.

[0043] Step S204: When the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold, an unlocking signal is output.

[0044] Specifically, when the unlocking decision logic unit in the collision handling module detects that the current vehicle status parameters meet the preset unlocking conditions, the unlocking decision logic unit immediately generates an unlocking command and transmits the command to the unlocking execution unit via the CAN bus (or hard wire, or internal message; the decision logic unit and the unlocking execution unit are both on the same MCU). After receiving the command, the motor drive circuit in the unlocking execution unit drives the door lock actuator to complete the door unlocking. During the entire unlocking signal output and execution process, if the main power supply is interrupted due to a collision, the redundant backup power supply automatically supplies power to the unlocking decision logic unit and the unlocking execution unit to ensure that the unlocking operation is reliably completed.

[0045] The door lock control method supporting secondary collisions provided in this embodiment intelligently adjusts the door lock unlocking threshold by integrating data from multiple sensors. It is applicable to various secondary collision scenarios and effectively overcomes the problem that existing door lock unlocking algorithms use fixed thresholds and cannot adapt to changing secondary collision scenarios, resulting in premature unlocking (risk of occupants being thrown out) or delayed unlocking (delaying escape opportunities) in continuous collision accidents.

[0046] This embodiment provides a door lock control method that supports secondary collisions, which can be used in the aforementioned door lock control system that supports secondary collisions. Figure 3 This is a flowchart of a door lock control method supporting secondary collision according to an embodiment of the present invention, such as... Figure 3As shown, the process includes the following steps: Step S301: Calculate the collision severity index based on vehicle sensor data.

[0047] The collision severity index is calculated using a weighted fusion algorithm, as shown in the following formula: CSI=k1×A+k2×P+k3×ω+k4×ΔV; Where A is the magnitude of the acceleration vector, P is the rate of change of the pressure sensor, ω is the angular velocity, ΔV is the velocity change, and k1, k2, k3 and k4 are preset weight values ​​that are dynamically adjusted according to the collision type and satisfy k1+k2+k3+k4=1.

[0048] In the above formula, A is the "impact force", ΔV is the "total damage", P is the "lateral deformation", and ω is the "rotational runaway".

[0049] Establish a baseline dimension (normalize all parameters to the 0-1 range): A: Acceleration amplitude (0-5g → normalized to 0-1), P: Pressure change rate (0-500kPa / ms → normalized to 0-1); ω: Angular velocity (0-100° / s → normalized to 0-1); ΔV: Velocity change (0-50km / h → normalized to 0-1).

[0050] Step S302: Determine whether the first collision has occurred based on the collision severity index. If so, determine the collision type and set the door lock unlocking parameter threshold based on the collision severity index and the collision type.

[0051] Specifically, step S302 includes: Step S3021: When the collision severity index reaches or exceeds the preset first collision determination threshold, the first collision is determined to have occurred.

[0052] Specifically, CSI_threshold is set as the CSI threshold for enabling unlock monitoring upon the first collision. The default value is 0.2. A larger value is used when the unlocking strategy is conservative, and a smaller value is used when it is aggressive.

[0053] The collision severity index is CSI_new. If CSI_new ≤ CSI_threshold, then the first collision is considered to have occurred.

[0054] Step S3022: Determine the corresponding door lock unlocking parameter threshold range based on the collision type.

[0055] The collision types include frontal collision, side collision, rear-end collision and rollover. The door lock unlocking parameter thresholds include: shortest unlocking waiting time (T_min), longest unlocking waiting time (T_max), minimum unlocking speed (V_min) and minimum angular velocity (ω_min).

[0056] It should be noted that for the same collision type: The lower the Collision Severity Index (CSI), the less severe the collision, and the more conservative the unlocking process should be. The higher the Collision Severity Index (CSI), the more severe the collision, and the more aggressive the unlocking process.

[0057] Step S3023: Using the collision severity index as a linear interpolation factor, perform linear interpolation calculation within the threshold range of the door lock unlocking parameters to generate the door lock unlocking parameter threshold.

