Vehicle control method, circuit, device, system, storage medium and program product

Abstract

This application discloses a vehicle control method, circuit, device, system, storage medium, and program product. The vehicle control method circuit includes: obtaining sensing signals output by one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit represents the intensity of vibration detected by a piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, each sensing sub-circuit outputting a sensing signal; determining the collision level corresponding to the piezoelectric vibrator sensor based on the one or more sensing signals; determining the vehicle's driving environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body; and controlling the vehicle to perform a corresponding first function based on the driving environment.

Description

Technical Field

[0001] This application relates to, but is not limited to, the field of vehicle technology, and in particular to a vehicle control method, circuit, device, system, storage medium, and program product. Background Technology

[0002] Vehicle perception systems typically include a variety of sensors that can detect the vehicle's surrounding environment, including other vehicles, pedestrians, obstacles, and traffic signs, thereby providing the vehicle with the ability to perceive its operating environment.

[0003] However, vehicle sensing systems may enter a dormant state under certain conditions, rendering them unable to detect vibrations and thus affecting the vehicle's ability to monitor its surroundings. Therefore, to ensure that the vehicle can respond promptly when vibrations occur, a reasonable vibration sensing scheme needs to be established, and the vehicle needs to be controlled to perform corresponding functions based on this scheme, such as waking up the vehicle sensing system. Summary of the Invention

[0004] One objective of this application is to provide a vehicle control method. Its advantage lies in that, by obtaining the sensing signals output from one or more vibration sensing circuits in the vehicle, the intensity of vibration detected by the piezoelectric vibrator sensors corresponding to those circuits can be determined, i.e., the intensity of vibration detected by the one or more piezoelectric vibrator sensors can be determined, thereby determining the collision level corresponding to those one or more piezoelectric vibrator sensors. Based on the collision level corresponding to those one or more piezoelectric vibrator sensors and their positions on the vehicle body, the vehicle's operating environment can be determined, and the vehicle can then be controlled to perform corresponding primary functions according to this environment. This process achieves a novel vibration sensing scheme, ensuring that the vehicle can sense vibrations even when the vehicle's sensing system is in a dormant state.

[0005] Another objective of this application is to provide a vehicle control method, the advantage of which is that a vibration sensing circuit outputs only one sensing signal. By determining whether the level of this sensing signal is a first level or a second level, the collision level corresponding to the piezoelectric vibrator sensor for each vibration sensing circuit can be determined. Here, when the level of the sensing signal is the first level, the determined collision level indicates that the piezoelectric vibrator sensor detected a vibration of a first intensity; when the level of the sensing signal is the second level, the determined collision level indicates that the piezoelectric vibrator sensor did not detect vibration. Therefore, the vehicle can determine the force situation of each piezoelectric vibrator sensor through the sensing signal, thereby achieving vibration sensing.

[0006] Another objective of this application is to provide a vehicle control method with the advantage that, when each vibration sensing circuit includes multiple sensing sub-circuits, by obtaining the levels of multiple sensing signals output by each vibration sensing circuit, a first sensing signal can be determined from the multiple sensing signals, and the level of the first sensing signal is a first level. Furthermore, the collision level corresponding to the piezoelectric vibrator sensor can be determined by the number of the first sensing signals among the multiple sensing signals. Here, the number of the first sensing signals is positively correlated with the collision level of the piezoelectric vibrator sensor, which allows for further subdivision of the collision level of each piezoelectric vibrator sensor, improving the vehicle's vibration sensing capability. Moreover, subsequent vehicle control based on the refined collision level facilitates more precise vehicle control.

[0007] Another objective of this application is to provide a vehicle control method with the advantage that, when multiple vibration sensing circuits output sensing signals—that is, when piezoelectric vibrator sensors at multiple locations on the vehicle detect vibration—the positions of multiple first piezoelectric vibrator sensors on the vehicle body can be obtained by acquiring multiple first piezoelectric vibrator sensors with the same collision level from the multiple piezoelectric vibrator sensors. After obtaining the positions of the multiple first piezoelectric vibrator sensors on the vehicle body, the vibration area can be determined based on the detection range of the multiple first piezoelectric vibrator sensors. Then, the vehicle's driving environment can be determined at least based on the collision level and vibration area corresponding to the multiple first piezoelectric vibrator sensors. In this process, by determining the vibration area and vibration level corresponding to the first piezoelectric vibrator sensors that detected the same collision level, the driving environment can be inferred.

[0008] Another objective of this application is to provide a vehicle control method, the advantage of which is that different driving environments can be determined by parameters such as collision level, area of ​​vibration zone, and duration of vibration, thereby enabling the execution of different control operations to meet the user's driving needs.

[0009] Another objective of this application is to provide a vehicle control method with the advantage that, by determining that the area of ​​the vibration zone is greater than a first threshold, it can be identified as a rainy driving environment. Furthermore, by using different collision levels, it can be determined that different degrees of rainfall exist in the rainy driving environment, thereby improving the accuracy of the judgment. By using the collision level, the duration of vibration, and the area of ​​vibration, a crosswind driving environment can be determined.

[0010] Another objective of this application is to provide a vehicle control method that offers the advantage of providing different functions under various rainy driving conditions, thereby meeting user needs and enhancing vehicle intelligence. In crosswind driving conditions, the method controls the vehicle to activate a stable driving mode, improving vehicle safety. In adverse weather conditions, the method controls the vehicle to output alert messages, meeting user needs.

[0011] Another objective of this application is to provide a vehicle control method, the advantage of which is that by determining that the area of ​​the vibration zone is less than a third threshold, an emergency vehicle environment can be identified. Furthermore, by using different collision levels, different collision intensities can be determined under the emergency vehicle environment, thereby determining the urgency level of the emergency vehicle environment, which is beneficial for subsequently executing different functions to meet the user's needs.

[0012] Another objective of this application is to provide a vehicle control method that has the advantage of controlling the vehicle to perform different functions under different levels of urgency in the vehicle use environment, thereby meeting the vehicle use needs in emergency situations.

[0013] To achieve the above objectives, the technical solution of this application embodiment is implemented as follows:

[0014] In a first aspect, embodiments of this application provide a vehicle control method, comprising: obtaining sensing signals output by one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit is used to represent the intensity of vibration detected by a piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, each sensing sub-circuit outputting a sensing signal; determining a collision level corresponding to the piezoelectric vibrator sensor based on the one or more sensing signals; determining the vehicle's usage environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body; and controlling the vehicle to perform a corresponding first function based on the usage environment.

[0015] Secondly, embodiments of this application provide a vibration sensing circuit, including: one or more sensing sub-circuits; each sensing sub-circuit includes: an amplifier circuit and a controlled switch, wherein a first input terminal of the amplifier circuit is connected to the output terminal of a piezoelectric vibrator sensor, a second input terminal of the amplifier circuit is grounded, the output terminal of the amplifier circuit is connected to the control terminal of the controlled switch, a first terminal of the controlled switch serves as the output terminal of each sensing sub-circuit and is connected to a controller, and a second terminal of the controlled switch is grounded; the amplifier circuit is used to amplify a first signal with a first voltage generated after the piezoelectric vibrator sensor detects vibration, so as to output a second voltage; the controlled switch is used to conduct when the second voltage is greater than or equal to the cutoff voltage, and output a sensing signal from the first terminal of the controlled switch to the controller, wherein the level of the sensing signal is the first level; and to cut off when the second voltage is less than the cutoff voltage; wherein, when the vibration sensing circuit includes multiple sensing sub-circuits, the amplification factor of the amplifier circuit in different sensing sub-circuits is different.

[0016] Thirdly, embodiments of this application provide a vehicle control system, including: at least one vibration sensing circuit, at least one piezoelectric vibrator sensor, and a vehicle control device; wherein, the input terminal of each vibration sensing circuit is connected to the output terminal of one piezoelectric vibrator sensor, and the output terminal of each vibration sensing circuit is connected to the vehicle control device; the vehicle control device is configured to: obtain sensing signals output by one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit is used to represent the intensity of vibration detected by the piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, and one sensing sub-circuit outputs a sensing signal; determine the collision level corresponding to the piezoelectric vibrator sensor based on the one or more sensing signals; determine the vehicle's driving environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body; and control the vehicle to perform a corresponding first function based on the driving environment.

[0017] Fourthly, embodiments of this application provide an in-vehicle device, which includes a memory and one or more processors. The memory stores a computer program, and when the computer program is executed by the in-vehicle device, it implements the vehicle control method of the first aspect.

[0018] Fifthly, embodiments of this application provide a computer-readable storage medium storing executable instructions, wherein when the executable instructions are executed by a processor, they implement the vehicle control method as described in the first aspect.

[0019] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program or instructions, characterized in that, when the computer program or instructions are executed by a processor, they implement the vehicle control method as described in the first aspect.

[0020] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this application. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0022] Figure 1 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0026] Figure 5 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0027] Figure 6 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0028] Figure 7 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0029] Figure 8 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0030] Figure 9 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0031] Figure 10 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0032] Figure 11 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0033] Figure 12 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application.

[0034] Figure 13 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0035] Figure 14 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0036] Figure 15 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0037] Figure 16 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0038] Figure 17 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0039] Figure 18 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0040] Figure 19 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0041] Figure 20 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0042] Figure 21 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0043] Figure 22 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0044] Figure 23 This is a schematic diagram illustrating the implementation process of a vehicle control method provided in an embodiment of this application.

[0045] Figure 24 This is a schematic diagram of a vehicle control system provided in an embodiment of this application.

[0046] Figure 25 This is a schematic diagram of the hardware entity of an in-vehicle device provided in an embodiment of this application. Attached image description:

[0048] Vibration sensing circuit 10; piezoelectric vibrator sensor 11; sensing sub-circuit 12; controller 13; voltage divider circuit 121; amplifier circuit 122; controlled switch Q; filter circuit 123; Zener diode Z; operational amplifier U; first resistor R1; second resistor R2; third resistor R3; fourth resistor R4; fifth resistor R5; sixth resistor R6; first capacitor C1; second capacitor C2; third capacitor C3; fourth capacitor C; transistor T; pull-up resistor R7; first voltage source Vcc; second voltage source Vcc1; pull-down resistor R8; first sensing sub-circuit 12a; second sensing sub-circuit 12b; third sensing sub-circuit 12c; first input / output interface I / O1; second input / output interface I / O2; third input / output interface I / O3.

[0049] In the first sensing sub-circuit 12a: voltage divider circuit 121a; amplifier circuit 122a; controlled switch Qa; filter circuit 123a; Zener diode Za; operational amplifier Ua; first resistor R1a; second resistor R2a; third resistor R3a; fourth resistor R4a; fifth resistor R5a; sixth resistor R6a; fourth capacitor Ca; pull-up resistor R7a.

[0050] In the second sensing sub-circuit 12b: voltage divider circuit 121b; amplifier circuit 122b; controlled switch Qb; filter circuit 123b; Zener diode Zb; operational amplifier Ub; first resistor R1b; second resistor R2b; third resistor R3b; fourth resistor R4b; fifth resistor R5b; sixth resistor R6b; fourth capacitor Cb; pull-up resistor R7b.

[0051] In the third sensing sub-circuit 12c: voltage divider circuit 121c; amplifier circuit 122c; controlled switch Qc; filter circuit 123c; Zener diode Zc; operational amplifier Uc; first resistor R1c; second resistor R2c; third resistor R3c; fourth resistor R4c; fifth resistor R5c; sixth resistor R6c; fourth capacitor Cc; pull-up resistor R7c. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0055] In related technologies, vehicle sensing systems cannot detect vibrations when in sleep mode, which affects the vehicle's ability to monitor its surroundings. To ensure that the vehicle can accurately detect vibrations, a reasonable vibration sensing scheme needs to be implemented.

[0056] Piezoelectric sensors possess excellent sensing capabilities. Utilizing their positive piezoelectric effect, piezoelectric sensors generate corresponding electrical signal (such as voltage / current) changes in response to external pressure, thereby sensing the magnitude of the external pressure. However, when sensing vibrations, piezoelectric sensors also produce electrical signal changes in adverse weather conditions such as rain and wind, which can interfere with the vehicle's sensing system.

[0057] Firstly, to establish a reasonable vibration sensing scheme, embodiments of this application provide a vibration sensing circuit for sensing external forces acting on the vehicle body. In some embodiments, piezoelectric vibrator sensors can be installed at one or more locations on the vehicle body, and each piezoelectric vibrator sensor can be connected to a vibration sensing circuit. When a piezoelectric vibrator sensor detects vibration, it generates a first signal and inputs it to the vibration sensing circuit. The vibration sensing circuit can then output a sensing signal based on the first signal, which represents the collision level corresponding to the vibration.

[0058] In some implementations, the vibration sensing circuit can also be connected to the controller and output a sensing signal to the controller. In one embodiment, the controller can be a vehicle domain controller. Upon receiving the sensing signal, the domain controller can determine the collision level corresponding to the vibration based on the sensing signal and control the vehicle based on the collision level. In one example, the controller can be a body domain controller. In one example, the controller can be implemented using a microcontroller unit (MCU) chip. In one example, the controller can be implemented using an electronic control unit (ECU).

[0059] In one embodiment, after determining the collision level corresponding to the vibration detected by the piezoelectric vibrator sensor, the controller can determine whether to wake up the vehicle perception system based on whether the collision level meets a preset collision level. If the collision level meets the preset collision level, the controller can control the vehicle perception system to be woken up; if the collision level does not meet the preset collision level, the controller can control the vehicle perception system not to be woken up temporarily.

