A collision safety monitoring and intelligent power-off method for a hinged hydrogen fuel passenger car

Abstract

The application discloses a kind of collision safety monitoring and intelligent power-off methods of articulated hydrogen fuel passenger car.The method is by real-time construction of the comprehensive risk index RI (t) by mechanical impact, attitude instability, hydrogen leakage and environmental risk fusion through multi-source sensor data, and based on the numerical value of RI (t) and the structure characteristics of each risk sub-item, three-level grading response is executed.It includes no trigger action, executing local risk control, constant hydrogen power, limited power, key monitoring and immediate execution of main safety strategy.After collision, the system enters the safety sentinel mode, and actively responds to secondary risks through pre-emptive protective actions.The application effectively reduces false positives, achieves precise grading safety response and proactive protection throughout the process, significantly improving the safety and practicality of articulated hydrogen fuel passenger car.

Description

Technical Field

[0001] This invention relates to the field of hydrogen fuel cell bus safety technology, and in particular to a collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses. Background Technology

[0002] With the promotion of hydrogen-powered transportation, articulated hydrogen fuel cell buses are increasingly used in public transportation due to their large capacity and high flexibility. However, their long body, articulated structure (with rotatable front and rear compartments), and hydrogen fuel cell system bring unique and severe safety challenges. Articulated vehicles are more prone to instability in a collision (such as rollover), and their high-pressure hydrogen cylinders, pipelines, and high-voltage electrical systems are highly susceptible to hydrogen leakage, fire, or even explosion after a collision, seriously threatening the safety of passengers and the public.

[0003] Currently, the industry's commonly used collision safety solutions are mainly based on traditional vehicle designs. The core of these solutions is to install collision sensors at key locations on the vehicle body. When the detected acceleration exceeds a preset threshold, a collision is determined to have occurred. The vehicle controller then executes commands to cut off the high-voltage electricity and hydrogen supply to avoid the risks of electric shock and fire. Some solutions combine this with the triggering signals of the airbags for a comprehensive assessment.

[0004] When existing solutions are directly applied to articulated hydrogen fuel cell buses, there are significant shortcomings: High false alarm rate: The unique lateral swaying and bumps of articulated vehicles can be easily misjudged as collisions by traditional sensors, leading to unnecessary "false power cuts" and causing the vehicle to lose power during minor scrapes or safe driving, which actually increases the risk.

[0005] The strategy is "one-size-fits-all": regardless of whether the collision is minor or severe, the existing solution implements "full vehicle power and hydrogen cut-off". This results in the vehicle being unable to move away on its own after a low-risk collision (such as a low-to-medium speed rear-end collision that does not affect the hydrogen system), causing traffic paralysis and the risk of secondary accidents, making it impractical.

[0006] Lack of continuous protection: The existing solution stops working after the power is cut off in the initial collision, and cannot deal with the derivative risks that may occur after the collision, such as the slow accumulation of hydrogen, short circuit and fire of high-voltage components, or secondary collisions (such as being rear-ended). There is a "time blind spot" in safety protection. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses, which avoids "false power-off" caused by complex road conditions or vehicle dynamics, and ensures the normal driving ability of the vehicle under non-dangerous conditions.

[0008] A collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus includes: Real-time acquisition of vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensors; When any axial acceleration in the vehicle dynamics data exceeds a first acceleration threshold within a first time threshold, or when a collision signal is received from any of the vehicle collision sensors; Based on vehicle dynamics data and collision signals, a comprehensive risk index for the vehicle at the current moment is constructed. The comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. Based on the comprehensive risk index RI(t) and risk components, a tiered response is implemented: If the comprehensive risk index RI(t) is lower than the first risk threshold, it is judged as a level 1 risk and no main safety action is triggered. If the comprehensive risk index RI(t) is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is determined to be a level 2 risk, and a local risk control strategy is implemented. The local risk control strategy includes maintaining the connection between the hydrogen supply and the main high-pressure circuit, limiting power output, monitoring the collision data of the collision area, and adjusting the graded response according to the collision data. If the comprehensive risk index If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is determined to be a Level 3 risk, and the main safety strategy is immediately executed. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. After executing the main security policy, the system enters a security sentinel mode for a preset duration; In the safety sentinel mode, if a secondary disaster risk is determined, a prognostic protection action is executed. The prognostic protection action includes at least one of the following: actively releasing residual electrical energy from the high-voltage bus, releasing inert gas into the hydrogen-related compartment, and generating and sending structured rescue information containing the vehicle's hydrogen-related and electric-related safety status to the outside.