[0058] The Collision Processing Module (CPM) calculates the unlocking parameter thresholds based on the collision type and the Collision Severity Index (CSI): T_min=T_min_high-CSI×(T_min_high-T_min_low); T_max=T_max_low+CSI×(T_max_high-T_max_low); V_min=V_min_low+CSI×(V_min_high-V_min_low); ω_min=ω_min_low+CSI×(ω_min_high-ω_min_low); Wherein, T_min_high is the high threshold for the shortest unlock wait time; when CSI=0 (minimum collision), T_min takes this value (longest wait); T_min_low is the low threshold for the shortest unlock wait time; when CSI=1 (most severe collision), T_min takes this value (shortest wait); T_max_high is the high threshold for the longest unlock wait time; when CSI=1 (most severe collision), T_max takes this value (longest allowed wait); T_max_low is the low threshold for the longest unlock wait time; when CSI=0 (minimum collision), T_max takes this value (shortest allowed wait); V_ `min_high` is the high threshold for the minimum unlock speed. When CSI=1 (most severe collision), `V_min` takes this value (maximum allowed unlock speed). `V_min_low` is the low threshold for the minimum unlock speed. When CSI=0 (least severe collision), `V_min` takes this value (minimum allowed unlock speed). `ω_min_high` is the high threshold for the minimum unlock angular velocity. When CSI=1 (most severe collision), `ω_min` takes this value (maximum allowed unlock angular velocity). `ω_min_low` is the low threshold for the minimum unlock angular velocity. When CSI=0 (least severe collision), `ω_min` takes this value (minimum allowed unlock angular velocity).

[0059] It should be noted that T_min decreases as the Collision Severity Index (CSI) increases, while the other three parameters increase with the CSI. For example, the k1 to k4 and unlocking parameter configurations used in this embodiment are shown in Table 1 below: Table 1k1 to k4 and unlocking parameter configuration

[0060] For example: Assuming CSI=0.6, the T_min_high=2.0, T_min_low=0.3 for a frontal collision, T_min= 2.0-0.6×(2.0-0.3)=0.98s.

[0061] Step S303: After the first collision, continue to monitor the vehicle status. If a second collision is detected, reset or maintain the door lock unlocking parameter threshold based on the comparison between the current collision severity index and the collision severity index of the first collision.

[0062] In one alternative implementation, secondary collisions are detected in the following manner: After the first collision, vehicle sensor data is collected in real time, and the current collision severity index is calculated in real time. If the current collision severity index is greater than the preset second collision determination threshold, and the current time is within the set time window after the first collision, then a second collision is determined to have occurred.

[0063] The set time window after the first collision refers to a time interval preset by the system. Subsequent collisions detected within this interval are identified as secondary collisions, which are used to distinguish between continuous collision events and subsequent independent collisions.

[0064] Specifically, after the initial collision, the collision processing module continuously collects vehicle status data in real time through the sensor array, and the internal CSI calculation unit continuously generates the current collision severity index based on the latest sensor data. The secondary collision detection unit compares the current CSI value with the preset secondary collision determination threshold, and determines whether the current moment is within the set time window after the initial collision. If the current CSI value is greater than the preset threshold and the current moment is within the time window, the secondary collision detection unit determines that a secondary collision has occurred and transmits this information to the unlocking decision logic unit to provide a basis for subsequent threshold reset or maintenance decisions.

[0065] Step S303 above includes: Step S3031: Determine whether the collision type has changed.

[0066] In an optional implementation, step S3031 includes: Step a: If the main direction of acceleration, the trigger position of the pressure sensor, the characteristics of the acceleration waveform, or the classification result of multi-sensor fusion of the second collision is inconsistent with that of the first collision, then the collision type is determined to have changed.

[0067] Specifically, after a secondary collision, the collision type identification unit within the collision processing module (CPM) collects and analyzes multidimensional data from the sensor array in real time: first, it compares whether the main direction of acceleration measured by the accelerometer is consistent with that of the first collision; second, it checks whether the trigger positions of the pressure sensors are the same; simultaneously, it compares whether the waveform characteristics (such as pulse width and number of peaks) output by the accelerometers match; finally, it compares the multi-sensor fusion classification result with the type recorded in the first collision. If the comparison result of any of the above features shows a discrepancy with the first collision, the collision type identification unit determines that the collision type has changed and transmits this result to the dynamic threshold management unit, providing a basis for subsequent adjustment of unlocking parameters.

[0068] Step S3032: If the current collision severity index is greater than the collision severity index of the first collision, or if the collision type has changed, then the collision condition has changed. The door lock unlocking parameter threshold is reset and the unlocking waiting timer is reset.

[0069] Step S3033: If the current collision severity index is less than or equal to the collision severity index of the first collision and the collision type is the same, then maintain the original door lock unlocking parameter threshold and continue to monitor according to the door lock unlocking parameter threshold set for the first collision.

[0070] Specifically, during a secondary collision, the current collision severity index CSI_new is calculated. If the current collision severity index CSI_new ≤ CSI_old (the collision severity index of the first collision) and the collision type is the same, the collision parameter threshold with the larger CSI is always used to maintain the current unlock condition monitoring; otherwise, the thresholds T_min, T_max, V_min and ω_min are recalculated, and the T_min and T_max timers are reinitialized.

