Control method and device for vehicle emergency escape assistance and electronic equipment

Abstract

This application discloses a control method, device, and electronic equipment for vehicle emergency escape assistance. By collecting real-time data on vehicle status, occupant status, and hazardous data of the in-vehicle environment, and simultaneously determining whether three conditions—accident triggering, occupant incapacitation, and door locking—are met, an emergency activation command is automatically generated in extreme accident scenarios. This allows for the planning of a rescue action sequence that includes tool replacement and action execution, and the evaluation of the execution effect based on feedback signals. This enables autonomous identification and proactive rescue of critical situations such as occupant incapacitation and locked doors, avoiding secondary disasters such as fires and drownings that may result from reliance on occupant self-operation in existing solutions, which could lead to failure to open doors or rescue delays. The technical effects of automatically executing precise rescue actions, improving occupant survival rates after extreme accidents, and reducing the risk of secondary disasters are achieved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle technology, and in particular to a control method, device and electronic equipment for assisting in vehicle emergency escape. Background Technology

[0002] As core technologies in the automotive industry, vehicle passive and active safety systems are widely used in accident prevention and injury mitigation. With the development of intelligent technology, related technologies, through the coordinated operation of collision sensing, airbag control, and automatic emergency calls, have constructed a protective system from risk warning to post-disaster communication. Specifically, this system covers the entire process from collision detection to information reporting, including key aspects such as vehicle structure protection, occupant restraint management, and remote rescue requests.

[0003] In existing vehicle emergency plans, relying directly on occupants to operate the window-breaking or unlocking devices may result in the doors being mechanically locked and unable to be opened, or occupants being exposed to secondary disasters such as fire or drowning due to delayed rescue, thus seriously affecting the survival probability and rescue efficiency after extreme accidents. Summary of the Invention

[0004] This disclosure provides a control method, device, and electronic equipment for assisting in vehicle emergency escape.

[0005] According to a first aspect of this disclosure, a control method for vehicle emergency escape assistance is provided, comprising:

[0006] Real-time collection of vehicle status data, occupant status data, and hazardous data of the in-vehicle environment; Based on the vehicle status data, occupant status data, and environmental hazard data, determine whether the accident triggering conditions, occupant incapacitation conditions, and door locking conditions are simultaneously met. If so, generate an emergency start command. In response to the emergency activation command, a rescue action sequence including tool replacement and action execution is planned; The movable actuator is controlled to perform operations according to the rescue action sequence, and the performance is evaluated based on feedback signals after each operation is completed.

[0007] Optionally, the real-time collection of vehicle status data, occupant status data, and in-vehicle environmental hazard data includes: The vehicle status data is obtained by acquiring collision signals, door lock status, and power status through the vehicle bus. The occupant's breathing, heartbeat, and body movement characteristics are acquired by non-contact vital sign sensors, and the occupant's posture is determined by combining thermal imaging information to obtain the occupant's status data. Environmental hazard data is obtained by collecting environmental parameters through smoke sensors, temperature sensors, and gas sensors deployed inside the carriage.

[0008] Optionally, the determination of whether the accident triggering condition, the occupant incapacity condition, and the door locking condition are simultaneously met includes: When the intensity of the received collision signal exceeds a preset threshold or a battery thermal runaway alarm signal is received, it is determined that the accident triggering condition is met. When it is determined, based on occupant status data, that at least one occupant's vital signs are below a preset lower limit or that the occupant is unresponsive, the occupant disability condition is deemed to be met. If the door opening status signal is still not open after a preset delay, the door locking condition is determined to be met.

[0009] Optionally, in response to the emergency activation command, the planned sequence of rescue actions, including tool replacement and action execution, includes: When a fire risk is detected based on environmental hazard data, a rapid rescue sequence of un restraints, obstacle removal, and occupant evacuation should be prioritized. When only a collision is detected based on environmental hazard data and there is no fire risk, the plan prioritizes attempting to open the vehicle door, and if the door fails to open, proceeding with the rescue sequence of clearing obstacles and removing occupants.

[0010] Optionally, the control of the movable actuator to perform operations according to the rescue action sequence includes: The movable actuator is controlled to move to the tool storage area, automatically grab the cutting tool through the end quick-change interface, position it at the occupant restraint belt position and start cutting to complete the restraint release operation; In response to the rescue sequence, the movable actuator was replaced with an impact-type window-breaking tool to perform the operation of breaking the window obstacle. In response to the completion of the window removal operation, the movable actuator is switched to the occupant dragging clamp to move the occupant to a safe area outside the vehicle.