[0009] Optional, including: The method for calculating mechanical impact risk is as follows: Based on vehicle dynamics data, obtain triaxial acceleration data; Based on the triaxial acceleration data, calculate the peak acceleration and energy integral of each axis within a preset time window; Perform a fast Fourier transform on the triaxial acceleration data to extract the ratio of low-frequency energy to total energy; The mechanical impact risk is obtained by weighting and fusing the peak acceleration, energy integral, and ratio. The method for calculating attitude instability risk is as follows: Based on vehicle dynamics data, the vehicle roll angle, pitch angle change rate, and roll angle change rate were obtained. The time margin for the preset rollover threshold is calculated based on vehicle roll and the rate of change of vehicle roll angle. The attitude instability risk is determined based on the time margin and the rate of change of pitch angle. The method for calculating hydrogen leakage risk is as follows: Obtain the total number of hydrogen concentration sensors and the value of each hydrogen concentration sensor; Obtain the pressure difference at key nodes in the hydrogen supply pipeline and calculate the pressure change rate based on the pressure difference. The collision position is obtained based on the collision signal, and a prediction result is obtained based on the collision position. The prediction result is calculated using a monotonically decreasing function of the minimum distance to the key component of the hydrogen system. The risk of hydrogen leakage is calculated based on the pressure change rate, the prediction results, and the values ​​of each hydrogen concentration sensor. The method for calculating environmental risk is as follows: Obtain the real-time location of the articulated hydrogen fuel cell bus; Based on the real-time location, risk scenarios are matched, and environmental risks are obtained based on the risk scenarios.

[0010] Optionally, the collision data of the monitored collision area, and the adjustment of the graded response based on the collision data, include: If, within the preset monitoring period, the hydrogen concentration reading, temperature value, and insulation resistance value in the collision data remain stable and within the safe threshold range, then the risk level will be adjusted to Level 1. If, within the preset monitoring period, any one of the collision data conditions is met—that is, the hydrogen concentration reading exceeds the warning threshold, the temperature value exceeds the temperature rise threshold, or the insulation resistance value is lower than the insulation failure threshold—then the risk level is adjusted to Level 3.

[0011] Optionally, the comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk, including: Normalize the mechanical shock risk, attitude instability risk, hydrogen leakage risk and environmental risk to obtain normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk and normalized environmental risk. The normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk, and normalized environmental risk are weighted and fused to obtain a comprehensive risk index. .

[0012] Optionally, if a secondary disaster risk is determined to exist, it includes: If any axial acceleration is detected to exceed a second acceleration threshold within a second time threshold, and the second acceleration threshold is lower than the first acceleration threshold, then it is determined that there is a risk of secondary disaster. If the vehicle attitude angle is detected to be changing continuously in a dangerous direction and the rate of change exceeds the preset secondary instability threshold, it is determined that there is a risk of secondary disaster. If the hydrogen concentration value is continuously and rapidly rising as detected by the vehicle-mounted hydrogen concentration sensor, it is determined that there is a risk of secondary disaster. If an abnormally high temperature is detected in a specific area outside the vehicle by an onboard ambient temperature sensor or an infrared thermal imager, it is determined that there is a risk of secondary disaster.

[0013] Optionally, the structured rescue information includes at least: the vehicle unique identification number (VIN), the collision event timestamp, the final value of the comprehensive risk index RI(t), the status of the hydrogen leakage risk sub-items, the high-voltage power cut-off status, the remaining pressure of the hydrogen storage tank and the status of the shut-off valve, the real-time GPS location of the vehicle, and a rescue suggestion code generated based on the safety status.

[0014] Optionally, the first time threshold is 10 milliseconds to 50 milliseconds, and the first acceleration threshold is 3 times to 5 times the gravitational acceleration.