[0060] In one embodiment, the input terminal of the vibration sensing circuit can be connected to the output terminal of the piezoelectric vibrator sensor, and the output terminal of the vibration sensing circuit can be connected to the input terminal of the controller.

[0061] In some embodiments, the present application may provide, but is not limited to, the following two vibration sensing circuits.

[0062] The first type is a vibration sensing circuit that only senses whether a collision has occurred.

[0063] Reference Figure 1 , Figure 1 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The vibration sensing circuit 10 includes a sensing sub-circuit 12. The input terminal a of the sensing sub-circuit 12 is connected to the piezoelectric vibrator sensor 11, and the output terminal b of the sensing sub-circuit 12 is connected to the controller 13.

[0064] In some embodiments, the sensing sub-circuit 12 includes an amplifier circuit 122 and a controlled switch Q. The first input terminal e of the amplifier circuit 122 is connected to the piezoelectric vibrator sensor 11 as the input terminal a of the sensing sub-circuit 12. The second input terminal f of the amplifier circuit 122 is grounded. The output terminal g of the amplifier circuit 122 is connected to the control terminal h of the controlled switch Q. The first terminal i of the controlled switch Q is connected to the controller 13 as the output terminal b of each sensing sub-circuit 12. The second terminal j of the controlled switch Q is grounded.

[0065] In some embodiments, the amplifier circuit 122 is used to amplify the first signal with a first voltage generated after the piezoelectric vibrator sensor 11 detects vibration, so as to generate a second voltage at the output terminal of the amplifier circuit 122.

[0066] Understandably, after detecting vibration, the piezoelectric vibrator sensor 11 can generate a first signal with a first voltage. This first signal with the first voltage can be transmitted from the output terminal of the piezoelectric vibrator sensor 11 to the first input terminal e of the amplifier circuit 122, and then input to the amplifier circuit 122 from the first input terminal e. The amplifier circuit 122 can amplify the first signal with the first voltage, so that the output terminal g of the amplifier circuit 122 generates an amplified first signal. Here, the amplified first signal has a second voltage.

[0067] In some embodiments, the structure of the amplifier circuit 122 can be configured as needed, and this application embodiment does not limit it.

[0068] In some embodiments, the amplified first signal can be input to the control terminal h of the controlled switch Q, and a third voltage can be generated at the control terminal h of the controlled switch Q.

[0069] It is understandable that there may be other electronic components or circuit losses between the output terminal g of the amplifier circuit 122 and the control terminal h of the controlled switch Q, causing the control terminal h of the controlled switch Q to generate a third voltage.

[0070] In some embodiments, the controlled switch Q is used to turn on when the third voltage is greater than or equal to the cutoff voltage, and outputs a sensing signal from the first terminal i of the controlled switch Q to the controller 13, and the level of the sensing signal is the first level.

[0071] Understandably, the amplified first signal can be input from the output terminal g of the amplifier circuit 122 to the control terminal h of the controlled switch Q, generating a third voltage at the control terminal h. When the third voltage is greater than or equal to the cutoff voltage of the controlled switch Q, the controlled switch Q is turned on, and the first terminal i of the controlled switch Q outputs a sensing signal, at which time the level of the sensing signal is the first level.

[0072] In some embodiments, Figure 2 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. (Refer to...) Figure 2 The first terminal i of the controlled switch Q is connected to a pull-up voltage source (i.e., the first voltage source Vcc). The controlled switch Q includes a transistor T and a pull-up resistor R7, which is the first implementation of the controlled switch Q. In one embodiment, when the third voltage at the control terminal h is less than the cutoff voltage, the controlled switch Q using the first implementation is turned off, and a sensing signal is output from the first terminal i of the controlled switch Q to the controller 13. At this time, the level of the sensing signal is the second level.

[0073] In some embodiments, the controller 13 can determine that the piezoelectric vibrator sensor has detected vibration by outputting a sensing signal from the vibration sensing circuit, wherein the sensing signal is at a first level. Alternatively, the controller 13 can determine that the piezoelectric vibrator sensor has not detected vibration by outputting a sensing signal from the vibration sensing circuit, wherein the sensing signal is at a second level. In one embodiment, the first level and the second level are different.

[0074] In some embodiments, Figure 3 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. (Refer to...) Figure 3The first terminal i of the controlled switch Q is not connected to a pull-up voltage source (i.e., the first voltage source Vcc). The controlled switch Q includes a transistor T, which is a second implementation of the controlled switch Q. In one embodiment, when the third voltage at the control terminal h is less than the cutoff voltage, the controlled switch Q is turned off, and the first terminal i of the controlled switch Q in the second implementation does not output any electrical signal.

[0075] In some embodiments, the controller 13 can determine that the piezoelectric vibrator sensor has detected vibration based on the vibration sensing circuit outputting a sensing signal, and the sensing signal being at a first level. Alternatively, the controller 13 can determine that the piezoelectric vibrator sensor has not detected vibration based on the vibration sensing circuit not outputting an electrical signal.

[0076] The sensor circuit 12 will now be described.

[0077] First, let's introduce the controlled switch Q.

[0078] In some embodiments, still refer to Figure 2 The controlled switch Q is implemented in the first way. In this case, the controlled switch Q may include a transistor T and a pull-up resistor R7. The first terminal T1 of the transistor T is connected to the output terminal g of the amplifier circuit 122 as the control terminal h of the controlled switch Q. The second terminal T2 of the transistor T is connected to the controller 13 and the first terminal k7 of the pull-up resistor R7 as the first terminal i of the controlled switch Q. The third terminal T3 of the transistor T is grounded as the second terminal j of the controlled switch Q. The second terminal n7 of the pull-up resistor R7 is connected to the first voltage source Vcc.

[0079] Understandably, the controlled switch Q can include a transistor T and a pull-up resistor R7. The first terminal T1 of transistor T can be connected to the output terminal g of amplifier circuit 122 as the control terminal h of controlled switch Q. The second terminal T2 of transistor T can be connected to the controller as the first terminal i of controlled switch Q. The second terminal T2 of transistor T can also be connected to the first terminal k7 of pull-up resistor R7, and the second terminal n7 of pull-up resistor R7 is connected to the first voltage source Vcc. Here, connecting pull-up resistor R7 to one pin of transistor T serves two purposes: firstly, to preset a default potential and protect the circuit from damage; and secondly, to prevent transistor T from being affected by random voltage levels that could impact circuit operation.

[0080] Understandably, the output terminal g of the amplifier circuit 122 generates an amplified first signal, which is input to the first terminal T1 of the transistor T and generates a third voltage at the first terminal T1. The third voltage then controls the switching on and off of the transistor T, thereby changing the switching state of the controlled switch Q.

[0081] In some embodiments, the controlled switch Q is used to turn on the second terminal T2 and the third terminal T3 of transistor T when the third voltage is greater than or equal to the cutoff voltage of transistor T, and output a sensing signal from the second terminal T2 of transistor T to controller 13 with the level of the sensing signal being a first level; when the third voltage is less than the cutoff voltage, the second terminal T2 and the third terminal T3 of transistor T are turned off, and output a sensing signal from the second terminal T2 of transistor T to controller 13 with the level of the sensing signal being a second level.

[0082] Understandably, the amplified first signal can be input to the first terminal T1 of transistor T via the output terminal g of amplifier circuit 122, generating a third voltage at the first terminal T1. When the third voltage is greater than or equal to the cutoff voltage of transistor T, the first terminal T1 and the second terminal T2 of transistor T are turned on, and the second terminal T2 of transistor T outputs a sensing signal at this time, with the sensing signal level being the first level. When the third voltage is less than the cutoff voltage of transistor T, the second terminal T2 of transistor T outputs a sensing signal at this time, with the sensing signal level being the second level.

[0083] In some embodiments, transistor T can be a bipolar transistor or a metal-oxide-semiconductor (MOS) field-effect transistor. In one example, when transistor T is an NPN bipolar transistor, its first terminal T1 is the base, its second terminal T2 is the collector, and its third terminal T3 is the emitter. In one example, when transistor T is a PNP bipolar transistor, its first terminal T1 is the base, its second terminal T2 is the emitter, and its third terminal T3 is the collector. In one example, when transistor T is an N-type MOS field-effect transistor, its first terminal T1 is the gate, its second terminal T2 is the drain, and its third terminal T3 is the source. In one example, when transistor T is a P-type MOS field-effect transistor, its first terminal T1 is the gate, its second terminal T2 is the source, and its third terminal T3 is the drain.

[0084] In some embodiments, still refer to Figure 3 The controlled switch Q is implemented in the second way. In this case, the controlled switch Q may include a transistor T. The first terminal T1 of the transistor T can be connected to the output terminal g of the amplifier circuit 122 as the control terminal h of the controlled switch Q. The second terminal T2 of the transistor T can be connected to the controller 13 as the first terminal i of the controlled switch Q. The third terminal T3 of the transistor T is grounded as the second terminal j of the controlled switch Q.

[0085] Understandably, the controlled switch Q may include a transistor T. The first terminal T1 of the transistor T can be connected as the control terminal h of the controlled switch Q to the output terminal g of the amplifier circuit 122. The output terminal g of the amplifier circuit 122 generates an amplified first signal, which is input to the first terminal T1 of the transistor T, thereby controlling the on / off state of the transistor T and changing the switching state of the controlled switch Q.

[0086] In some embodiments, transistor T can be a bipolar junction transistor (BJT) or a metal-oxide-semiconductor (MOS) field-effect transistor (MOSFET). In one example, when transistor T is an NPN BJT, its first terminal T1 is the base, its second terminal T2 is the collector, and its third terminal T3 is the emitter. In one example, when transistor T is a PNP BJT, its first terminal T1 is the base, its second terminal T2 is the emitter, and its third terminal T3 is the collector. In one example, when transistor T is an N-type MOS field-effect transistor (MOSFET), its first terminal T1 is the gate, its second terminal T2 is the drain, and its third terminal T3 is the source. In one example, when transistor T is a P-type MOS field-effect transistor (MOSFET), its first terminal T1 is the gate, its second terminal T2 is the source, and its third terminal T3 is the drain.

[0087] In some embodiments, the controlled switch Q is used to turn on the second terminal T2 and the third terminal T3 of transistor T when the third voltage is greater than or equal to the cutoff voltage of transistor T, and output a sensing signal to controller 13 from the second terminal T2 of transistor T, and the level of the sensing signal is the first level; when the third voltage is less than or equal to the cutoff voltage, the second terminal T2 and the third terminal T3 of transistor T are turned off, and the second terminal T2 does not output an electrical signal.

[0088] Understandably, the amplified first signal can be input to the first terminal T1 of transistor T through the output terminal g of amplifier circuit 122, generating a third voltage at the first terminal T1. When the third voltage is greater than or equal to the cutoff voltage of transistor T, the first terminal T1 and the second terminal T2 of transistor T are turned on, and the second terminal T2 of transistor T outputs a sensing signal, at which time the level of the sensing signal is the first level. When the third voltage is less than the cutoff voltage of transistor T, the second terminal T2 of transistor T does not output an electrical signal.

[0089] Next, we will introduce amplifier circuit 122.

[0090] In some embodiments, still refer to Figure 2For the controlled switch Q using the first implementation method, the amplifier circuit 122 includes: an operational amplifier U, a first resistor R1, a second resistor R2, and a third resistor R3. The first terminal k1 of the first resistor R1 serves as the first input terminal e of the amplifier circuit 122 and is connected to the piezoelectric vibrator sensor 11. The first terminal k2 of the second resistor R2 serves as the second input terminal f of the amplifier circuit 122 and is grounded. The output terminal p of the operational amplifier U serves as the output terminal g of the amplifier circuit 122 and is connected to the control terminal h of the controlled switch Q. The second terminal n1 of the first resistor R1 is connected to the first input terminal o of the operational amplifier U. The second terminal n2 of the second resistor R2 is connected to the second input terminal q of the operational amplifier U and the first terminal k3 of the third resistor R3, respectively. The second terminal n3 of the third resistor R3 is connected to the output terminal p of the operational amplifier U.

[0091] Understandably, operational amplifier U can amplify the voltage of a first signal having a first voltage.

[0092] In some embodiments, the amplification ratio of the amplifier circuit 122 in the sensing sub-circuit 12 can be set as needed, and this application embodiment does not limit this. In some embodiments, the amplification factor of the amplifier circuit 12 can be determined based on the resistance values ​​of the second resistor R2 and the third resistor R3.

[0093] In some embodiments, the voltage at the output terminal g of the amplifier circuit 122 can be determined using the following formula (1).

[0094] V2=V1*(1+R3 / R2) (1)

[0095] In the above formula, V2 represents the voltage generated at the output terminal of the amplifier circuit, i.e., the second voltage; V1 represents the voltage generated at the first input terminal of the amplifier circuit, i.e., the first voltage; R2 represents the second resistor; and R3 represents the third resistor.

[0096] In one example, in the sensing sub-circuit 12, the resistance ratio of the second resistor R2 and the third resistor R3 can control the second voltage to be equal to 5 times the first voltage, that is, the first voltage is amplified by 5 times.