[0011] Optionally, the evaluation of the execution effect based on feedback signals after each operation includes: Re-collect vehicle status data, occupant status data, and environmental hazard data as feedback signals; The feedback signal is compared with the preset success criteria. If the expected effect is not achieved, a backup rescue plan is activated. The backup rescue plan includes replacing different types of end effectors and / or adjusting the motion path and force parameters of the actuator to re-execute the current operation.

[0012] According to a second aspect of this disclosure, a control device for assisting in vehicle emergency escape is provided, comprising: The data acquisition unit is used to collect vehicle status data, occupant status data, and hazardous data of the in-vehicle environment in real time. The judgment unit is used to determine, based on the vehicle status data, occupant status data and environmental hazard data, whether the accident triggering condition, occupant incapacity condition and door locking condition are met simultaneously. If so, an emergency start command is generated. The planning unit is used to plan a sequence of rescue actions, including tool replacement and action execution, in response to the emergency activation command. The control unit is used to control the movable actuator to perform operations according to the rescue action sequence; An evaluation unit is used to assess the performance based on feedback signals after each operation is completed.

[0013] Optionally, the acquisition unit is further configured to: The vehicle status data is obtained by acquiring collision signals, door lock status, and power status through the vehicle bus. The occupant's breathing, heartbeat, and body movement characteristics are acquired by non-contact vital sign sensors, and the occupant's posture is determined by combining thermal imaging information to obtain the occupant's status data. Environmental hazard data is obtained by collecting environmental parameters through smoke sensors, temperature sensors, and gas sensors deployed inside the carriage.

[0014] Optionally, the determining unit is further configured to: When the intensity of the received collision signal exceeds a preset threshold or a battery thermal runaway alarm signal is received, it is determined that the accident triggering condition is met. When it is determined, based on occupant status data, that at least one occupant's vital signs are below a preset lower limit or that the occupant is unresponsive, the occupant disability condition is deemed to be met. If the door opening status signal is still not open after a preset delay, the door locking condition is determined to be met.

[0015] Optionally, the planning unit is further used for: When a fire risk is detected based on environmental hazard data, a rapid rescue sequence of un restraints, obstacle removal, and occupant evacuation should be prioritized. When only a collision is detected based on environmental hazard data and there is no fire risk, the plan prioritizes attempting to open the vehicle door, and if the door fails to open, proceeding with the rescue sequence of clearing obstacles and removing occupants.

[0016] Optionally, the control unit is further configured to: The movable actuator is controlled to move to the tool storage area, automatically grab the cutting tool through the end quick-change interface, position it at the occupant restraint belt position and start cutting to complete the restraint release operation; In response to the rescue sequence, the movable actuator was replaced with an impact-type window-breaking tool to perform the operation of breaking the window obstacle. In response to the completion of the window removal operation, the movable actuator is switched to the occupant dragging clamp to move the occupant to a safe area outside the vehicle.

[0017] Optionally, the evaluation unit is also used for: Re-collect vehicle status data, occupant status data, and environmental hazard data as feedback signals; The feedback signal is compared with the preset success criteria. If the expected effect is not achieved, a backup rescue plan is activated. The backup rescue plan includes replacing different types of end effectors and / or adjusting the motion path and force parameters of the actuator to re-execute the current operation.

[0018] According to a third aspect of this disclosure, an electronic device is provided, comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect above.

[0019] According to a fourth aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first aspect above.

[0020] According to a fifth aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0021] The vehicle emergency escape assistance control method, device, and electronic equipment disclosed herein, through real-time collection of vehicle status, occupant status, and hazardous data of the in-vehicle environment, and based on the simultaneous determination of whether three conditions—accident triggering, occupant incapacitation, and door locking—are met, automatically generate emergency activation commands in extreme accident scenarios. This allows for the planning of a rescue action sequence including tool replacement and action execution, and the evaluation of execution effectiveness based on feedback signals. This achieves autonomous identification and proactive rescue in critical situations such as occupant incapacitation and locked doors, avoiding secondary disasters such as fires and drownings that may result from reliance on occupant self-operation in existing solutions, which could lead to inability to open doors or delayed rescue. Therefore, it solves the technical problems of existing vehicle emergency solutions, such as the inability to proactively intervene when occupants are incapacitation and doors are locked, low rescue efficiency, and poor survival probability. It achieves the technical effects of automatically executing precise rescue actions, improving occupant survival rates after extreme accidents, and reducing the risk of secondary disasters.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0023] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein: Figure 1 A schematic flowchart illustrating a vehicle emergency escape assistance control method provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a vehicle emergency escape assistance control device provided in an embodiment of the present disclosure; Figure 3 A schematic block diagram of an example electronic device provided for embodiments of this disclosure. Detailed Implementation

[0024] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0025] The control method, apparatus, and electronic device for vehicle emergency escape assistance according to embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0026] Figure 1 This is a flowchart illustrating a control method for assisting in vehicle emergency escape provided in an embodiment of this disclosure.