[0071] Step S304: When the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold, an unlocking signal is output.

[0072] In one alternative implementation, the unlocking conditions include at least one of the following: The time after a collision is between the shortest and longest unlock waiting times. The current vehicle speed is less than the preset vehicle speed unlock threshold; The current angular velocity is less than the preset angular velocity threshold; The current water pressure is greater than the preset water pressure threshold.

[0073] like Figure 4 The diagram shown is a flowchart of the unlocking decision process in this embodiment, clearly illustrating the complete logic from collision detection to final unlocking. Collision detection begins after the program starts and is performed periodically (every 10ms) without any triggering conditions. The collision detection box is actually the entry point for the entire collision detection unlocking business logic.

[0074] 1. The system first calculates the Collision Severity Index (CSI) using a weighted fusion algorithm and then determines the collision type.

[0075] 2. Subsequently, based on the collision type, within the unlocking parameter threshold range corresponding to Table 1, the final unlocking parameter threshold is determined by linear interpolation using the Collision Severity Index (CSI). The unlocking parameter threshold is calculated by linear interpolation based on the normalized Collision Severity Index (CSI).

[0076] 3. Unlock condition monitoring: When conditions such as "the time after the collision is between T_min and T_max", "the current vehicle speed is lower than V_min", and "the current angular velocity is lower than ω_min" are met.

[0077] Furthermore, such as Figure 4 As shown, the unlocking decision process is as follows: Collision detection (runs periodically, once every 10ms); The weights of k1, k2, k3, and k4 are dynamically adjusted, and the collision severity index CSI_new is calculated to determine whether it is the first collision. If it is the first collision, the first collision processing procedure is initiated. Calculate thresholds such as T_min, T_max, V_min, ω_min, P_min, etc.; Start the T_min / T_max timer; Enter the unlocking condition monitoring section.

[0078] If it is not the first collision (i.e., a secondary collision occurs), then enter the secondary collision judgment logic: Judge the relationship between CSI_new and CSI_old and whether the collision types are the same; If CSI_new ≤ CSI_old and the collision types are the same, then: Continue to use the current collision parameter thresholds (maintain the thresholds set for the first collision), keep the original timer state, and continue the unlocking condition monitoring; Otherwise (i.e., CSI_new > CSI_old or the collision type changes), then return to the first collision processing flow, recalculate new thresholds such as T_min, T_max, V_min, ω_min, P_min, etc.; restart the T_min / T_max timer, and enter the unlocking condition monitoring.

[0079] The unlocking condition monitoring section concurrently judges the following conditions: Whether the T_min timer has timed out (i.e., whether the shortest unlocking waiting time has passed); Unlocking condition evaluation, that is, concurrently monitor three unlocking conditions: water pressure < P_water_min; angular velocity < ω_min; vehicle speed < Vmin; Judge whether any unlocking condition is met: If any unlocking condition is met, immediately unlock the door lock; If no unlocking condition is met, then continue to judge: whether the T_max timer has timed out (i.e., whether the longest unlocking waiting time has been exceeded); if the T_max timer has timed out, then: immediately unlock the door lock; if the T_max timer has not timed out, then: return to "unlocking condition monitoring" to continue the loop judgment.

[0080] Step S305, when it is detected that the vehicle is in a rollover scenario, keep the door lock in the locked state until the vehicle's angular velocity is lower than the preset angular velocity threshold and lasts for the set time, and then perform unlocking; when it is detected that the vehicle is in a water - crossing scenario and the water pressure is greater than the preset water pressure threshold, immediately perform unlocking.

[0081] 1. Rollover scenario protection: When the IMU detects that the continuous angular velocity > 180° / s and there are multiple acceleration peaks, it is determined as a rollover; keep the door lock in the locked state during the rollover to prevent the occupants from being thrown out; Only perform unlocking after the vehicle is completely stationary (ω < ω_min and lasts for 500 ms).

[0082] 2. Water immersion protection: When the water level sensor detects a water pressure of Pwater_min = 1 meter depth during the unlocking parameter monitoring, the system will unlock.

[0083] 3. Chain collision adaptation: Upon the first collision, calculate CSI_new. If CSI_new ≤ CSI_threshold, calculate thresholds such as T_min, T_max, V_min, and ω_min, and start the T_min / T_max timer.

[0084] During a secondary collision, the current CSI_new is calculated. If CSI_new ≤ CSI_old and the collision type is the same, the collision parameter threshold with the larger CSI is always used to maintain the current unlock condition monitoring. Otherwise, the thresholds T_min, T_max, V_min, and ω_min are recalculated, and the T_min / T_max timer is reinitialized.