[0097] In some embodiments, the sensing sub-circuit 12 can output a sensing signal, the level of which can be a first level or a second level. The controller 13 can determine whether a collision has occurred based on the level of the sensing signal. When the level of the sensing signal is the first level, the controller 13 determines that a collision has occurred; when the level of the sensing signal is the second level, the controller 13 determines that no collision has occurred.

[0098] In some embodiments, the cutoff voltage of the controlled switch Q is 0.7 volts (V). The third voltage is equal to 0.8V. At this time, the third voltage is greater than the cutoff voltage, and the vibration sensing circuit can output a sensing signal to the controller 13. The level of the sensing signal is the first level. When the controller 13 receives the sensing signal, it determines that a collision has occurred based on the level of the sensing signal.

[0099] In one example, the cutoff voltage of the controlled switch Q is 0.7V. The third voltage is equal to 0.4V. At this time, the third voltage is less than or equal to the cutoff voltage, and the vibration sensing circuit can output a sensing signal to the controller 13. The level of the sensing signal is the second level. When the controller 13 receives the sensing signal, it determines that no collision has occurred based on the level of the sensing signal.

[0100] In some embodiments, still refer to Figure 3 For the controlled switch Q using the second implementation method, the amplifier circuit 122 includes: an operational amplifier U, a first resistor R1, a second resistor R2, and a third resistor R3. For a detailed description, please refer to the description in the above embodiments, which will not be repeated here.

[0101] In some embodiments, to improve the performance of the amplifier circuit 122, the sensing sub-circuit 12 may further include at least one of a first capacitor C1, a second capacitor C2, and a third capacitor C3. Wherein, when the sensing sub-circuit 12 includes the first capacitor C1, the first terminal x of the operational amplifier U is grounded, the second terminal y of the operational amplifier U is connected to the second voltage source Vcc1, the second voltage source Vcc1 is connected to the first terminal t1 of the first capacitor C1, and the second terminal u1 of the first capacitor C1 is grounded. When the sensing sub-circuit 12 includes the second capacitor C2, the first input terminal o of the operational amplifier U is connected to the first terminal t2 of the second capacitor C2, and the second terminal u2 of the second capacitor C2 is grounded. When the sensing sub-circuit 12 includes the third capacitor C3, the output terminal p of the operational amplifier U and the control terminal h of the controlled switch Q are connected to the first terminal t3 of the third capacitor C3, and the second terminal u3 of the third capacitor C3 is grounded.

[0102] Understandably, the sensing sub-circuit 12 can include a first capacitor C1 and a second capacitor C2 to filter the amplifier circuit 122, thereby ensuring the stability of the output voltage of the amplifier circuit 122. Here, the operational amplifier U can include a first terminal x and a second terminal y. The first terminal x is grounded, and the second terminal y is connected to the second voltage source Vcc1. The first terminal t1 of the first capacitor C1 can be connected to the second voltage source Vcc1, and the second terminal u1 of the first capacitor C1 can be grounded. The first terminal t2 of the second capacitor C2 can be connected to the first input terminal o of the operational amplifier U, and the second terminal u2 of the second capacitor C2 can be grounded.

[0103] Understandably, a third capacitor C3 can be included in the sensing sub-circuit 12. The output terminal p of the operational amplifier U and the control terminal h of the controlled switch Q can be connected to the first terminal t3 of the third capacitor C3, and the second terminal u3 of the third capacitor C3 can be grounded. Here, the third capacitor is used to filter the amplified first signal output by the amplifier circuit 122.

[0104] In some embodiments, refer to Figure 4 , Figure 4 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application, targeting... Figure 2 The controlled switch Q and amplifier circuit 122 adopt the first implementation method. The sensing sub-circuit 12 may also include a voltage divider circuit 121 to adjust the input voltage of the amplifier circuit 122 and avoid high voltage impact on the amplifier circuit 122.

[0105] In some embodiments, the voltage divider circuit 121 is located between the piezoelectric vibrator sensor 11 and the amplifier circuit 122. The first terminal c of the voltage divider circuit 121 is connected to the piezoelectric vibrator sensor 11 as the input terminal a of the sensing sub-circuit 12, the second terminal d of the voltage divider circuit 121 is connected to the first input terminal e of the amplifier circuit 1212, and the third terminal z of the voltage divider circuit 121 is grounded.

[0106] In some embodiments, the voltage divider circuit 121 is used to divide the first signal with a first voltage generated after the piezoelectric vibrator sensor 11 detects vibration, so as to output a fourth voltage.

[0107] Understandably, after detecting vibration, the piezoelectric vibrator sensor 11 can generate a first signal with a first voltage. This first signal with the first voltage can be transmitted from the output terminal of the piezoelectric vibrator sensor 11 to the first terminal c of the voltage divider circuit 121. The voltage divider circuit 121 divides the first signal with the first voltage, so that the second terminal d of the voltage divider circuit 121 generates a divided first signal. Here, the divided first signal has a fourth voltage.

[0108] In some embodiments, the structure of the voltage divider circuit 121 can be configured according to requirements, and this application embodiment does not limit this. It should be noted that the fourth voltage is lower than the first voltage, thereby reducing the voltage value of the first signal and preventing subsequent circuits from being input with excessively large voltage signals, thus ensuring the stability of subsequent circuits.

[0109] In some embodiments, when the sensing sub-circuit 12 includes a voltage divider circuit 121, the amplifier circuit 122 is further used to amplify the first signal after voltage division, so that the output terminal g of the amplifier circuit generates a second voltage.

[0110] Understandably, the first signal after voltage division can be transmitted from the second terminal d of the voltage divider circuit 121 to the first input terminal e of the amplifier circuit 122, and then input to the amplifier circuit 122 from the first input terminal e. The amplifier circuit 122 can amplify the first signal after voltage division so that the output terminal g of the amplifier circuit 122 generates the amplified first signal. Here, the amplified signal has a second voltage.

[0111] In some embodiments, the amplifier circuit 122 may amplify the first signal after voltage division using formula (1).

[0112] Understandably, the amplified first signal can be input from the output terminal g of the amplifier circuit 122 to the control terminal h of the controlled switch Q, generating a third voltage at the control terminal h. When the third voltage is greater than or equal to the cutoff voltage of the controlled switch Q, the controlled switch Q is turned on, and the first terminal i of the controlled switch Q outputs a sensing signal, at which time the level of the sensing signal is the first level. When the third voltage is less than the cutoff voltage of the controlled switch Q, the controlled switch Q is turned off, and the first terminal i of the controlled switch Q outputs a sensing signal, at which time the level of the sensing signal is the second level.

[0113] In some embodiments, refer to Figure 5 , Figure 5 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The voltage divider circuit 121 includes a fourth resistor R4 and a fifth resistor R5. The first terminal k4 of the fourth resistor R4 is connected to the piezoelectric vibrator sensor 11 as the first terminal c of the voltage divider circuit 121. The second terminal n4 of the fourth resistor R4 is connected to the first terminal k5 of the fifth resistor R5. The first terminal k5 of the fifth resistor R5 is connected to the first input terminal e of the amplifier circuit 122 as the second terminal d of the voltage divider circuit 121. The second terminal n5 of the fifth resistor R5 is grounded as the third terminal z of the voltage divider circuit 121.

[0114] Understandably, the first terminal k4 of the fourth resistor R4 is connected to the piezoelectric vibrator sensor 11, and the second terminal n4 of the fourth resistor R4 is connected to the first terminal k5 of the fifth resistor R5. The second terminal n5 of the fifth resistor R5 is grounded, thus connecting the fourth resistor R4 and the fifth resistor R5 in series. Here, the first terminal k5 of the fifth resistor R5 is located between the series-connected fourth resistor R4 and fifth resistor R5, and the voltage at the first terminal k5 of the fifth resistor R5 is less than the voltage at the first terminal k4 of the fourth resistor R4. After the first terminal k5 of the fifth resistor R5 is connected to the first input terminal e of the amplifier circuit 122, the voltage divider circuit 121 divides the first signal with the first voltage value.

[0115] In some embodiments, the voltage division ratio (resistance value) of the voltage divider circuit 121 in the sensing sub-circuit 12 can be set as needed, and this application embodiment does not limit this. In some embodiments, the voltage division ratio of the voltage divider circuit 121 can be determined based on the resistance values ​​of the fourth resistor R4 and the fifth resistor R5.

[0116] In some embodiments, the voltage at the second terminal d of the voltage divider circuit 121 can be determined using the following formula (2).

[0117] V4=V1*R5 / (R4+R5) (2)

[0118] In the above formula, V1 represents the voltage at the first terminal of the voltage divider circuit, i.e., the first voltage; V4 represents the voltage at the second terminal of the voltage divider circuit, i.e., the fourth voltage; R4 represents the fourth resistor; and R5 represents the fifth resistor.

[0119] In one example, in the sensing sub-circuit 12, the resistance ratio of the fourth resistor R4 and the fifth resistor R5 can control the fourth voltage to be 0.3 times the first voltage, meaning the fourth voltage is 0.3 times the first voltage. The resistance ratio of the second resistor R2 and the third resistor R3 can control the second voltage to be 5 times the fourth voltage, meaning the fourth voltage is amplified by 5 times.

[0120] It should be noted that, for Figure 3 The controlled switch Q and amplifier circuit 122 are implemented using the second method. The sensing sub-circuit 12 does not include a voltage divider circuit.

[0121] In some embodiments, refer to Figure 6 , Figure 6 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application, targeting... Figure 2 The controlled switch Q and amplifier circuit 122 adopted in the first implementation method are used. The sensing sub-circuit 12 may also include filter circuit 123 and Zener diode Z to clamp the potential of the control terminal h of the controlled switch Q.

[0122] In some embodiments, the first terminal r of the filter circuit 123 is connected to the output terminal g of the amplifier circuit 122, the first terminal v of the Zener diode Z is connected to the second terminal s of the filter circuit 123 and the control terminal h of the controlled switch Q, the second terminal w of the Zener diode Z is grounded, and the third terminal l of the filter circuit 123 is grounded.

[0123] Understandably, filter circuit 123 and Zener diode Z are connected between amplifier circuit 122 and controlled switch Q. The amplified first signal output from the output terminal g of amplifier circuit 122 can be processed by filter circuit 123 and Zener diode Z to obtain a processed first signal; the processed first signal can be input to the control terminal h of controlled switch Q. Filter circuit 123 and Zener diode Z together clamp the potential of control terminal h of controlled switch Q to generate a third voltage at control terminal h of controlled switch Q.

[0124] In some embodiments, when the sensing sub-circuit 12 includes a filter circuit 123 and a Zener diode Z, the controlled switch Q is further configured to turn on when the third voltage is greater than or equal to the cutoff voltage, output a sensing signal from the first terminal i to the controller 13, and the level of the sensing signal is a first level; when the third voltage is less than the cutoff voltage, the controlled switch Q is turned off, output a sensing signal from the first terminal i to the controller 13, and the level of the sensing signal is a second level.

[0125] Understandably, the filter circuit 123 and the Zener diode Z can generate a third voltage at the control terminal h of the controlled switch Q. When the third voltage is greater than or equal to the cutoff voltage of the controlled switch Q, the controlled switch Q is turned on, and the first terminal i of the controlled switch Q outputs a sensing signal, at which time the level of the sensing signal is the first level. When the third voltage is less than the cutoff voltage of the controlled switch Q, the controlled switch Q is turned off, and the sensing signal is output, at which time the level of the sensing signal is the second level.

[0126] Understandably, the filter circuit 123 and the Zener diode Z can be used together to clamp the potential of the control terminal h of the controlled switch Q, thereby protecting the controlled switch Q from damage by high voltage surges.

[0127] In some embodiments, refer to Figure 7 , Figure 7 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The filter circuit 123 includes a sixth resistor R6 and a fourth capacitor C. The first terminal k6 of the sixth resistor R6 is connected to the output terminal g of the amplifier circuit 122 as the first terminal r of the filter circuit 123. The second terminal n6 of the sixth resistor R6 is connected to the first terminal t of the fourth capacitor C. The first terminal t of the fourth capacitor C is connected to the first terminal v of the Zener diode Z as the second terminal s of the filter circuit 123. The first terminal v of the Zener diode Z is also connected to the control terminal h of the controlled switch Q. The second terminal w of the Zener diode Z is grounded. The second terminal u of the fourth capacitor C is grounded as the third terminal l of the filter circuit 123.

[0128] Understandably, the capacitor C in the filter circuit 123 is used to absorb electrical charge, and the filter circuit 123 and the Zener diode Z are used together to clamp the potential of the control terminal h of the controlled switch Q.

[0129] It should be noted that, for Figure 3 The controlled switch Q and amplifier circuit 122 are implemented using the second method. The sensing sub-circuit 12 does not include the filter circuit 123 and the Zener diode Z.

[0130] In some embodiments, refer to Figure 8 , Figure 8 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The sensing sub-circuit 12 includes a voltage divider circuit 121, an amplifier circuit 122, and a controlled switch Q (e.g., using a first implementation method). Figure 2 With the following components (as shown), Zener diode Z, filter circuit 123, and pull-up resistor R7, the piezoelectric vibrator sensor 11 generates a first signal when it detects vibration and inputs it to the sensing circuit 12. This causes the first terminal c of the voltage divider circuit 121 to generate a first voltage. After the first voltage is divided by the voltage divider circuit 121, the second terminal d of the voltage divider circuit 121 generates a fourth voltage. Subsequently, the fourth voltage is amplified by the amplifier circuit, and a second voltage is generated at the output terminal g of the amplifier circuit. Then, by clamping the potential of the control terminal h of the controlled switch Q through the filter circuit 123 and diode Z, a third voltage can be generated at the second terminal s of the filter circuit 123. When the third voltage is greater than or equal to the cutoff voltage of the controlled switch Q, the controlled switch Q is turned on, and the first terminal i of the controlled switch Q outputs a sensing signal. At this time, the level of the sensing signal is the first level. When the third voltage is less than the cutoff voltage of the controlled switch Q, the controlled switch Q is turned off, and the first terminal i of the controlled switch Q outputs a sensing signal. At this time, the level of the sensing signal is the second level.