[0027] like Figure 1 As shown, the method includes the following steps: Step 101: Real-time collection of vehicle status data, occupant status data, and in-vehicle environmental hazard data; The system continuously acquires data, specifically multi-dimensional sensory data in real time that reflects the vehicle's current operating status, the physiological and postural states of occupants, and the degree of danger within the vehicle's interior environment. Based on preset emergency triggering logic, the system analyzes and judges the acquired multi-dimensional data to determine whether the decision-making conditions for activating the emergency rescue mode are met. If the triggering conditions are met, the system immediately switches to a backup power supply independent of the vehicle's main power supply, ensuring that the energy source for subsequent rescue operations is not affected by main power failure.

[0028] By controlling a bionic multi-degree-of-freedom robotic arm pre-integrated into the vehicle, a set of predetermined rescue action sequences is automatically executed. The rescue action sequence includes at least two key operations: controlling the robotic arm to obtain and use a special seat belt cutting tool to untie the seat belt restraining the unconscious occupant; and controlling the robotic arm to obtain and use a special window breaking tool to break the car window glass to create an additional escape or rescue channel.

[0029] As a specific implementation method, the collision acceleration signal and door locking status can be obtained by accessing the vehicle's CAN bus. The occupant's breathing and heartbeat can be monitored using millimeter-wave vital signs radar. When conditions such as high-intensity collision, unconscious occupant, and closed doors are met simultaneously, the central decision control unit activates an independent backup power source to control a multi-degree-of-freedom robotic arm to sequentially grab a high-frequency vibration seat belt cutter and an impact window breaker to complete the operation of cutting the seat belt and breaking the window.

[0030] Step 102: Based on the vehicle status data, occupant status data and environmental hazard data, determine whether the accident triggering condition, occupant incapacity condition and door locking condition are met simultaneously. If so, generate an emergency start command. The collected data are used as input to assess whether three independent triggering conditions are met: the first is the accident triggering condition, which determines whether the vehicle has experienced a serious accident that requires emergency intervention; the second is the occupant disability condition, which determines whether there are any occupants in the vehicle who have lost their ability to move independently due to injury or unconsciousness; and the third is the door locking condition, which determines whether the conventional escape routes (such as doors) are in a state where they cannot be opened normally.

[0031] Only when all three conditions are met simultaneously does the method determine that the current situation necessitates and warrants initiating automated physical rescue operations, and accordingly generates an emergency activation command. This command serves as the trigger signal for all subsequent rescue actions, marking the system's formal switch from conventional monitoring mode to emergency rescue mode. This "three-condition and logic" judgment mechanism effectively avoids false alarms from a single sensor or mis-triggers in non-emergency scenarios (such as a minor collision where the occupants are conscious and the doors can be opened), thus ensuring both the necessity of rescue and the system's reliability and safety.

[0032] As a specific implementation method, the accident triggering condition is determined by whether the collision acceleration signal obtained by accessing the vehicle CAN bus exceeds a preset threshold, the occupant incapacitated condition is determined by the sudden drop in occupant breathing rate or the disappearance of body movement detected by millimeter-wave vital signs radar, and the door locking condition is determined by detecting that the door opening status signal has not changed to open after a preset delay (such as 30 seconds). When all three conditions are met, the central decision control unit generates an emergency start command.

[0033] Step 103: In response to the emergency activation command, plan a sequence of rescue actions including tool replacement and action execution; The planning process involves at least two levels of decision-making: the first is the tool replacement strategy, which determines which dedicated end effectors need to be used in sequence to complete the rescue mission and plans the path and sequence for the robotic arm to automatically grasp and replace the end effectors; the second is the action execution strategy, which determines the timing, location, posture and parameters (such as force magnitude, movement speed, etc.) of each rescue action and ensures the logical connection and safe obstacle avoidance between each action.

[0034] Through the above planning, the system can generate a dynamically adjustable rescue action sequence tailored to the specific disaster situation, thereby guiding the robotic arm to complete a series of physical operations in an orderly and efficient manner, from untying restraints to establishing escape routes and even removing occupants.

[0035] As a specific implementation method, when a risk of dense smoke or fire is detected, the central decision control unit can prioritize planning a rapid rescue sequence of "grabbing the seat belt cutter → cutting the seat belt → returning the cutter → grabbing the window breaker → breaking the window → returning the window breaker → grabbing the occupant drag clamp → removing the occupant from the vehicle"; while when only a collision occurs and there is no risk of smoke or fire, the priority can be to plan the attempt to open the door by manipulating the interior door handle, and only switch to the window breaking and removal process if the door opening fails.