[0085] The door lock control method supporting secondary collision provided in this embodiment has the following beneficial effects: 1. Intelligent decision-making: Calculates CSI based on collision type, and dynamically adjusts the unlocking parameter threshold based on CSI and collision type to adapt to various collision scenarios; 2. Security: Setting multiple door lock unlocking thresholds can prevent premature unlocking while ensuring the final chance of escape; 3. Comprehensiveness: Taking into account multiple factors such as vehicle speed, angular velocity, and wading depth; 4. Reliability: Equipped with secondary collision detection and state reset capabilities to handle complex accident scenarios; 5. Practicality: Based on the existing vehicle sensor architecture, the modification cost is low.

[0086] This embodiment also provides a door lock control device that supports secondary collisions. This device 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.

[0087] This embodiment provides a door lock control device that supports secondary collisions, such as... Figure 5 As shown, it includes: The collision severity index calculation module 501 is used to calculate the collision severity index based on vehicle sensor data.

[0088] The first collision determination module 502 is used to determine whether a first collision has occurred based on the collision severity index. If so, the collision type is determined.

[0089] The threshold setting module 503 is used to set the threshold of the door lock unlocking parameters according to the collision severity index and collision type.

[0090] The secondary collision detection and comparison decision module 504 is used to continue monitoring the vehicle status after the first collision. If a secondary collision is detected, the door lock unlocking parameter threshold is reset or maintained based on the comparison result between the current collision severity index and the collision severity index of the first collision.

[0091] The unlocking condition monitoring and unlocking signal output module 505 is used to output an unlocking signal when the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold.

[0092] In some alternative implementations, the collision severity index is calculated using a weighted fusion algorithm, as shown in the following formula: CSI=k1×A+k2×P+k3×ω+k4×ΔV; Where A is the magnitude of the acceleration vector, P is the rate of change of the pressure sensor, ω is the angular velocity, ΔV is the velocity change, and k1, k2, k3 and k4 are all preset weight values, and satisfy k1+k2+k3+k4=1.

[0093] In some optional implementations, the initial collision determination module 502 includes: The first collision determination unit is used to determine that a first collision has occurred when the collision severity index reaches or exceeds the preset first collision determination threshold.

[0094] In some alternative implementations, the threshold setting module 503 includes: The threshold range determination unit is used to determine the corresponding threshold range of door lock unlocking parameters based on the collision type.

[0095] The threshold setting unit is used to perform linear interpolation calculation within the threshold range of the door lock unlocking parameters by using the collision severity index as a linear interpolation factor, and generate the door lock unlocking parameter threshold.

[0096] In some optional implementations, the secondary collision detection and comparison decision module 504 includes: The secondary collision detection unit is used to collect vehicle sensor data in real time after the first collision and calculate the current collision severity index in real time. If the current collision severity index is greater than the preset secondary collision judgment threshold and the current time is within the set time window after the first collision, a secondary collision is determined to have occurred.

[0097] In some optional implementations, the secondary collision detection and comparison decision module 504 further includes: The type change judgment unit is used to determine whether the collision type has changed; The first decision unit is used to determine that the collision condition has changed if the current collision severity index is greater than the collision severity index of the first collision, or if the collision type has changed, and then resets the door lock unlocking parameter threshold and the unlocking waiting timer.

[0098] The second decision unit is used to maintain the original door lock unlocking parameter threshold and continue monitoring according to the door lock unlocking parameter threshold set for the first collision if the current collision severity index is less than or equal to the collision severity index of the first collision and the collision type is the same.

[0099] In some optional implementations, the type change determination unit includes: The parameter comparison subunit is used to determine that the collision type has changed if the main direction of acceleration, the trigger position of the pressure sensor, the acceleration waveform characteristics, or the multi-sensor fusion classification result of the secondary collision is inconsistent with that of the first collision.

[0100] In some alternative implementations, the unlocking conditions include at least: The time after a collision is between the shortest and longest unlock waiting times. The current vehicle speed is less than the preset vehicle speed unlock threshold; The current angular velocity is less than the preset angular velocity threshold; The current water pressure is greater than the preset water pressure threshold.

[0101] In one alternative embodiment, the device further includes: The special scene processing module is used to keep the door lock in a rolling scene until the vehicle's angular velocity is lower than the preset angular velocity threshold and continues for a set time before unlocking; when the vehicle is detected to be in a water wading scene and the water pressure is higher than the preset water pressure threshold, it will unlock immediately.