[0015] A collision safety monitoring and intelligent power-off system for an articulated hydrogen fuel cell bus includes: The acquisition module is used to acquire vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensor in real time. The judgment module is used to determine when any axial acceleration in the vehicle dynamics data exceeds a first acceleration threshold within a first time threshold, or when a collision signal is received from any of the vehicle collision sensors. The comprehensive risk index calculation module is used to construct the comprehensive risk index of the vehicle at the current moment based on vehicle dynamics data and collision signals. The comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. The tiered response module is used to execute tiered responses based on the comprehensive risk index RI(t) and risk components. The Level 1 Risk Module is used to determine Level 1 risk if the comprehensive risk index RI(t) is lower than the first risk threshold, and the main safety action will not be triggered. If the comprehensive risk index RI(t) of the second-level risk module is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is determined to be a second-level risk, and a local risk control strategy is implemented. The local risk control strategy includes maintaining the connection between the hydrogen supply and the main high-pressure circuit, limiting power output, monitoring the collision data of the collision area, and adjusting the graded response according to the collision data. The third-level risk module is used to assess the comprehensive risk index. If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is determined to be a Level 3 risk, and the main safety strategy is immediately executed. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. After executing the main security policy, the system enters a security sentinel mode for a preset duration; The rescue module is used to perform prognostic protection actions if a secondary disaster risk is determined to exist in the safety sentinel mode. The prognostic protection actions include at least one of the following: actively releasing residual electrical energy from the high-voltage bus, releasing inert gas into the hydrogen-related compartment, and generating and sending structured rescue information containing the vehicle's hydrogen-related and electric-related safety status to the outside.

[0016] A terminal device includes a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, it employs a collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus.

[0017] A computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, employs a collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus.

[0018] The beneficial effects of this invention are: 1. This invention significantly improves the accuracy of collision risk assessment and reduces the false alarm rate. It constructs a dynamic comprehensive risk index RI(t) by integrating multi-dimensional signals such as mechanical impact risk, attitude instability risk, hydrogen leakage risk, and environmental risk, thus changing the traditional approach that relies solely on a single acceleration threshold for binary judgment. In particular, by introducing predictive models for attitude instability risk (such as calculating the time margin before rollover) and hydrogen leakage, the system can effectively distinguish between the unique shimmy and bumps of articulated buses and actual collisions, as well as emergency avoidance and substantial collisions. This fundamentally prevents "false power outages" caused by complex road conditions or vehicle dynamics, ensuring the vehicle's normal driving capability under non-hazardous conditions.

[0019] 2. An intelligent, tiered response strategy has been established, significantly improving vehicle availability and accident handling efficiency while ensuring core safety. This invention abandons the crude "one-touch disconnect" strategy and innovatively implements a three-level response based on the value of the comprehensive risk index RI(t) and the specific circumstances of its risk components (especially hydrogen leakage risk). For situations determined to be at level two risk (moderate collision, hydrogen system unaffected), the system implements a "local risk control strategy" (maintaining hydrogen-electric connection, limiting power driving, and focusing on key monitoring), enabling the vehicle to safely leave the main road under its own power after experiencing most low-to-medium speed accidents. This avoids traffic congestion and secondary accident risks caused by unnecessary breakdowns, while also reducing rescue and clearing costs.

[0020] 3. A proactive safety protection closed loop is formed, covering the entire process before, during, and after a collision, significantly improving survivability in extreme situations. This invention not only focuses on power outage at the moment of collision but also extends safety responsibility to the post-collision stage through a safety sentinel mode and prognostic protective actions. The system continuously monitors the risks of secondary collisions, hydrogen leaks, fires, and other secondary disasters, and proactively executes protective measures such as active high-voltage busbar venting, inerting suppression of hydrogen-related compartments, and generation of structured rescue information. This effectively prevents secondary disasters caused by hydrogen accumulation, short circuits, or external ignition sources after a collision, and provides rescue personnel with accurate key safety information (such as hydrogen valve status and high-voltage status), achieving a leap from "passive power outage" to "proactive prognostic protection," creating safer conditions for occupant escape and external rescue, and comprehensively improving the safety redundancy of hydrogen fuel cell buses. Attached Figure Description

[0021] Figure 1 This is a flowchart illustrating a collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus according to the present invention. Detailed Implementation

[0022] A collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses, such as... Figure 1 As shown, the present invention includes: S1. Real-time acquisition of vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensor; Specifically, the system continuously collects vehicle dynamics data from the onboard inertial measurement unit (IMU). The IMU is a sensor that integrates a three-axis accelerometer and a three-axis gyroscope, and is fixedly mounted on the chassis near the center of gravity of the vehicle. The data it collects includes: acceleration in three directions: forward (X-axis), lateral (Y-axis), and vertical (Z-axis) (unit: m / s² or g, 1g≈9.8m / s²), and angular velocity (unit: ° / s). The latter can be used to calculate the vehicle's pitch angle (the angle of rotation about the Y-axis, reflecting the rise or fall of the front of the vehicle) and roll angle (the angle of rotation about the X-axis, reflecting the body roll).