[0131] In one example, the cutoff voltage of the controlled switch Q is 0.7V. The third voltage is equal to 0.8V. At this time, the third voltage is greater than the cutoff voltage, and the sensing sub-circuit 12 can output a sensing signal to the controller 13. The level of the sensing signal is the first level. When the controller 13 receives the sensing signal, it determines that a collision has occurred based on the level of the sensing signal.

[0132] In one example, the cutoff voltage of the controlled switch Q is 0.7V. The third voltage is equal to 0.4V. At this time, the third voltage is less than the cutoff voltage, and the sensing sub-circuit 12 can output a sensing signal to the controller 13. The level of the sensing signal is the second level. When the controller 13 receives the sensing signal, it determines that no collision has occurred based on the level of the sensing signal.

[0133] It should be noted that, for Figure 3 The controlled switch Q and amplifier circuit 122 are implemented using the second method. The sensing sub-circuit 12 does not include a filter circuit and a Zener diode.

[0134] In some embodiments, refer to Figure 9 , Figure 9 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. Figure 8 The voltage divider circuit 121, amplifier circuit 122, and filter circuit 123 in the diagram can be adopted. Figure 9 The structure shown will not be described in detail here for the sake of brevity in the manual.

[0135] In some embodiments, refer to Figure 10 , Figure 10 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The sensing sub-circuit 12 includes an amplifier circuit 122, a controlled switch Q implemented in a second manner, and at least one capacitor (e.g., Figure 3 In the case shown), when the piezoelectric vibrator sensor 11 detects vibration, it generates a first signal and inputs it to the sensing circuit 12. This causes the first input terminal e of the amplifier circuit 122 to generate a first voltage. After being amplified by the amplifier circuit 122, a second voltage is generated at the output terminal g of the amplifier circuit. At this time, the control terminal h of the controlled switch Q generates a third voltage, which can be equal to the second voltage. When the third voltage is greater than or equal to the cutoff voltage of the controlled switch Q, the controlled switch Q is turned on, and the first terminal i of the controlled switch Q outputs a sensing signal. At this time, the level of the sensing signal is the first level. When the third voltage is less than the cutoff voltage of the controlled switch Q, the controlled switch Q is turned off, and the first terminal i of the controlled switch Q does not output an electrical signal.

[0136] In one example, the cutoff voltage of the controlled switch Q is 0.7V. The third voltage is equal to 0.8V. At this time, the third voltage is greater than the cutoff voltage, and the sensing sub-circuit 12 can output a sensing signal to the controller 13. The level of the sensing signal is the first level. When the controller 13 receives the sensing signal, it determines that a collision has occurred based on the level of the sensing signal.

[0137] In one example, the cutoff voltage of the controlled switch Q is 0.7V. The third voltage is equal to 0.4V. At this time, the third voltage is less than the cutoff voltage, and the sensing sub-circuit 12 does not output an electrical signal to the controller 13. At this time, the controller 13 determines that no collision has occurred.

[0138] In some embodiments, see still Figure 10 The sensing sub-circuit 12 also includes a pull-down resistor R8. The first terminal k8 of the pull-down resistor R8 is connected to the first input terminal e of the amplifier circuit 122, and the second terminal n8 of the pull-down resistor R8 is grounded. The pull-down resistor R8 is used to control the current in the input sensing sub-circuit 12, ensuring stable operation of the circuit.

[0139] The second type is a vibration sensing circuit that can detect vibrations of different collision levels.

[0140] In some embodiments, refer to Figure 11 , Figure 11 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. The vibration sensing circuit 10 may include: a plurality of sensing sub-circuits 12. The input terminal a of each sensing sub-circuit 12 is connected to the output terminal of the piezoelectric vibrator sensor 11; the output terminal b of each sensing sub-circuit 12 is connected to the input terminal of the controller 13.

[0141] Understandably, the input terminals of controller 13 include multiple input / output interfaces (I / O interfaces) (such as...). Figure 11 As shown, these can be referred to as the first input / output interface I / O1, the second input / output interface I / O2, and the third input / output interface I / O3, respectively. The output terminal b of each sensing sub-circuit 12 is connected to one of the multiple input / output interfaces.

[0142] Understandably, the structure of each sensing sub-circuit can be referenced. Figures 1 to 10 The structure of the sensing sub-circuit in the instruction manual will not be described in detail here for the sake of brevity.

[0143] Reference Figures 1 to 10 It can be seen that each sensing sub-circuit 12 may include: an amplifier circuit 122 and a controlled switch Q. The first input terminal e of the amplifier circuit 122 is connected to the output terminal of the piezoelectric vibrator sensor 11, and the second input terminal f of the amplifier circuit 122 is grounded; the output terminal g of the amplifier circuit 122 is connected to the control terminal h of the controlled switch Q, the first terminal i of the controlled switch Q is connected to the controller 13, and the second terminal j of the controlled switch Q is grounded.

[0144] In some embodiments, when the vibration sensing circuit 10 includes multiple sensing sub-circuits 12, each sensing sub-circuit 12 can sense different vibration intensities, with different vibration intensities corresponding to different collision levels, so that the multiple sensing sub-circuits 12 work together to sense different vibration intensities. Therefore, the amplification factor of the amplification circuit 122 in each sensing sub-circuit 12 is different.

[0145] In some embodiments, in the amplifier circuit 122, based on the connection relationship between the electronic components, it is known that the resistance ratio of the second resistor R2 and the third resistor R3 can affect the voltage amplification factor of the sensing sub-circuit 12. Therefore, in order to amplify the first voltage by different factors, the multiple sensing sub-circuits 12 can be implemented in the same way, but the resistance ratio of the second resistor R2 and the third resistor R3 in each sensing sub-circuit 12 is different.

[0146] In some embodiments, the voltage at the output terminal g of the amplifier circuit 122 can be determined using the above formula (1).

[0147] In some embodiments, when the sensing sub-circuit 12 includes a voltage divider circuit 121, the resistance ratio of the fourth resistor R4 and the fifth resistor R5 in the voltage divider circuit 121 can affect the voltage amplification factor of the sensing sub-circuit 12, as can be known from the connection relationship between the electronic components. Therefore, in order to amplify the first voltage by different factors, multiple sensing sub-circuits 12 can be implemented in the same way, but the resistance ratio of the fourth resistor R4 and the fifth resistor R5 in each sensing sub-circuit 12 can be different.

[0148] In some embodiments, the voltage at the second terminal d of the voltage divider circuit 121 can be determined using the above formula (2).

[0149] In some embodiments, refer to Figure 12 , Figure 12 This is a schematic diagram of a vibration sensing circuit provided in an embodiment of this application. Figure 12 The vibration sensing circuit 10 shown includes a first sensing sub-circuit 12a, a second sensing sub-circuit 12b, and a third sensing sub-circuit 12c. The input terminals of the first sensing sub-circuit 12a, the second sensing sub-circuit 12b, and the third sensing sub-circuit 12c are all connected to the piezoelectric vibrator sensor 11. The output terminals of the first sensing sub-circuit 12a, the second sensing sub-circuit 12b, and the third sensing sub-circuit 12c are respectively connected to an input / output interface of the controller 13 (as shown in Figure 12, the first sensing sub-circuit 12a is connected to the first input / output interface I / O1, the second sensing sub-circuit 12b is connected to the second input / output interface I / O2, and the third sensing sub-circuit 12c is connected to the third input / output interface I / O3).

[0150] The first sensing sub-circuit 12a, the second sensing sub-circuit 12b, and the third sensing sub-circuit 12c each include a voltage divider circuit 121, an amplifier circuit 122, a controlled switch Q, a Zener diode Z, a filter circuit 123, and a pull-up resistor R7. The voltage divider circuit 121 includes a fourth resistor R4 and a fifth resistor R5. The amplifier circuit 122 includes an operational amplifier U, a first resistor R1, a second resistor R2, and a third resistor R3. The filter circuit 123 includes a sixth resistor R6 and a fourth capacitor C.

[0151] It should be noted that the first resistor R1 is denoted as R1a in the first sensing sub-circuit 12a, R1b in the first sensing sub-circuit 12b, and R1c in the first sensing sub-circuit 12c; the controlled switch Q is denoted as Qa in the first sensing sub-circuit 12a, Qb in the first sensing sub-circuit 12b, and Qc in the first sensing sub-circuit 12c, and so on.

[0152] It should be noted that the vibration sensing circuit 10 may also include other numbers of sensing sub-circuits 12, but this application embodiment does not limit this.

[0153] In one example, when the first sensing sub-circuit 12a includes a voltage divider circuit 121, the resistance ratio of the fourth resistor R4a and the fifth resistor R5a in the first sensing sub-circuit 12a can control the fourth voltage to be equal to 0.3 times the first voltage, i.e., the first voltage is amplified by 0.3 times. In the second sensing sub-circuit 12b, the resistance ratio of the fourth resistor R4b and the fifth resistor R5b can control the fourth voltage to be equal to 0.2 times the first voltage, i.e., the first voltage is amplified by 0.2 times. In the third sensing sub-circuit 12c, the resistance ratio of the fourth resistor R4c and the fifth resistor R5c can control the fourth voltage to be equal to 0.1 times the first voltage, i.e., the first voltage is amplified by 0.1 times.

[0154] In one example, in the first sensing sub-circuit 12a described above, the resistance ratio of the second resistor R2a and the third resistor R3a can control the second voltage to be equal to a fourth voltage of 5 times, that is, the fourth voltage is amplified by 5 times. In the second sensing sub-circuit 12b, the resistance ratio of the second resistor R2b and the third resistor R3b can control the second voltage to be equal to the fourth voltage, that is, the voltage value before and after the amplification circuit remains unchanged. In the third sensing sub-circuit 12c, the resistance ratio of the second resistor R2c and the third resistor R3c can control the second voltage to be equal to a fourth voltage of 0.1 times, that is, the fourth voltage is amplified by 0.1 times.

[0155] In one example, the filter circuit 123 and the Zener diode Z together clamp the potential of the control terminal h of the controlled switch Q using the first implementation, so that the control terminal h of the controlled switch Q using the first implementation generates a third voltage. Assuming the inputs of the first sensing sub-circuit 12a, the second sensing sub-circuit 12b, and the third sensing sub-circuit 12c are the same, the first sensing sub-circuit 12a has the largest amplification factor, making the third voltage in the first sensing sub-circuit equal to 1V and greater than 0.7V. The first sensing sub-circuit 12a can output a sensing signal to the controller 13, and the level of the sensing signal is the first level. The second sensing sub-circuit 12b has the next largest amplification factor, making the third voltage in the second sensing sub-circuit equal to 0.7V. The second sensing sub-circuit 12b can also output a sensing signal to the controller 13, and the level of the sensing signal is the first level. The third sensing sub-circuit 12c has the smallest amplification factor, making the third voltage equal to 0.4V and less than 0.7V. The third sensing sub-circuit 12c can also output a sensing signal to the controller 13, and the level of the sensing signal is the second level.

[0156] In the above example, the first sensing sub-circuit 12a has the highest amplification factor and the largest range of vibrations it can sense, for example, it can sense relatively slight vibrations (such as a light tap), slightly heavier vibrations (such as a heavy tap), and even heavier vibrations (such as a collision). The second sensing sub-circuit 12b has the next highest amplification factor and the next largest range of vibrations it can sense, for example, it can sense slightly heavier vibrations and even heavier vibrations. The third sensing sub-circuit 12c has the lowest amplification factor and the next largest range of vibrations it can sense, for example, it can sense even heavier vibrations.

[0157] In one example, when the first sensing sub-circuit 12a outputs a sensing signal at a first level, while other sensing sub-circuits (the second sensing sub-circuit 12b and the third sensing sub-circuit 12c) output sensing signals at a second level or do not output any signal, it can be determined that a light tap has been detected (i.e., collision level one). When the first sensing sub-circuit 12a and the second sensing sub-circuit 12b simultaneously output sensing signals at a first level, while other sensing sub-circuit (the third sensing sub-circuit 12c) outputs sensing signals at a second level or does not output any signal, it can be determined that a heavy tap has been detected (i.e., collision level two). When the first sensing sub-circuit 12a, the second sensing sub-circuit 12b, and the third sensing sub-circuit 12c simultaneously output sensing signals at a first level, it can be determined that a collision has been detected (i.e., collision level three).

[0158] It should be noted that if the vibration sensing circuit 10 includes other numbers of sensing sub-circuits 12, the collision level can be determined by referring to the above example, and will not be repeated here.

[0159] In some embodiments, the first voltage (i.e., the voltage of the first signal output by the piezoelectric vibrator sensor 11) corresponding to different impact levels is different. For example, the first voltage corresponding to a light tap is 0 to 3V; the first voltage corresponding to a heavy tap is 3V to 6V; and the first voltage corresponding to a collision is 6V to 12V.