[0036] Step 104: Control the movable actuator to perform operations according to the rescue action sequence, and evaluate the execution effect based on feedback signals after each operation is completed.

[0037] During and after each predetermined action, the system collects feedback signals from various sensors in real time. These feedback signals reflect the current execution status, execution result, and deviation from the expected goal. Based on these feedback signals, the system evaluates the effect of the executed action and determines whether the action has achieved the expected purpose (e.g., whether the seat belt has been cut, whether the window glass has been broken, whether the door handle has been pulled, etc.).

[0038] If the evaluation indicates that the action was successfully completed, the system proceeds to the next operation in the rescue action sequence. If the evaluation indicates that the action did not achieve the expected results (e.g., insufficient door opening force due to door deformation, or the impact of breaking the window not completely shattering the glass), the system can trigger a backup plan according to preset logic or retry after adjusting the execution parameters. This is achieved through a closed-loop control mechanism of "execution-perception-evaluation-decision".

[0039] As a specific implementation method, after pulling the inner door handle, if the torque value fed back by the force sensor exceeds the normal range and the door opening status signal does not change, the system determines that the door opening attempt has failed and switches to breaking the window as a backup plan. After breaking the window, the system can confirm whether the glass has been broken by visual or airflow sensors. If it is unsuccessful, the striking position can be adjusted or the impact energy can be increased before trying again.

[0040] In some embodiments, the real-time collection of vehicle status data, occupant status data, and in-vehicle environmental hazard data includes: The vehicle status data is obtained by acquiring collision signals, door lock status, and power status through the vehicle bus. The occupant's breathing, heartbeat, and body movement characteristics are acquired by non-contact vital sign sensors, and the occupant's posture is determined by combining thermal imaging information to obtain the occupant's status data. Environmental hazard data is obtained by collecting environmental parameters through smoke sensors, temperature sensors, and gas sensors deployed inside the carriage.

[0041] For vehicle status data, the system reads acceleration signals output by collision sensors in real time (e.g., a high-intensity collision is determined when the acceleration amplitude exceeds a preset threshold such as 5g), locking / unlocking status signals from each door locking mechanism, and voltage values ​​of the vehicle's main battery or power status flags output by the power management unit, either via hardwired connection or direct connection to the vehicle's CAN bus. This provides vehicle status data reflecting the severity of the accident, the availability of escape routes, and the power supply status. For occupant status data, the system deploys a millimeter-wave vital signs radar array in the roof lining or central area of ​​the roof. This radar array operates in frequency modulated continuous wave (FMCW) mode and can penetrate occupants' clothing and non-metallic obstacles (such as seat backs) to detect the micro-movements of each occupant's chest cavity in real time, thereby extracting respiratory rate and heart rate. The radar signal processing algorithm can also analyze the displacement changes of the occupant's center of mass to determine whether there is body movement (such as struggling, moving, or no movement). To further confirm the occupant's state of consciousness, the system installs infrared thermal imaging cameras on the A-pillars or both sides of the roof. By capturing the temperature distribution contours of the occupant's head and torso, the system combines image recognition algorithms to determine the occupant's posture (such as whether the head is tilted or the body is limp). When the radar detects a sudden drop or disappearance of respiratory rate, a weak or irregular heartbeat, and the infrared thermal imaging determines that the occupant's posture is abnormal (such as no posture change for a long time), the system outputs that the occupant is in a coma or unconscious state. For environmental hazard data, the system deploys smoke sensors, temperature sensors, and gas sensors in different areas of the passenger compartment (such as under the dashboard, under the seats, and at the roof vents). Among them, the smoke sensor can use photoelectric or ionization smoke detection elements to sense suspended particulate matter produced by combustion; the temperature sensor can use negative temperature coefficient thermistors or thermocouples to monitor abnormal temperature rise in the compartment; the gas sensor can use electrochemical or metal oxide semiconductor sensors, specifically for detecting carbon monoxide (CO), carbon dioxide (CO2), gasoline volatiles (such as hydrocarbons) or electrolyte decomposition products (such as hydrogen fluoride).

[0042] In some embodiments, determining whether the accident triggering condition, the occupant incapacity condition, and the door locking condition are simultaneously met includes: When the intensity of the received collision signal exceeds a preset threshold or a battery thermal runaway alarm signal is received, it is determined that the accident triggering condition is met. When it is determined, based on occupant status data, that at least one occupant's vital signs are below a preset lower limit or that the occupant is unresponsive, the occupant disability condition is deemed to be met. If the door opening status signal is still not open after a preset delay, the door locking condition is determined to be met.