[0102] The door lock control device supporting secondary collision provided in this embodiment of the invention can execute the door lock control method supporting secondary collision provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0103] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0104] The following is a detailed reference. Figure 6This diagram illustrates a suitable structural design for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 601, which can perform various appropriate actions and processes based on a program stored in read-only memory (ROM) 602 or a program loaded from memory 608 into random access memory (RAM) 603. RAM 603 also stores various programs and data required for the operation of the electronic device. The processor 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0105] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 Electronic devices 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.

[0106] 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 609, or installed from a memory 608, or installed from a ROM 602. When the computer program is executed by the processor 601, it performs the functions defined in the door lock control method supporting secondary collisions according to embodiments of the present invention.

[0107] Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0108] 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 collision handling module, 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 door lock control method supporting secondary collisions shown in the above embodiments is implemented.

[0109] 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.

[0110] 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 door lock control method supporting secondary collisions, characterized in that, The method includes: The collision severity index is calculated based on vehicle sensor data; Determine whether a first collision has occurred based on the collision severity index. If so, determine the collision type and set the door lock unlocking parameter threshold based on the collision severity index and the collision type. After the first collision, the vehicle status continues to be monitored. If a second collision is detected, the door lock unlocking parameter threshold is reset or maintained based on the comparison between the current collision severity index and the collision severity index of the first collision. When the vehicle status meets the unlocking conditions corresponding to the current door lock unlocking parameter threshold, an unlocking signal is output.

2. The method according to claim 1, characterized in that, The collision severity index is calculated using a weighted fusion algorithm, as shown in the following formula: CSI=k1×A+k2×P+k3×ω+k4×ΔV; Where A is the magnitude of the acceleration vector, P is the rate of change of the pressure sensor, ω is the angular velocity, ΔV is the velocity change, and k1, k2, k3 and k4 are all preset weight values, and satisfy k1+k2+k3+k4=1.

3. The method according to claim 1, characterized in that, The step of determining whether a first collision has occurred based on the collision severity index includes: When the collision severity index reaches or exceeds the preset first collision determination threshold, the first collision is determined to have occurred.

4. The method according to claim 1, characterized in that, The step of setting the door lock unlocking parameter threshold based on the collision severity index and collision type includes: Based on the collision type, determine the corresponding threshold range for the door lock unlocking parameters; The collision severity index is used as a linear interpolation factor to perform linear interpolation calculations within the threshold range of the door lock unlocking parameters, thereby generating the door lock unlocking parameter threshold.

5. The method according to claim 1, characterized in that, The secondary collision is detected in the following manner: After the initial collision, vehicle sensor data is collected in real time, and the current collision severity index is calculated in real time. If the current collision severity index is greater than the preset secondary collision determination threshold, and the current time is within the set time window after the first collision, then a secondary collision is determined to have occurred.

6. The method according to claim 1, characterized in that, The step of resetting or maintaining the door lock unlocking parameter threshold based on a comparison between the current collision severity index and the collision severity index of the first collision includes: Determine if the collision type has changed; If the current collision severity index is greater than the collision severity index of the first collision, or if the collision type changes, it is determined that the collision condition has changed, the door lock unlocking parameter threshold is reset and the unlocking wait timer is reset. If the current collision severity index is less than or equal to the collision severity index of the first collision and the collision type is the same, then the original door lock unlocking parameter threshold will be maintained, and monitoring will continue according to the door lock unlocking parameter threshold set for the first collision.

7. The method according to claim 6, characterized in that, The determination of whether the collision type has changed includes: If the main direction of acceleration, the trigger position of the pressure sensor, the characteristics of the acceleration waveform, or the classification result of multi-sensor fusion are inconsistent with those of the first collision, then the collision type is determined to have changed.

8. The method according to claim 1, characterized in that, The unlocking conditions include at least the following: The time after a collision is between the shortest and longest unlock waiting times. The current vehicle speed is less than the preset vehicle speed unlock threshold; The current angular velocity is less than the preset angular velocity threshold; The current water pressure is greater than the preset water pressure threshold.

9. The method according to claim 1, characterized in that, The method further includes: When a vehicle is detected to be in a rollover scenario, the door locks remain locked until the vehicle's angular velocity is lower than a preset angular velocity threshold and remains so for a set time, at which point the doors are unlocked. When the vehicle is detected to be in a water-filled environment and the water pressure is greater than the preset water pressure threshold, the vehicle will be unlocked immediately.

10. A door lock control system supporting secondary collisions, characterized in that, The system includes: A collision handling module is used to execute the door lock control method supporting secondary collisions as described in any one of claims 1 to 9; The unlocking execution unit is connected to the collision processing module and is used to output an unlocking signal according to the instructions of the collision processing module to unlock the car door.

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