[0160] In the vibration sensing circuit described above, the controller 13 can sense the voltage generated by the piezoelectric vibrator and refine the sensing level to meet usage requirements.

[0161] Secondly, this application provides a vehicle control method that can be executed by a controller.

[0162] Figure 13 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 13 As shown, the vehicle control method may include the following steps S1301 to S1304.

[0163] Step S1301: Obtain the sensing signal output by one or more vibration sensing circuits.

[0164] It is understood that one or more vibration sensing circuits may be part or all of at least one vibration sensing circuit in a vehicle. The structure of each vibration sensing circuit in at least one vibration sensing circuit in a vehicle can be referred to the description in one or more embodiments corresponding to the above vibration sensing circuit, and will not be repeated here for the sake of brevity.

[0165] It should be noted that each vibration sensing circuit is electrically connected to a piezoelectric vibrator sensor. Furthermore, the sensing signal output by each vibration sensing circuit represents the intensity of the vibration detected by the connected piezoelectric vibrator sensor.

[0166] Understandably, the controller can obtain the sensing signals output by the vibration sensing circuit corresponding to some or all of the at least one piezoelectric vibrator sensor configured in the vehicle.

[0167] In some embodiments, when only one or more vibration sensing circuits output sensing signals in at least one vibration sensing circuit, the controller can obtain the sensing signals output by the one or more vibration sensing circuits.

[0168] In some embodiments, the controller may select, based on sensing requirements, the sensing signal output by one or more vibration sensing circuits.

[0169] For example, when the controller needs to determine whether the driving environment is a rainy driving environment, the controller can only obtain the sensing signal output by the vibration sensing circuit corresponding to one or more piezoelectric vibrator sensors located on the upper side of the vehicle body, without paying attention to the sensing signal output by the vibration sensing circuit corresponding to the piezoelectric vibrator sensors located on the lower side of the vehicle body.

[0170] Step S1302: Determine the collision level corresponding to the piezoelectric vibrator sensor based on one or more sensing signals.

[0171] As can be understood from the structure of a vibration sensing circuit, when a vibration sensing circuit has one sensing sub-circuit, the controller can receive one sensing signal. Based on this single sensing signal, the controller can determine the collision level corresponding to the piezoelectric vibrator sensor. When a vibration sensing circuit has multiple sensing sub-circuits, the controller can receive multiple sensing signals. Based on these multiple sensing signals, the controller can determine the collision level corresponding to the piezoelectric vibrator sensor.

[0172] In one embodiment, the controller can at least determine the collision level corresponding to the piezoelectric vibrator sensor based on the level of the sensed signal.

[0173] In one embodiment, the impact rating is used to characterize the intensity of the vibration detected by the piezoelectric vibrator sensor. In one example, a higher impact rating indicates a greater intensity of vibration.

[0174] Step S1303: Determine the vehicle's operating environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body.

[0175] Understandably, after obtaining the collision level corresponding to the piezoelectric vibrator sensor, the controller can determine the intensity and location of the vibration based on the collision level of the piezoelectric vibrator sensor and its position on the vehicle body, thereby determining the vehicle's operating environment.

[0176] Step S1304: Based on the vehicle usage environment, control the vehicle to perform the corresponding first function.

[0177] Understandably, after obtaining the vehicle's usage environment, the controller can control the vehicle to perform the first function corresponding to the usage environment.

[0178] In one embodiment, the first function can be set according to the driving environment. For example, in a rainy driving environment, the controller can control the windshield wipers to operate. For example, in a rainy driving environment, the controller can activate the onboard sensing system. For example, in a collision scenario, the controller can control the vehicle to brake suddenly.

[0179] In this embodiment, by obtaining the sensing signals output by one or more vibration sensing circuits in the vehicle, the intensity of the vibration detected by the piezoelectric vibrator sensor corresponding to the one or more vibration sensing circuits can be determined, i.e., the intensity of the vibration detected by the one or more piezoelectric vibrator sensors can be determined, and thus the collision level corresponding to the one or more piezoelectric vibrator sensors can be determined. Based on the collision level corresponding to the one or more piezoelectric vibrator sensors and the position of the one or more piezoelectric vibrator sensors on the vehicle body, the vehicle's driving environment can be determined, and the vehicle can be controlled to perform the corresponding first function according to the driving environment. This process achieves a novel vibration sensing scheme, ensuring that the vehicle can sense vibrations even when the vehicle sensing system is in a dormant state.

[0180] In some embodiments, Figure 14 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 14As shown, each vibration sensing circuit includes a sensing sub-circuit, and the sensing sub-circuit outputs a sensing signal. The sensing sub-circuit includes a controlled switch Q using the first implementation method. In this case, step S1302 includes steps S1401 to S1402.

[0181] Step S1401: When the level of the sensing signal output by a sensing sub-circuit is the first level, determine the first collision level corresponding to the piezoelectric vibrator sensor.

[0182] Understandably, a vibration sensing circuit can output a sensing signal. When the controller determines that the level of the sensing signal output by a sensing sub-circuit is a first level, it can determine that the collision level corresponding to the piezoelectric vibrator sensor is a first collision level. Here, the first collision level is used to indicate that the piezoelectric vibrator sensor detects a vibration of a first intensity.

[0183] Step S1402: When the level of the sensing signal output by a sensing sub-circuit is the second level, determine the second collision level corresponding to the piezoelectric vibrator sensor.

[0184] Understandably, a vibration sensing circuit can output a sensing signal. When the controller determines that the level of the sensing signal output by a sensing sub-circuit is a second level, it can determine that the collision level corresponding to the piezoelectric vibrator sensor for that sensing signal is a second collision level. Here, the second collision level is used to indicate that the piezoelectric vibrator sensor did not detect any vibration.

[0185] In some embodiments, the first voltage level is lower than the second voltage level.

[0186] In this embodiment, a vibration sensing circuit outputs only one sensing signal. By determining whether the level of this sensing signal is a first level or a second level, the collision level corresponding to the piezoelectric vibrator sensor for each vibration sensing circuit can be determined. Here, when the sensing signal level is the first level, the determined collision level indicates that the piezoelectric vibrator sensor detected a vibration of a first intensity; when the sensing signal level is the second level, the determined collision level indicates that the piezoelectric vibrator sensor did not detect any vibration. Therefore, the vehicle can determine the intensity of the vibration experienced by each piezoelectric vibrator sensor through the sensing signal, thereby achieving vibration sensing.

[0187] In some embodiments, in each vibration sensing circuit including a sensing sub-circuit, the controlled switch is a controlled switch Q implemented in the second manner. In this case, step S1302 may include the following steps:

[0188] Step 1: When the level of the sensing signal output by a sensing sub-circuit is the first level, determine the first collision level corresponding to the piezoelectric vibrator sensor.

[0189] Understandably, a vibration sensing circuit can output a sensing signal. When the controller determines that the level of the sensing signal output by a sensing sub-circuit is a first level, it can determine that the collision level corresponding to the piezoelectric vibrator sensor is a first collision level. Here, the first collision level is used to indicate that the piezoelectric vibrator sensor detects a vibration of a first intensity.

[0190] Step 2: When a sensing sub-circuit does not output a sensing signal, determine the second collision level corresponding to the piezoelectric vibrator sensor.

[0191] Understandably, when the controller determines that a vibration sensing circuit is not outputting a sensing signal, it can determine that the collision level of the piezoelectric vibrator sensor corresponding to that vibration sensing circuit is the second collision level. Here, the second collision level is used to indicate that the piezoelectric vibrator sensor has not detected any vibration.

[0192] In this embodiment, a vibration sensing circuit outputs only one sensing signal. By determining whether the vibration sensing circuit outputs a sensing signal, the collision level corresponding to each piezoelectric vibrator sensor can be determined. Here, when the vibration sensing circuit outputs a sensing signal, the determined collision level indicates that the piezoelectric vibrator sensor detected a vibration of the first intensity; when the vibration sensing circuit does not output a sensing signal, the determined collision level indicates that the piezoelectric vibrator sensor did not detect a vibration. Therefore, the vehicle can determine the intensity of vibration experienced by each piezoelectric vibrator sensor by whether the vibration sensing circuit outputs a sensing signal, thereby achieving vibration sensing.

[0193] In some embodiments, Figure 15 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 15 As shown, each vibration sensing circuit includes multiple sensing sub-circuits. When one sensing sub-circuit outputs a sensing signal, step S1302 includes steps S1501 to S1503.

[0194] Step S1501: For the multiple sensing signals output by each vibration sensing circuit, determine the first sensing signal from the multiple sensing signals, and the level of the first sensing signal is the first level.

[0195] Understandably, when each vibration sensing circuit outputs multiple sensing signals, the controller can determine the sensing signal with the first level, i.e., the first sensing signal, from the multiple sensing signals corresponding to each piezoelectric vibrator sensor.

[0196] Understandably, each vibration sensing circuit corresponding to each piezoelectric vibrator sensor can output multiple sensing signals. When the controller receives these multiple sensing signals, it can determine the level of the first sensing signal from among them.

[0197] Understandably, based on the structure of the sensing sub-circuit, when the piezoelectric vibrator sensor detects a vibration intensity greater than the detection intensity defined by the sensing sub-circuit, the sensing sub-circuit can output the first sensing signal.

[0198] Here, the detection intensity defined in the sensing sub-circuit is determined by the implementation of the sensing sub-circuit. For example, when the voltage divider and amplifier circuits in the sensing sub-circuit amplify the input first signal by a factor of 2, and the cutoff voltage of the controlled switch is 0.7V, if the piezoelectric vibrator sensor detects a first voltage of 0.3V for the vibration-generated first signal, then the first voltage is amplified by a factor of 2 to 0.6V. Since 0.6V is less than 0.7V, the sensing sub-circuit cannot output the first sensing signal. In this case, it can be considered that the intensity of the vibration detected by the piezoelectric vibrator sensor is less than the detection intensity defined in the sensing sub-circuit. If the piezoelectric vibrator sensor detects a first voltage of 0.4V for the vibration-generated first signal, then the first voltage is amplified by a factor of 2 to 0.8V. Since 0.8V is greater than 0.7V, the sensing sub-circuit outputs the first sensing signal. In this case, it can be considered that the intensity of the vibration detected by the piezoelectric vibrator sensor is greater than the detection intensity defined in the sensing sub-circuit.

[0199] Step S1502: Determine the collision level corresponding to the piezoelectric vibrator sensor based on the number of first sensing signals.

[0200] Understandably, when a vibration sensing circuit has multiple sensing sub-circuits, the detection intensities defined by these sub-circuits differ. When the intensity of the vibration detected by the piezoelectric vibrator sensor is low, it is less than the detection intensity defined by the multiple voltage sensing sub-circuits, resulting in only one sensing sub-circuit outputting a first sensing signal. Conversely, when the intensity of the vibration detected by the piezoelectric vibrator sensor is high, it is greater than the detection intensity defined by the multiple voltage sensing sub-circuits, resulting in multiple sensing sub-circuits outputting a first sensing signal. Therefore, the controller can determine the collision level corresponding to the piezoelectric vibrator sensor based on the number of first sensing signals.

[0201] Here, the collision level corresponding to the piezoelectric vibrator sensor is positively correlated with the number of first sensing signals.

[0202] In some embodiments, there may be multiple collision levels, with different levels corresponding to different collision grades.

[0203] In this embodiment, when each vibration sensing circuit outputs multiple sensing signals, by obtaining the level of each of the multiple sensing signals output by each vibration sensing circuit, a first sensing signal can be determined from the multiple sensing signals, and the level of the first sensing signal is a first level. Then, by using the number of the first sensing signals among the multiple sensing signals, the collision level corresponding to the piezoelectric vibrator sensor is determined. Here, the number of the first sensing signals is positively correlated with the collision level of the piezoelectric vibrator sensor. This allows for further subdivision of the collision level of each piezoelectric vibrator sensor, improving the vehicle's vibration sensing capability. Furthermore, subsequent vehicle control based on the refined collision level facilitates more precise vehicle control.

[0204] In some embodiments, Figure 16 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 16 As shown, when multiple vibration sensing circuits output sensing signals, step S1303 includes steps S1601 to S1603.

[0205] Step S1601: Obtain multiple first piezoelectric vibrator sensors with the same collision level from piezoelectric vibrator sensors connected to multiple vibration sensing circuits.

[0206] Understandably, when multiple vibration sensing circuits output sensing signals, the controller can obtain the collision level of the piezoelectric vibrator sensors connected to the multiple vibration sensing circuits. Then, the controller can obtain multiple first piezoelectric vibrator sensors with the same collision level from the piezoelectric vibrator sensors.

[0207] Here, the number of first piezoelectric vibrator sensors is less than or equal to the number of piezoelectric vibrator sensors.

[0208] Step S1602: Determine the vibration area corresponding to the multiple first piezoelectric vibrator sensors based on their positions on the vehicle body.

[0209] Understandably, after acquiring multiple first piezoelectric vibrator sensors, the controller can obtain the position of each first piezoelectric vibrator sensor on the vehicle body and the detection range of each first piezoelectric vibrator sensor. Then, the controller can determine the vibration area jointly determined by the multiple first piezoelectric vibrator sensors based on the position of the first piezoelectric vibrator sensors on the vehicle body and their corresponding detection ranges.