[0043] To determine the accident triggering conditions, the system continuously monitors the collision acceleration signal read through the vehicle's CAN bus. When the acceleration amplitude in any direction exceeds a preset safety threshold (for example, the threshold is set to 5g, which is five times the acceleration due to gravity, and this value corresponds to the collision intensity that usually causes severe deformation of the vehicle body structure or airbag deployment), the system determines that the accident triggering conditions are met. At the same time, if the system receives a battery thermal runaway alarm signal from the battery management system (BMS) (this signal is usually triggered when the internal temperature of the battery pack exceeds the safety limit or when a sudden drop in the voltage of a single cell is detected), the system also determines that the accident triggering conditions are met, regardless of whether the collision signal reaches the threshold.

[0044] To determine the conditions for occupant disability, the system uses respiratory rate and heart rate values ​​output by millimeter-wave vital signs radar. Preset lower limits are set as the lower limits of normal resting respiratory rate and heart rate for adults. When at least one occupant's respiratory rate or heart rate is detected to be below the preset standard, or when both respiratory and heart rate signals disappear simultaneously for more than a short time window, the occupant's vital signs are determined to be below the preset lower limits. If an infrared thermal imaging camera, combined with radar motion detection, determines that the occupant has no posture changes or limb movements within a continuous time period, they are determined to be in an unconscious state. If any of the above sub-conditions are met, the conditions for occupant disability are determined to be satisfied.

[0045] To determine the door locking condition, the system starts a preset delay timer when the accident trigger condition is first met. The specific duration of this delay can be set according to the actual vehicle model and safety strategy, for example, 30 seconds. During the delay, the system continuously monitors the opening status signal of each door. If, after the delay ends, the opening status signal of all occupant-related doors is still not open, the door locking condition is determined to be met. Only when all three conditions are determined to be met will the system finally generate an emergency start command.

[0046] In some embodiments, the step of planning a sequence of rescue actions, including tool replacement and action execution, in response to the emergency activation command includes: When a fire risk is detected based on environmental hazard data, a rapid rescue sequence of un restraints, obstacle removal, and occupant evacuation should be prioritized. When only a collision is detected based on environmental hazard data and there is no fire risk, the plan prioritizes attempting to open the vehicle door, and if the door fails to open, proceeding with the rescue sequence of clearing obstacles and removing occupants.

[0047] The system continuously monitors environmental parameters collected by smoke sensors, temperature sensors, and gas sensors deployed inside the vehicle. When the smoke concentration exceeds a preset threshold, the temperature sensor detects an abnormal temperature rise, or the gas sensor detects a high concentration of carbon monoxide or flammable volatiles, the system determines that there is a fire risk. In this case, the system plans and generates a rapid rescue sequence, which prioritizes transferring occupants to a safe area outside the vehicle in the shortest possible time. The specific sequence is as follows: First, the robotic arm is instructed to move to the end effector magazine, grab a seatbelt cutting tool, and move to the target occupant's shoulder seatbelt position to cut it and release the restraint; then, the robotic arm returns the cutting tool, grabs a window breaking tool, and moves to the preset side window breaking point to break the window and remove the obstacle; finally, the robotic arm grabs the occupant drag clamp and moves the unconscious occupant from inside the vehicle to a safe ground outside the vehicle, completing the removal operation.

[0048] When the smoke, temperature, and gas sensors do not trigger alarms, and only a collision signal is detected, the system plans and generates another rescue sequence: prioritizing an attempt to open the car door using a non-destructive method. This sequence first instructs the robotic arm to grasp the switch control inside the door, move it to the inner handle of the target door, and simulate a human hand pulling the handle to attempt to open the door. While performing this operation, the system feeds back the pulling torque through the torque sensors at the joints of the robotic arm and confirms whether the door has been successfully opened through the door status signal.

[0049] If the door opening status signal changes to "open" within the preset number of attempts, the rescue sequence will terminate or proceed to the subsequent auxiliary process; if the torque sensor reports an abnormality and the door status signal remains "not open" (i.e., the door opening fails), the system will automatically switch to the above-mentioned rapid rescue sequence and perform obstacle removal and occupant removal operations in sequence.

[0050] In some embodiments, the control of the movable actuator to perform operations according to the rescue action sequence includes: The movable actuator is controlled to move to the tool storage area, automatically grab the cutting tool through the end quick-change interface, position it at the occupant restraint belt position and start cutting to complete the restraint release operation; In response to the rescue sequence, the movable actuator was replaced with an impact-type window-breaking tool to perform the operation of breaking the window obstacle. In response to the completion of the window removal operation, the movable actuator is switched to the occupant dragging clamp to move the occupant to a safe area outside the vehicle.

[0051] The system controls the movable actuator to move along a planned path to a pre-defined tool storage area. This area contains multiple dedicated end effectors, including seatbelt cutters, impact window breakers, and occupant dragging grippers, secured by physical clips or electromagnetic adsorption. The robotic arm's end effector has a quick-change interface; once positioned above the target tool, the quick-change interface automatically engages and locks with the adapter on the tool, completing the tool gripping. Subsequently, the arm, carrying the seatbelt cutter, moves to the target occupant's restraint strap, using vision or force sensors integrated into the arm joints or end effector for precise positioning. Upon arrival, the cutter is activated; for example, a high-frequency micro-amplitude vibration cutting tool, with its blade driven by a piezoelectric ceramic actuator, rapidly cuts the polymer seatbelt with minimal force through high-frequency vibration—completing the restraint release operation.

[0052] If the current rescue sequence includes breaking a car window, the system controls the robotic arm to return to the tool storage area, automatically releases the captured seatbelt cutter via a quick-change interface, and replaces it with an impact-type window-breaking tool. This tool can specifically employ a built-in high-hardness tungsten steel pin, driven by an electromagnet or a miniature gas generator. The arm moves the tool to the preset impact point on the target window, presses and triggers the drive mechanism, causing the pin to shatter the glass with an instantaneous impact, thus completing the window breaking operation.

[0053] After the window-breaking operation is completed, the system confirms that the obstacle has been cleared via a feedback signal. In response to this completion signal, the system controls the robotic arm to return to the tool storage area, puts the window-breaking tool back, and replaces it with a occupant-dragging gripper. This gripper can be designed as a C-shaped arm structure with a high-friction coefficient silicone pad on the inside and equipped with a worm gear self-locking mechanism. The arm controls the gripper to wrap around the occupant from under the armpits and in front of the chest, activating the self-locking mechanism to achieve a closed-loop lock, ensuring that it will not slip during dragging.

[0054] Plan a smooth dragging trajectory from inside the vehicle through the broken window to a safe area outside the vehicle, and use joint torque sensors to achieve compliant control, so as to smoothly and continuously remove the occupant from the seat, through the window opening, and finally place him on the ground or in a predetermined safe position to complete the removal operation.

[0055] In some embodiments, evaluating the performance based on feedback signals after each operation is completed includes: Re-collect vehicle status data, occupant status data, and environmental hazard data as feedback signals; The feedback signal is compared with the preset success criteria. If the expected effect is not achieved, a backup rescue plan is activated. The backup rescue plan includes replacing different types of end effectors and / or adjusting the motion path and force parameters of the actuator to re-execute the current operation.

[0056] Each time the movable actuator completes a predetermined rescue action, the system immediately initiates a feedback acquisition process, which involves re-acquiring the current vehicle status data, occupant status data, and environmental hazard data through the vehicle bus, millimeter-wave vital signs radar, infrared thermal imaging camera, and smoke sensors, temperature sensors, and gas sensors deployed in the vehicle compartment, as feedback signals after the action is executed.

[0057] The system can also collect information from the actuator's built-in sensors, such as torque sensor feedback values ​​at the robot arm joints, contact force at the end effector quick-change interface, and the status of position or limit switches built into the actuator. The system then compares these feedback signals against preset success criteria for the current action. For example, for seatbelt cutting, the success criterion might be: in the re-collected occupant status data, the tension sensor signal in the original restraint area disappears, and the millimeter-wave radar detects an increase in the relative displacement between the occupant's torso and the seat back (indicating the seatbelt is no longer restraining); if these criteria are not met, the cutting is considered incomplete. For window breaking, the success criterion might be: in the re-collected environmental hazard data, the microphone detects characteristic sound waves of glass shattering, or the airflow sensor detects significant airflow changes at the window opening, or the infrared thermal imaging camera observes a fracture in the temperature distribution of the window area; if none of these signals are present, the window breaking is considered a failure.

[0058] For door opening operations, the successful determination criterion can be set as follows: in the re-collected vehicle status data, the corresponding door opening status signal changes from not open to open.

[0059] If the current action achieves the expected result after comparison, the system proceeds to the next step according to the rescue action sequence; if the expected result is not achieved, the system immediately activates the backup rescue plan. This backup rescue plan includes two types: First, replacing the end effector with a different type. For example, if an electromagnetic window breaker fails to break the glass after multiple impacts, the system controls the robotic arm to return to the tool storage area and replace the electromagnetic window breaker with a micro gas generator-driven impact window breaker, using stronger instantaneous impact energy to re-execute the window-breaking operation. Second, adjusting the actuator's motion parameters or path to re-execute the current operation.