[0210] In one embodiment, the vibration region includes at least the detection range of a plurality of first piezoelectric vibrator sensors. In one embodiment, the vibration region may be part or all of the outer surface of the vehicle body. In one example, the vibration region may be the outer surface of the left side of the vehicle body.

[0211] Step S1603: Determine the vehicle's operating environment based at least on the collision level and vibration area corresponding to the multiple first piezoelectric vibrator sensors.

[0212] Understandably, after the controller determines the vibration area corresponding to multiple first piezoelectric vibrator sensors, it can determine the location on the vehicle body that generates the same vibration intensity based at least on the collision level and vibration area corresponding to the multiple first piezoelectric vibrator sensors, and thus determine the vehicle's operating environment.

[0213] In some possible embodiments, when a vibration sensing circuit outputs a sensing signal, the controller can obtain the collision level of the piezoelectric vibrator sensor connected to that vibration sensing circuit. Then, based on the collision level of the piezoelectric vibrator sensor in that vibration sensing circuit and the position of the piezoelectric vibrator sensor on the vehicle body, the driving environment is determined.

[0214] Understandably, when only one piezoelectric vibrator sensor has a corresponding collision level, the vehicle is in an emergency driving environment. In this case, the vehicle can be controlled to perform the first function corresponding to the emergency event based on the collision level.

[0215] In this embodiment, when multiple vibration sensing circuits output sensing signals, i.e., when piezoelectric vibrator sensors at multiple locations on the vehicle detect vibration, the positions of the multiple first piezoelectric vibrator sensors on the vehicle body can be obtained by acquiring multiple first piezoelectric vibrator sensors with the same collision level as the multiple piezoelectric vibrator sensors. After obtaining the positions of the multiple first piezoelectric vibrator sensors on the vehicle body, the vibration area can be determined based on the detection range of the multiple first piezoelectric vibrator sensors. Then, the vehicle's driving environment is determined at least based on the collision level and vibration area corresponding to the multiple first piezoelectric vibrator sensors. In this process, considering the vibration area and vibration level corresponding to the first piezoelectric vibrator sensors that detected the same collision level, the driving environment can be inferred.

[0216] In some embodiments, Figure 17 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 17 As shown, step S1603 includes at least one of steps S1701 to S1705.

[0217] Step S1701: If the collision level is the first preset level and the area of ​​the vibration zone is greater than the first threshold, the vehicle's driving environment is determined to be a severe weather driving environment.

[0218] Understandably, when a vehicle is used in adverse weather conditions, such as rain, snow, or hail, the impact of rain, snow, or hail on the vehicle body will cause vibrations. The impacts from rain, snow, or hail are characterized by a small range of impact levels but a large affected area. Therefore, if the collision level is the first preset level and the area of ​​the vibration zone is greater than a first threshold, the controller can determine that the vehicle is being used in an adverse weather environment.

[0219] In one embodiment, the first preset level can be a preset level.

[0220] In one embodiment, the first threshold can be selected according to actual needs, and this application embodiment does not limit it.

[0221] Step S1702: When the collision level is the first preset level, the area of ​​the vibration region is greater than the first threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, the vehicle's driving environment is determined to be a severe weather driving environment.

[0222] Understandably, impacts from rain, snow, or hail are characterized by a small impact level, a large affected area, and a long duration. Therefore, when the impact level is the first preset level, the area of ​​the vibration zone is greater than the first threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, the controller can determine that the vehicle's operating environment is a severe weather driving environment.

[0223] In one embodiment, the second threshold can be selected according to actual needs, and this application embodiment does not limit this.

[0224] Step S1703: When the collision level is the first preset level, the vibration area is the first preset area, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, the vehicle's driving environment is determined to be a severe weather driving environment.

[0225] Understandably, when a vehicle is used in adverse weather conditions, such as strong winds, the wind direction can cause it to impact specific areas of the vehicle body, resulting in vibrations. These impacts are characterized by a small range of intensity, a relatively concentrated area, and a long duration. Therefore, if the controller determines that the vehicle is being used in adverse weather conditions, the collision level is at the first preset level, the vibration area is within the first preset area, and the duration of vibration detected by multiple first piezoelectric vibrator sensors exceeds a second threshold, then the vehicle's operating environment is considered an adverse weather condition.

[0226] In some embodiments, the first preset area may be a region on one side of the vehicle body. When a strong wind blows towards the vehicle body, the piezoelectric vibrator sensor on one side of the vehicle body detects the vibration, while the piezoelectric vibrator sensor on the other side of the vehicle body will not be able to detect the vibration due to the obstruction of the vehicle body.

[0227] Step S1704: If the collision level is the second preset level and the area of ​​the vibration zone is less than the third threshold, the vehicle's usage environment is determined to be an emergency event usage environment.

[0228] Understandably, the impact area of ​​a vehicle in non-severe weather conditions is smaller than that in severe weather conditions. Furthermore, the impact intensity range in non-severe weather conditions can be greater than that in severe weather conditions. Therefore, if the collision level is the second preset level and the area of ​​the vibration zone is less than the third threshold, the controller can determine that the vehicle's operating environment is an emergency situation.

[0229] In one embodiment, the second preset level can be a preset level.

[0230] In one embodiment, the vibration intensity corresponding to the second preset level is greater than the vibration intensity corresponding to the first preset level.

[0231] In one embodiment, the third threshold can be selected according to actual needs, and this application does not limit this.

[0232] Step S1705: When the collision level is the second preset level, the area of ​​the vibration region is less than the third threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold, the vehicle's usage environment is determined to be an emergency event usage environment.

[0233] Understandably, when a vehicle is used in non-severe weather conditions, the impact is characterized by its short duration. Therefore, the controller can determine that the vehicle's operating environment is an emergency driving environment if the collision level is the second preset level, the area of ​​the vibration zone is less than the third threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold.

[0234] In one embodiment, the fourth threshold can be selected according to actual needs, and this application embodiment does not limit it.

[0235] In the embodiments of this application, different driving environments can be determined by parameters such as collision level, area of ​​vibration zone, and duration of vibration, thereby enabling the execution of different control operations to meet the user's driving needs.

[0236] In some embodiments, Figure 18This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 18 As shown, step S1701 includes at least one of steps S1801 to S1803:

[0237] Step S1801: If the first preset level is less than or equal to the first level and the area of ​​the vibration zone is greater than the first threshold, the vehicle's driving environment is determined to be a light rain driving environment.

[0238] In step S1802, if the first preset level is greater than the first level but less than the second level and the area of ​​the vibration zone is greater than the first threshold, the vehicle's driving environment is determined to be a moderate rain driving environment.

[0239] Step S1803: If the first preset level is greater than or equal to the second level and the area of ​​the vibration zone is greater than the first threshold, the vehicle's driving environment is determined to be a heavy rain driving environment.

[0240] Understandably, the controller can determine the vehicle's driving environment based on the level indicated by the first preset level. If the area of ​​the vibration zone is greater than the first threshold, and the first preset level is less than or equal to the first level, it is a light rain driving environment; if the first preset level is greater than the first level but less than the second level, it is a moderate rain driving environment; and if the first preset level is greater than or equal to the second level, it is a heavy rain driving environment.

[0241] In one embodiment, the vibration intensity indicated by the second level is greater than that indicated by the first level. The second level can be any collision level.

[0242] In this embodiment, a rainy driving environment can be determined by the area of ​​the vibration zone being greater than a first threshold. Furthermore, different collision levels can be used to determine that there is varying degrees of rainfall in the rainy driving environment, thereby improving the accuracy of judging the rainy driving environment.

[0243] In some embodiments, Figure 19 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 19 As shown, step S1702 includes at least one of steps S1901 to S1903:

[0244] Step S1901: If the first preset level is less than or equal to the first level, the area of ​​the vibration region is greater than the first threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, then the vehicle's driving environment is determined to be a light rain driving environment.

[0245] Step S1902: If the first preset level is greater than the first level but less than the second level, the area of ​​the vibration region is greater than the first threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, then the vehicle's driving environment is determined to be a moderate rain driving environment.

[0246] Step S1903: If the first preset level is greater than or equal to the second level, the area of ​​the vibration region is greater than the first threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, then the vehicle's driving environment is determined to be a heavy rain driving environment.

[0247] Understandably, the controller can determine the vehicle's driving environment based on the level indicated by the first preset level. If the area of ​​the vibration zone is greater than the first threshold and the duration of vibration detected by multiple first piezoelectric vibrator sensors is greater than the second threshold, then the driving environment is characterized by light rain if the first preset level is less than or equal to the first level; by moderate rain if the first preset level is greater than the first level but less than the second level; and by heavy rain if the first preset level is greater than or equal to the second level.

[0248] In the embodiments of this application, different levels of collision severity and duration of vibration can be used to determine different degrees of rainy driving environments, thereby improving the accuracy of judging rainy driving environments.

[0249] In some embodiments, Figure 20 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 20 As shown, step S1304 includes at least one of steps S2001 to S2003.

[0250] Step S2001: When the vehicle is used in a light rain environment, control the windshield wipers to work at the first speed.

[0251] Step S2002: When the vehicle is used in a moderate rain environment, control the windshield wipers to operate at the second speed.

[0252] Step S2003: When the vehicle is used in heavy rain, control the windshield wipers to operate at the third speed.

[0253] Understandably, the controller can control the windshield wipers to operate at a first speed in light rain; the controller can control the windshield wipers to operate at a second speed, which is greater than the first speed, in moderate rain; and the controller can control the windshield wipers to operate at a third speed, which is greater than the second speed, in heavy rain.

[0254] In the embodiments of this application, different functions are provided for different rainy driving environments, which can meet the needs of users and improve the intelligence of the vehicle.

[0255] In some embodiments, step S1703 includes: when the first preset level is greater than or equal to the third level and the vibration area is the first area on the side of the vehicle body, determining that the vehicle's driving environment is a crosswind driving environment.

[0256] Understandably, the controller can determine that the vehicle's operating environment is a crosswind operating environment when the first preset level is greater than or equal to the third level and the vibration area is the first area on the side of the vehicle body.

[0257] In one embodiment, the first region can be the area formed by the detection range of the piezoelectric vibrator sensor on the side of the vehicle body. In one embodiment, the side of the vehicle body can be any side of the vehicle body, such as the left side, rear side, left rear side, etc.

[0258] In one embodiment, the third level can be any collision level. In one embodiment, the third level can be a second collision level. In one embodiment, the third level can be a third collision level.

[0259] In one embodiment, the third level may be the same as or different from the first level, and the third level may be the same as or different from the second level.

[0260] In the embodiments of this application, the crosswind driving environment can be determined by the collision level, the duration of vibration, and the area of ​​vibration.

[0261] In some embodiments, step S1304 includes: controlling the vehicle to start a stable driving mode when the vehicle is in a crosswind driving environment.

[0262] Understandably, stable driving mode is a vehicle operating mode that makes the vehicle more capable of dealing with crosswinds.

[0263] In this embodiment of the application, under crosswind driving conditions, the vehicle is controlled to start a stable driving mode to improve vehicle safety.

[0264] In some embodiments, if the vehicle is determined to be in an adverse weather driving environment, the controller may output a warning message.

[0265] In some embodiments, the notification message may alert the user to a natural weather event occurring on the vehicle, such as indicating that the vehicle is being driven in adverse weather conditions. In one embodiment, the specific content of the notification message can be set according to the degree of impact of adverse weather conditions on the vehicle; this application does not limit this aspect.

[0266] In one embodiment, Figure 21 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 21 As shown, step S1704 includes at least one of steps S2101 to S2103.

[0267] Step S2101: If the second preset level is the fourth level and the area of ​​the vibration region is less than the third threshold, the vehicle's driving environment is determined to be a tapping driving environment.

[0268] In step S2102, if the second preset level is the fifth level and the area of ​​the vibration region is less than the third threshold, the vehicle's usage environment is determined to be a heavy-hitting usage environment.

[0269] In step S2103, if the second preset level is the sixth level and the area of ​​the vibration region is less than the third threshold, the vehicle's driving environment is determined to be a collision driving environment.

[0270] Understandably, the controller can determine the vehicle's operating environment based on the level indicated by the second preset level. If the area of ​​the vibration zone is less than the third threshold, the second preset level is level four, indicating a light tapping environment; level five indicates a heavy tapping environment; and level six indicates a collision environment.

[0271] Here, the fourth, fifth, and sixth levels represent collision levels that increase sequentially.

[0272] In this embodiment of the application, an emergency vehicle environment can be determined by the area of ​​the vibration region being less than a third threshold. Furthermore, different collision levels can be used to determine different collision intensities, thereby determining the degree of urgency in the emergency vehicle environment, which is beneficial for subsequently executing different functions to meet the user's needs.

[0273] In one embodiment, Figure 22 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 22 As shown, step S1705 includes at least one of steps S2201 to S2203.

[0274] Step S2201: When the second preset level is the fourth level, the area of ​​the vibration region is less than the third threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold, the vehicle's usage environment is determined to be a tapping usage environment.

[0275] In step S2202, if the second preset level is the fifth level, the area of ​​the vibration region is less than the third threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold, the vehicle's usage environment is determined to be a heavy-hitting usage environment.

[0276] In step S2203, if the second preset level is the sixth level, the area of ​​the vibration region is less than the third threshold, and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold, the vehicle's driving environment is determined to be a collision driving environment.

[0277] Understandably, the controller can determine the vehicle's driving environment based on the level indicated by the second preset level. If the area of ​​the vibration zone is less than the third threshold and the duration of vibration detected by multiple first piezoelectric vibrator sensors is less than the fourth threshold, then the second preset level is the fourth level, indicating a light tapping driving environment; the second preset level is the fifth level, indicating a heavy tapping driving environment; and the second preset level is the sixth level, indicating a collision driving environment.

[0278] Understandably, the vibrations increase sequentially from light tapping to heavy tapping to collision.

[0279] In the embodiments of this application, different collision intensities can be determined by different collision levels and vibration durations, thereby determining the urgency level in an emergency vehicle use environment, which is beneficial for subsequently executing different functions to meet user needs.

[0280] In some embodiments, Figure 23 This is a schematic diagram illustrating the implementation flow of a vehicle control method provided in an embodiment of this application, as shown below. Figure 23 As shown, step S1304 includes at least one of steps S2301 to S2303.

[0281] Step S2301: When the vehicle is in a tap-based driving environment, perform the first operation. The first operation may include outputting a prompt message, waking up the vehicle's perception system, and / or waking up the vehicle's control system.

[0282] Step S2302: If the vehicle's usage environment is a reset usage environment, perform the second operation. The second operation may include waking up the vehicle's perception system, waking up the vehicle's control system, and / or controlling the vehicle to enter sentry mode.

[0283] Step S2303: If the vehicle's driving environment is a collision driving environment, perform a third operation. This third operation may include outputting a prompt message, activating the vehicle's perception system, and / or initiating the emergency braking function.

[0284] Understandably, the controller can output a prompt message when the vehicle's environment is tapped; or, the controller can activate the vehicle's perception system when the vehicle's environment is tapped; or, the controller can activate the vehicle's control system when the vehicle's environment is tapped; or, the controller can output a prompt message and activate the vehicle's perception system when the vehicle's environment is tapped; or, the controller can activate the vehicle's perception system and activate the vehicle's control system when the vehicle's environment is tapped; or, the controller can output a prompt message, activate the vehicle's perception system, and activate the vehicle's control system when the vehicle's environment is tapped; or, the controller can output a prompt message, activate the vehicle's perception system, and activate the vehicle's control system when the vehicle's environment is tapped.

[0285] Understandably, the controller can activate the vehicle's perception system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's control system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's sensing system and the vehicle's control system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's sensing system and the vehicle's control system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's control system and the vehicle's control system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's sensing system, the vehicle's control system, and the vehicle's control system upon re-tapping the vehicle's operating environment; or, the controller can activate the vehicle's sensing system, the vehicle's control system, and the vehicle's control system upon re-tapping the vehicle's operating environment.

[0286] Understandably, the controller can output a warning message in a collision driving environment; or, the controller can wake up the vehicle perception system in a collision driving environment; or, the controller can activate the emergency braking function in a collision driving environment; or, the controller can output a warning message and wake up the vehicle perception system in a collision driving environment; or, the controller can output a warning message and activate the emergency braking function in a collision driving environment; or, the controller can wake up the vehicle perception system and activate the emergency braking function in a collision driving environment; or, the controller can output a warning message, wake up the vehicle perception system, and activate the emergency braking function in a collision driving environment.

[0287] In some embodiments, the notification message may alert the user to an unnatural weather event occurring on the vehicle body, such as a tapping event or a collision event. The method by which the controller outputs the notification message can be selected according to actual needs, and this application embodiment does not limit this.

[0288] In some embodiments, waking up the vehicle sensing system can enable further sensing of vibrations.

[0289] In some embodiments, waking up the vehicle control system can enable further vibration sensing. It is understood that the vehicle control system can be a control system that operates to manage and optimize vehicle performance, safety, and efficiency. In some embodiments, the vehicle control system may include multiple control modules such as a body electronics control module, a network communication control module, and a driver assistance system control module. It is understood that waking up the vehicle control system can enable the functionality of any one or more of the control modules within the aforementioned vehicle control system.

[0290] In one example, when the vehicle is in a heavily used environment, the vehicle control system can be activated to enable the functions of the body electronic control module. For example, the function of the body electronic control module can be to control the vehicle to unlock the doors, or to expose the hidden door handles to the user.

[0291] In some embodiments, Sentry Mode is a safety feature built upon the vehicle's existing sensors, cameras, and other hardware to help drivers obtain real-time information about the vehicle's safety status when leaving the vehicle. Sentry Mode can automatically collect and record images of the area around the vehicle and send alerts to the driver's mobile phone.

[0292] In one example, when the vehicle is in a knock-on driving environment, the vehicle is controlled to enter sentry mode to send a knock-on event alert to the user.

[0293] In some embodiments, the emergency braking function can quickly and correctly apply the vehicle brakes in the event of a collision to bring the vehicle to a stop in the shortest possible distance.

[0294] In the embodiments of this application, the vehicle is controlled to perform different functions under different levels of urgency in the vehicle use environment, thereby meeting the vehicle use needs in emergency situations. In particular, in collision situations, the vehicle perception system and vehicle control system can be activated to improve the vehicle's safety in collision events.

[0295] Thirdly, embodiments of this application provide a vehicle control system. Figure 24 A schematic diagram of a vehicle control system provided in this application embodiment is shown below. Figure 24As shown, the vehicle control system 2400 includes: at least one vibration sensing circuit, at least one piezoelectric vibrator sensor 11, and a vehicle control device 2401; wherein, the input terminal of each vibration sensing circuit is connected to the output terminal of one piezoelectric vibrator sensor, and the output terminal of each vibration sensing circuit is connected to the vehicle control device 2401; the vehicle control device 2401 is configured to: obtain sensing signals output by one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit represents the intensity of vibration detected by the piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, and each sensing sub-circuit outputs a sensing signal. Based on the one or more sensing signals, the collision level corresponding to the vibration detected by the piezoelectric vibrator sensor is determined. Based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body, the vehicle's driving environment is determined. Based on the driving environment, the vehicle is controlled to perform a corresponding first function.

[0296] In some embodiments, the vehicle control device 2401 is further configured to: determine a first collision level corresponding to the piezoelectric vibrator sensor when the level of the sensing signal output by a sensing sub-circuit is a first level, the first collision level being used to indicate that the piezoelectric vibrator sensor detects a vibration of a first intensity; and determine a second collision level corresponding to the piezoelectric vibrator sensor when the level of the sensing signal output by a sensing sub-circuit is a second level, the second collision level being used to indicate that the piezoelectric vibrator sensor does not detect a vibration.

[0297] In some embodiments, the vehicle control device 2401 is further configured to: determine a first sensing signal from a plurality of sensing signals output by each vibration sensing circuit, wherein the level of the first sensing signal is a first level; and determine the collision level corresponding to the piezoelectric vibrator sensor based on the number of the first sensing signals, wherein the collision level corresponding to the piezoelectric vibrator sensor is positively correlated with the number of the first sensing signals.

[0298] In some embodiments, the vehicle control device 2401 is further configured to: obtain a plurality of first piezoelectric vibrator sensors with the same collision level from piezoelectric vibrator sensors connected to a plurality of vibration sensing circuits; determine a vibration region corresponding to the plurality of first piezoelectric vibrator sensors based on the position of the plurality of first piezoelectric vibrator sensors on the vehicle body, the vibration region including at least the detection range of the plurality of first piezoelectric vibrator sensors; and determine the vehicle's driving environment based at least on the collision level corresponding to the plurality of first piezoelectric vibrator sensors and the vibration region.

[0299] In some embodiments, the vehicle control device 2401 is further configured to: determine that the vehicle's driving environment is an adverse weather driving environment when the collision level is a first preset level and the area of ​​the vibration region is greater than a first threshold; determine that the vehicle's driving environment is an adverse weather driving environment when the collision level is a first preset level, the area of ​​the vibration region is greater than the first threshold, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is greater than a second threshold; determine that the vehicle's driving environment is an adverse weather driving environment when the collision level is a first preset level, the vibration region is a first preset region, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is greater than the second threshold; determine that the vehicle's driving environment is an emergency event driving environment when the collision level is a second preset level and the area of ​​the vibration region is less than a third threshold; and determine that the vehicle's driving environment is an emergency event driving environment when the collision level is a second preset level, the area of ​​the vibration region is less than the third threshold, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is less than a fourth threshold.

[0300] In some embodiments, the vehicle control device 2401 is further configured to: determine the vehicle's driving environment as a light rain driving environment when a first preset level is less than or equal to the first level and the area of ​​the vibration region is greater than a first threshold; determine the vehicle's driving environment as a moderate rain driving environment when a first preset level is greater than the first level but less than the second level and the area of ​​the vibration region is greater than the first threshold; and determine the vehicle's driving environment as a heavy rain driving environment when a first preset level is greater than or equal to the second level and the area of ​​the vibration region is greater than the first threshold; wherein the second level is greater than the first level. When a first preset level is greater than or equal to the third level and the vibration region is a first area on the side of the vehicle body, determine the vehicle's driving environment as a crosswind driving environment, wherein the third level may be the same as or different from the first and second levels.

[0301] In some embodiments, the vehicle control device 2401 is further configured to: control the windshield wipers to operate at a first speed when the vehicle is used in light rain; control the windshield wipers to operate at a second speed, where the second speed is greater than the first speed, when the vehicle is used in moderate rain; and control the windshield wipers to operate at a third speed, where the third speed is greater than the second speed, when the vehicle is used in heavy rain. When the vehicle is used in crosswinds, the device also controls the vehicle to activate a stable driving mode; and when it is determined that the vehicle is used in severe weather, the device outputs a warning message.

[0302] In some embodiments, the vehicle control device 2401 is further configured to: determine that the vehicle's driving environment is a light tapping driving environment when the second preset level is the fourth level and the area of ​​the vibration region is less than the third threshold; determine that the vehicle's driving environment is a heavy tapping driving environment when the second preset level is the fifth level and the area of ​​the vibration region is less than the third threshold; and determine that the vehicle's driving environment is a collision driving environment when the second preset level is the sixth level and the area of ​​the vibration region is less than the third threshold; wherein the fourth, fifth, and sixth levels increase sequentially.

[0303] In some embodiments, the vehicle control device 2401 is further configured to: output a prompt message when the vehicle's driving environment is a tapping driving environment; wake up the vehicle perception system when the vehicle's driving environment is a tapping driving environment; wake up the vehicle control system when the vehicle's driving environment is a tapping driving environment; wake up the vehicle perception system when the vehicle's driving environment is a hard tapping driving environment; control the vehicle to enter sentry mode when the vehicle's driving environment is a hard tapping driving environment; wake up the vehicle control system when the vehicle's driving environment is a hard tapping driving environment; output a prompt message when the vehicle's driving environment is a collision driving environment; wake up the vehicle perception system when the vehicle's driving environment is a collision driving environment; and activate the emergency braking function when the vehicle's driving environment is a collision driving environment.

[0304] Fourthly, embodiments of this application provide an in-vehicle device, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement some or all of the steps in the above-described method.

[0305] In some embodiments, the in-vehicle device can be any terminal on the vehicle capable of implementing the above-described vehicle control method; for example, the in-vehicle device can be the vehicle control device 2401. In one embodiment, the vehicle control device 2401 can also be the controller described in any embodiment of the first aspect.

[0306] Fifthly, embodiments of this application provide a storage medium storing one or more computer programs, which can be executed by one or more processors to implement some or all of the steps in the above-described method. The storage medium can be transient or non-transient.

[0307] Sixthly, embodiments of this application provide a computer program including computer-readable code, wherein when the computer-readable code is run in an in-vehicle device, a processor in the in-vehicle device executes some or all of the steps in the above-described method.

[0308] Seventhly, embodiments of this application provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium; in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0309] It should be noted that the descriptions of the various embodiments above tend to emphasize the differences between them, while their similarities or commonalities can be referred to interchangeably. The descriptions of the above embodiments of the device, storage medium, computer program, and computer program product are similar to the descriptions of the above method embodiments and have similar beneficial effects. For technical details not disclosed in the embodiments of the device, storage medium, computer program, and computer program product of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0310] Figure 25 This is a schematic diagram of the hardware entity of an in-vehicle device provided in an embodiment of this application, such as... Figure 25 As shown, the hardware entity of the vehicle-mounted device 2500 includes a processor 2501 and a memory 2502. The memory 2502 stores a computer program that can run on the processor 2501. When the processor 2501 executes the program, it performs the following steps: obtaining sensing signals output by one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit is used to represent the intensity of vibration detected by the piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, and each sensing sub-circuit outputs a sensing signal; determining the collision level corresponding to the piezoelectric vibrator sensor based on the one or more sensing signals; determining the vehicle's driving environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body; and controlling the vehicle to perform a corresponding first function based on the driving environment.

[0311] In other embodiments of this application, the processor 2501 may also implement the steps of the vehicle control method as described in one or more of the above embodiments when executing the program.

[0312] In some embodiments, the vehicle-mounted device 2500 may be the vehicle control device 2401 described above. In one embodiment, the vehicle control device 2401 may be a vehicle controller.

[0313] The memory 2502 stores computer programs that can run on the processor. The memory 2502 is configured to store instructions and applications that can be executed by the processor 2501. It can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data and video communication data) in the processor 2501 and various modules in the vehicle equipment 2500. It can be implemented by flash memory or random access memory (RAM).

[0314] The processor 2501 executes the program to implement any of the above-mentioned steps of the scenario mode creation or scenario mode execution method. The processor 2501 typically controls the overall operation of the vehicle-mounted device 2500.