[0060] For example, when the seat belt cutter fails to completely cut the seat belt due to angular deviation, the system re-plans the arm's entry angle and cutting path based on the force and visual information in the feedback signal, increases the vibration amplitude of the piezoelectric ceramic actuator, and performs the cutting operation again.

[0061] Corresponding to the aforementioned vehicle emergency escape assistance control method, this invention also proposes a vehicle emergency escape assistance control device. Since the device embodiment of this invention corresponds to the aforementioned method embodiment, details not disclosed in the device embodiment can be referred to the aforementioned method embodiment, and will not be repeated here.

[0062] Figure 2 This is a schematic diagram of the structure of a vehicle emergency escape assistance control device provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, it includes: The data acquisition unit 21 is used to collect vehicle status data, occupant status data, and in-vehicle environmental hazard data in real time. Judgment unit 22 is used to determine whether the accident triggering condition, the occupant incapacity condition and the door locking condition are met simultaneously based on the vehicle status data, occupant status data and environmental hazard data. If so, an emergency start command is generated. Planning unit 23 is used to plan a sequence of rescue actions, including tool replacement and action execution, in response to the emergency activation command; Control unit 24 is used to control the movable actuator to perform operations according to the rescue action sequence; Evaluation unit 25 is used to evaluate the performance based on feedback signals after each operation is completed.

[0063] Furthermore, in one possible implementation of this disclosure, the acquisition unit 21 is further configured to: The vehicle status data is obtained by acquiring collision signals, door lock status, and power status through the vehicle bus. The occupant's breathing, heartbeat, and body movement characteristics are acquired by non-contact vital sign sensors, and the occupant's posture is determined by combining thermal imaging information to obtain the occupant's status data. Environmental hazard data is obtained by collecting environmental parameters through smoke sensors, temperature sensors, and gas sensors deployed inside the carriage.

[0064] Furthermore, in one possible implementation of this disclosure, the determining unit 22 is further configured to: When the intensity of the received collision signal exceeds a preset threshold or a battery thermal runaway alarm signal is received, it is determined that the accident triggering condition is met. When it is determined, based on occupant status data, that at least one occupant's vital signs are below a preset lower limit or that the occupant is unresponsive, the occupant disability condition is deemed to be met. If the door opening status signal is still not open after a preset delay, the door locking condition is determined to be met.

[0065] Furthermore, in one possible implementation of this disclosure, the planning unit 23 is further configured to: When a fire risk is detected based on environmental hazard data, a rapid rescue sequence of un restraints, obstacle removal, and occupant evacuation should be prioritized. When only a collision is detected based on environmental hazard data and there is no fire risk, the plan prioritizes attempting to open the vehicle door, and if the door fails to open, proceeding with the rescue sequence of clearing obstacles and removing occupants.

[0066] Furthermore, in one possible implementation of this disclosure embodiment, the control unit 24 is further configured to: The movable actuator is controlled to move to the tool storage area, automatically grab the cutting tool through the end quick-change interface, position it at the occupant restraint belt position and start cutting to complete the restraint release operation; In response to the rescue sequence, the movable actuator was replaced with an impact-type window-breaking tool to perform the operation of breaking the window obstacle. In response to the completion of the window removal operation, the movable actuator is switched to the occupant dragging clamp to move the occupant to a safe area outside the vehicle.

[0067] Furthermore, in one possible implementation of this disclosure embodiment, the evaluation unit 25 is further configured to: Re-collect vehicle status data, occupant status data, and environmental hazard data as feedback signals; The feedback signal is compared with the preset success criteria. If the expected effect is not achieved, a backup rescue plan is activated. The backup rescue plan includes replacing different types of end effectors and / or adjusting the motion path and force parameters of the actuator to re-execute the current operation.

[0068] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of the embodiments of this disclosure, and the principle is the same. Therefore, the embodiments of this disclosure are not limited thereto.

[0069] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0070] Figure 3 A schematic block diagram of an example electronic device 400 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0071] like Figure 3As shown, device 400 includes a computing unit 401, which can perform various appropriate actions and processes based on a computer program stored in ROM (Read-Only Memory) 402 or a computer program loaded from storage unit 408 into RAM (Random Access Memory) 403. RAM 403 may also store various programs and data required for the operation of device 400. The computing unit 401, ROM 402, and RAM 403 are interconnected via bus 404. I / O (Input / Output) interface 405 is also connected to bus 404.