[0315] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0316] The aforementioned processor can be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that other electronic devices can also implement the functions of the aforementioned processor, and this application does not specifically limit the specific implementation.

[0317] The aforementioned computer storage media / memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM), etc.; or it can be various terminals that include one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0318] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above steps / processes do not imply a sequential order of execution; the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above embodiments of this application are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0319] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. 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 system that includes that element.

[0320] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0321] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0322] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0323] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory, magnetic disks, or optical disks.

[0324] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an in-vehicle device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0325] The above are merely embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that, The method includes: A sensing signal is obtained from one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit is used to represent the intensity of the vibration detected by the piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, and one sensing sub-circuit outputs a sensing signal. The collision level corresponding to the piezoelectric vibrator sensor is determined based on one or more of the sensing signals; The vehicle's operating environment is determined based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body. Based on the vehicle usage environment, control the vehicle to perform the corresponding first function.

2. The method according to claim 1, characterized in that, When each vibration sensing circuit includes a sensing sub-circuit, determining the collision level corresponding to the piezoelectric vibrator sensor based on one or more of the sensing signals includes: When the level of the sensing signal output by the sensing sub-circuit is a first level, the piezoelectric vibrator sensor is determined to correspond to a first collision level, the first collision level being used to indicate that the piezoelectric vibrator sensor detects a vibration of a first intensity; When the level of the sensing signal output by the sensing sub-circuit is the second level, the piezoelectric vibrator sensor is determined to correspond to the second collision level, which is used to indicate that the piezoelectric vibrator sensor has not detected vibration.

3. The method according to claim 1, characterized in that, When each vibration sensing circuit includes multiple sensing sub-circuits, determining the collision level corresponding to the piezoelectric vibrator sensor based on one or more of the sensing signals includes: For each vibration sensing circuit outputting multiple sensing signals, a first sensing signal is determined from the multiple sensing signals, and the level of the first sensing signal is a first level; The collision level corresponding to the piezoelectric vibrator sensor is determined based on the number of the first sensing signals, and the collision level corresponding to the piezoelectric vibrator sensor is positively correlated with the number of the first sensing signals.

4. The method according to claim 1, characterized in that, When multiple vibration sensing circuits output sensing signals, determining the vehicle's usage environment based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body includes: Multiple first piezoelectric vibrator sensors with the same collision level are obtained from piezoelectric vibrator sensors connected to multiple vibration sensing circuits; Based on the positions of the plurality of first piezoelectric vibrator sensors on the vehicle body, the vibration regions corresponding to the plurality of first piezoelectric vibrator sensors are determined, and the vibration regions at least include the detection range of the plurality of first piezoelectric vibrator sensors; The vehicle's operating environment is determined based at least on the collision level corresponding to the plurality of first piezoelectric vibrator sensors and the vibration area.

5. The method according to claim 4, characterized in that, The determination of the vehicle's operating environment based at least on the collision levels corresponding to the plurality of first piezoelectric vibrator sensors and the vibration area includes at least one of the following: If the collision level is a first preset level and the area of ​​the vibration zone is greater than a first threshold, the vehicle's driving environment is determined to be a severe weather driving environment. If the collision level is a first preset level, the area of ​​the vibration region is greater than a first threshold, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is greater than a second threshold, then the vehicle's driving environment is determined to be a severe weather driving environment. If the collision level is a first preset level, the vibration area is a first preset area, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is greater than a second threshold, then the vehicle's driving environment is determined to be a severe weather driving environment. If the collision level is the second preset level and the area of ​​the vibration zone is less than the third threshold, the vehicle's usage environment is determined to be an emergency event usage environment. If the collision level is a second preset level, the area of ​​the vibration region is less than a third threshold, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is less than a fourth threshold, then the vehicle's usage environment is determined to be an emergency event usage environment.

6. The method according to claim 5, characterized in that, When the collision level is a first preset level and the area of ​​the vibration region is greater than a first threshold, the vehicle's driving environment is determined to be a severe weather driving environment, including at least one of the following: If the first preset level is less than or equal to the first level and the area of ​​the vibration region is greater than the first threshold, the vehicle's driving environment is determined to be a light rain driving environment. If the first preset level is greater than the first level but less than the second level, and the area of ​​the vibration region is greater than the first threshold, then the vehicle's driving environment is determined to be a moderate rain driving environment. If the first preset level is greater than or equal to the second level, and the area of ​​the vibration region is greater than the first threshold, the vehicle's driving environment is determined to be a heavy rain driving environment; wherein, the second level is greater than the first level; The determination that the vehicle's operating environment is an adverse weather operating environment when the collision level is a first preset level, the vibration area is a first preset area, and the duration of vibration detected by the plurality of first piezoelectric vibrator sensors is greater than a second threshold includes: When the first preset level is greater than or equal to the third level, and the vibration area is the first area on the side of the vehicle body, the vehicle's driving environment is determined to be a crosswind driving environment, wherein the third level is the same as or different from the first level, and the third level is the same as or different from the second level.

7. The method according to claim 6, characterized in that, The step of controlling the vehicle to perform a corresponding first function based on the vehicle usage environment includes at least one of the following: When the vehicle is used in a light rain environment, the windshield wipers are controlled to operate at a first speed. When the vehicle is used in a moderate rain environment, the windshield wipers are controlled to operate at a second speed, wherein the second speed is greater than the first speed; When the vehicle is used in heavy rain, the windshield wipers are controlled to operate at a third speed, wherein the third speed is greater than the second speed. When the vehicle is used in a crosswind environment, control the vehicle to start a stable driving mode. If the vehicle is determined to be in an adverse weather driving environment, a prompt message will be output.

8. The method according to claim 5, characterized in that, When the collision level is a second preset level and the area of ​​the vibration region is less than a third threshold, the vehicle's usage environment is determined to be an emergency usage environment, including at least one of the following: When the second preset level is the fourth level and the area of ​​the vibration region is less than the third threshold, the vehicle's driving environment is determined to be a tapping driving environment. If the second preset level is the fifth level and the area of ​​the vibration region is less than the third threshold, the vehicle's usage environment is determined to be a heavy-hitting usage environment. If the second preset level is the sixth level and the area of ​​the vibration region is less than the third threshold, the vehicle's driving environment is determined to be a collision driving environment. The fourth level, the fifth level, and the sixth level increase sequentially.

9. The method according to claim 8, characterized in that, The step of controlling the vehicle to perform a corresponding first function based on the vehicle usage environment includes at least one of the following: When the vehicle is used in a tapping environment, a prompt message is output. When the vehicle's operating environment is characterized by a light tap, the vehicle's sensing system is activated. When the vehicle is used in an environment where it is tapped, the vehicle control system is activated. When the vehicle's usage environment is a re-entry environment, the vehicle's perception system is activated; When the vehicle's usage environment is a re-entry environment, control the vehicle to enter sentry mode; When the vehicle's usage environment is a re-entry environment, the vehicle control system is activated. If the vehicle is used in a collision-prone environment, a warning message will be output. When the vehicle's driving environment is a collision driving environment, the vehicle perception system is activated; When the vehicle is used in a collision-prone environment, the emergency braking function is activated.

10. A vibration sensing circuit, characterized in that, include: One or more sensing sub-circuits; Each sensing sub-circuit includes: An amplifier circuit and a controlled switch are provided, wherein the first input terminal of the amplifier circuit is connected to the output terminal of the piezoelectric vibrator sensor, the second input terminal of the amplifier circuit is grounded, the output terminal of the amplifier circuit is connected to the control terminal of the controlled switch, the first terminal of the controlled switch serves as the output terminal of each sensing sub-circuit and is connected to the controller, and the second terminal of the controlled switch is grounded. The amplification circuit is used to amplify the first signal with a first voltage generated after the piezoelectric vibrator sensor detects vibration, so as to generate a second voltage at the output terminal of the amplification circuit. The controlled switch is used to turn on when the third voltage at the control terminal is greater than or equal to the cutoff voltage, and to output a sensing signal from the first terminal of the controlled switch to the controller. In cases where the vibration sensing circuit comprises multiple sensing sub-circuits, the amplification factor of the amplification circuits in different sensing sub-circuits is different.

11. The vibration sensing circuit according to claim 10, characterized in that, The controlled switch is also configured to, when the third voltage at the control terminal is greater than or equal to the cutoff voltage, turn on the controlled switch to output the sensing signal to the controller from the first terminal of the controlled switch, and the level of the sensing signal is a first level. The controlled switch is also used to turn off when the third voltage at the control terminal is less than the cutoff voltage, and to output the sensing signal to the controller from the first terminal of the controlled switch, wherein the level of the sensing signal is the second level.

12. The vibration sensing circuit according to claim 11, characterized in that, The controlled switch includes a transistor and a pull-up resistor; wherein... The first terminal of the transistor is connected to the output terminal of the amplifier circuit as the control terminal of the controlled switch, the second terminal of the transistor is connected to the controller and the first terminal of the pull-up resistor as the first terminal of the controlled switch, the third terminal of the transistor is grounded as the second terminal of the controlled switch, and the second terminal of the pull-up resistor is connected to the first voltage source. When the second voltage is greater than or equal to the cutoff voltage, the first terminal of the transistor is connected to the second terminal of the transistor, and the controlled switch is turned on; when the second voltage is less than the cutoff voltage, the first terminal of the transistor is disconnected from the second terminal of the transistor, and the controlled switch is turned off.

13. The vibration sensing circuit according to claim 10, characterized in that, The controlled switch is also configured to, when the third voltage at the control terminal is greater than or equal to the cutoff voltage, turn on the controlled switch to output the sensing signal to the controller from the first terminal of the controlled switch, and the level of the sensing signal is a first level. The controlled switch is also used to turn off when the third voltage at the control terminal is less than the cutoff voltage.

14. The vibration sensing circuit according to claim 13, characterized in that, The controlled switch includes: a transistor; wherein... The first terminal of the transistor is connected to the output terminal of the amplifier circuit as the control terminal of the controlled switch, the second terminal of the transistor is connected to the controller as the first terminal of the controlled switch, and the third terminal of the transistor is grounded as the second terminal of the controlled switch. When the second voltage is greater than or equal to the cutoff voltage, the first terminal of the transistor is connected to the second terminal of the transistor, and the controlled switch is turned on; when the second voltage is less than the cutoff voltage, the first terminal of the transistor is disconnected from the second terminal of the transistor, and the controlled switch is turned off.

15. The vibration sensing circuit according to claim 10, characterized in that, The amplification circuit is used to receive a first signal with a first voltage input from the piezoelectric vibrator sensor through the first input terminal of the amplification circuit; amplify the first signal according to a preset amplification factor and output the amplified first signal to the control terminal of the controlled switch, so that the output terminal of the amplification circuit generates a second voltage.

16. The vibration sensing circuit according to claim 10, characterized in that, Each sensing sub-circuit further includes: a voltage divider circuit, the voltage divider circuit being located between the piezoelectric vibrator sensor and the amplification circuit; The voltage divider circuit is used to receive a first signal with a first voltage input from the piezoelectric vibrator sensor through its first terminal; divide the first signal and output the divided first signal to the amplification circuit, thereby generating a fourth voltage at the second terminal of the voltage divider circuit. The amplifier circuit is also used to amplify the first signal after voltage division, so that the output terminal of the amplifier circuit generates the second voltage.

17. The vibration sensing circuit according to claim 10, characterized in that, Each sensing sub-circuit further includes: a filter circuit and a Zener diode; the first terminal of the filter circuit is connected to the output terminal of the amplifier circuit; the first terminal of the Zener diode, the second terminal of the filter circuit, and the control terminal of the controlled switch are connected, the second terminal of the Zener diode is grounded, and the third terminal of the filter circuit is grounded; The filter circuit and the Zener diode are used together to clamp the potential of the control terminal of the controlled switch so that the control terminal of the controlled switch generates the third voltage.

18. A vehicle control system, characterized in that, include: The system includes at least one vibration sensing circuit, at least one piezoelectric vibrator sensor, and a vehicle control device; wherein the input terminal of each vibration sensing circuit is connected to the output terminal of a piezoelectric vibrator sensor, and the output terminal of each vibration sensing circuit is connected to the vehicle control device. The vehicle control device is configured as follows: A sensing signal is obtained from one or more vibration sensing circuits, wherein the sensing signal output by each vibration sensing circuit is used to represent the intensity of the vibration detected by the piezoelectric vibrator sensor connected to each vibration sensing circuit; the vibration sensing circuit includes one or more sensing sub-circuits, and one sensing sub-circuit outputs a sensing signal. The collision level corresponding to the piezoelectric vibrator sensor is determined based on one or more of the sensing signals; The vehicle's operating environment is determined based on the collision level corresponding to the piezoelectric vibrator sensor and the position of the piezoelectric vibrator sensor on the vehicle body. Based on the vehicle usage environment, control the vehicle to perform the corresponding first function.

19. A vehicle-mounted device, characterized in that, The in-vehicle device includes a memory and one or more processors, the memory storing a computer program that, when executed by the in-vehicle device, implements the vehicle control method as described in any one of claims 1 to 9.

20. A computer-readable storage medium, characterized in that, The readable storage medium stores executable instructions, wherein when the executable instructions are executed by a processor, they implement the vehicle control method as described in any one of claims 1 to 9.

21. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed by the processor, the vehicle control method as described in any one of claims 1 to 9 is implemented.

Images