[0072] Multiple components in device 400 are connected to I / O interface 405, including: input unit 406, such as keyboard, mouse, etc.; output unit 407, such as various types of monitors, speakers, etc.; storage unit 408, such as disk, optical disk, etc.; and communication unit 409, such as network card, modem, wireless transceiver, etc. Communication unit 409 allows device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0073] The computing unit 401 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, CPUs (Central Processing Units), GPUs (Graphics Processing Units), various special-purpose AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, DSPs (Digital Signal Processors), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the various methods and processes described above, such as the vehicle emergency escape assistance control method. For example, in some embodiments, the vehicle emergency escape assistance control method can be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 408. In some embodiments, part or all of the computer program can be loaded and / or installed on device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the methods described above can be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to perform the aforementioned vehicle emergency escape assistance control method by any other suitable means (e.g., by means of firmware).

[0074] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application-Specific Standard Products), SOCs (System-on-Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0075] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0076] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0077] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0078] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0079] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0080] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0081] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0082] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for assisting in emergency escape of a vehicle, characterized in that, include: Real-time collection of vehicle status data, occupant status data, and hazardous data of the in-vehicle environment; Based on the vehicle status data, occupant status data, and environmental hazard data, determine whether the accident triggering conditions, occupant incapacitation conditions, and door locking conditions are simultaneously met. If so, generate an emergency start command. In response to the emergency activation command, a rescue action sequence including tool replacement and action execution is planned; The movable actuator is controlled to perform operations according to the rescue action sequence, and the performance is evaluated based on feedback signals after each operation is completed.

2. The method according to claim 1, characterized in that, The real-time collection of vehicle status data, occupant status data, and in-vehicle environmental hazard data includes: The vehicle status data is obtained by acquiring collision signals, door lock status, and power status through the vehicle bus. The occupant's breathing, heartbeat, and body movement characteristics are acquired by non-contact vital sign sensors, and the occupant's posture is determined by combining thermal imaging information to obtain the occupant's status data. Environmental hazard data is obtained by collecting environmental parameters through smoke sensors, temperature sensors, and gas sensors deployed inside the carriage.

3. The method according to claim 1, characterized in that, The determination of whether the accident triggering condition, the occupant incapacity condition, and the door locking condition are simultaneously met includes: When the intensity of the received collision signal exceeds a preset threshold or a battery thermal runaway alarm signal is received, it is determined that the accident triggering condition is met. When it is determined, based on occupant status data, that at least one occupant's vital signs are below a preset lower limit or that the occupant is unresponsive, the occupant disability condition is deemed to be met. If the door opening status signal is still not open after a preset delay, it is determined that the door locking condition is met.

4. The method according to claim 1, characterized in that, In response to the emergency activation command, the planned rescue action sequence, including tool replacement and action execution, includes: When a fire risk is detected based on environmental hazard data, a rapid rescue sequence of un restraints, obstacle removal, and occupant evacuation should be prioritized. When only a collision is detected based on environmental hazard data and there is no fire risk, the plan prioritizes attempting to open the vehicle door, and if the door fails to open, proceeding with the rescue sequence of clearing obstacles and removing occupants.

5. The method according to claim 1, characterized in that, The controlled movable actuator performs operations according to the rescue action sequence, including: The movable actuator is controlled to move to the tool storage area, automatically grab the cutting tool through the end quick-change interface, position it at the occupant restraint strap position and start cutting to complete the restraint release operation; In response to the rescue sequence, the movable actuator was replaced with an impact-type window-breaking tool to break the window obstruction. In response to the completion of the window removal operation, the movable actuator is switched to the occupant dragging clamp to move the occupant to a safe area outside the vehicle.

6. The method according to claim 1, characterized in that, The evaluation of execution effectiveness based on feedback signals after each operation is completed includes: Re-collect vehicle status data, occupant status data, and environmental hazard data as feedback signals; The feedback signal is compared with the preset success criteria. If the expected effect is not achieved, a backup rescue plan is activated. The backup rescue plan includes replacing different types of end effectors and / or adjusting the motion path and force parameters of the actuator to re-execute the current operation.

7. A control device for assisting in vehicle emergency escape, characterized in that, include: The data acquisition unit is used to collect vehicle status data, occupant status data, and hazardous data of the in-vehicle environment in real time. The judgment unit is used to determine, based on the vehicle status data, occupant status data and environmental hazard data, whether the accident triggering condition, occupant incapacity condition and door locking condition are met simultaneously. If so, an emergency start command is generated. The planning unit is used to plan a sequence of rescue actions, including tool replacement and action execution, in response to the emergency activation command. The control unit is used to control the movable actuator to perform operations according to the rescue action sequence; An evaluation unit is used to assess the performance based on feedback signals after each operation is completed.

8. An electronic device, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

9. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.

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