[0023] The system continuously monitors collision signals from multiple body collision sensors distributed across the front, rear, left, and right longitudinal beams and the B-pillar of the vehicle. These sensors are typically piezoelectric or MEMS accelerometers. When the detected acceleration exceeds an internally set extremely high threshold, they output a digital switch signal (such as a high level), indicating that a severe collision that may trigger the airbags has been detected. S2. When any axial acceleration in the vehicle dynamics data exceeds the first acceleration threshold within the first time threshold, or when a collision signal is received from any of the vehicle collision sensors; Specifically, the first time threshold is 10 to 50 milliseconds, and the first acceleration threshold is 3 to 5 times the gravitational acceleration.

[0024] S3. Based on vehicle dynamics data and collision signals, construct a comprehensive risk index for the vehicle at the current moment. Comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. Specifically, the comprehensive risk index A dimensionless value between 0 and 1; the higher the value, the greater the overall risk.

[0025] Specifically, the method for calculating mechanical impact risk is as follows: Based on vehicle dynamics data, obtain triaxial acceleration data; Based on the triaxial acceleration data, calculate the peak acceleration and energy integral of each axis within a preset time window; Specifically, the triaxial acceleration data is expressed as follows: ,in, and They are respectively axis, shaft and Acceleration data of the axis.

[0026] Peak acceleration is expressed as:

[0027] in, The peak acceleration within a preset time window, As axis index, and The two endpoints of the time window The energy integral is expressed as:

[0028] in, For energy integral, For time window, For time.

[0029] Perform a fast Fourier transform on the triaxial acceleration data to extract the ratio of low-frequency energy to total energy; Specifically, in this embodiment, the low frequency is 0 to 10 Hz.

[0030] The mechanical impact risk is obtained by weighted fusion of peak acceleration, energy integral, and ratio. Mechanical impact risk is represented as:

[0031] in, For mechanical impact risk, The ratio, , and As weight.

[0032] The method for calculating attitude instability risk is as follows: Based on vehicle dynamics data, the vehicle roll angle, pitch angle change rate, and roll angle change rate were obtained. The time margin for the preset rollover threshold is calculated based on vehicle roll and the rate of change of vehicle roll angle. Specifically,

[0033] in, To allow for time margin, The preset rollover threshold, For vehicle roll angle, For changes in vehicle roll angle, It is a very small positive number.

[0034] The risk of attitude instability is determined based on the time margin and the rate of change of pitch angle.

[0035] in, To mitigate the risk of attitude instability, The rate of change of pitch angle, and As weight.

[0036] The method for calculating hydrogen leakage risk is as follows: Obtain the total number of hydrogen concentration sensors and the value of each hydrogen concentration sensor; Obtain the pressure difference at key nodes in the hydrogen supply pipeline and calculate the pressure change rate based on the pressure difference. The collision location is obtained based on the collision signal, and the prediction result is obtained based on the collision location. The prediction result is calculated using a monotonically decreasing function of the minimum distance to the key components of the hydrogen system. The risk of hydrogen leakage is calculated based on the pressure change rate, prediction results, and the values ​​of each hydrogen concentration sensor. Specifically, let's set ) is the first Readings from a hydrogen concentration sensor. Given the pressure difference at key nodes in the hydrogen supply pipeline, the rate of pressure change is:

[0037] in, This represents the rate of change of pressure.

[0038] Let the collision location prediction result be Define vulnerability function It is a monotonically decreasing function (such as an inverse proportional function or an exponential decay function) that minimizes the distance between it and key components of the hydrogen system (hydrogen storage tanks, fuel cell stacks, pipelines).

[0039] The risk of hydrogen leakage is:

[0040] in, Due to the risk of hydrogen leakage, , and As weight.

[0041] The method for calculating environmental risk is as follows: Obtain the real-time location of the articulated hydrogen fuel cell bus; Based on real-time location, risk scenarios are matched, and environmental risks are obtained based on the risk scenarios.

[0042] Specifically, through map matching functions Determine if a vehicle is in a high-risk scenario set (such as tunnels, bridges, and densely populated urban areas)

[0043] in, Greater than , For environmental risks, and It can be preset.

[0044] The system compares the vehicle's real-time location with the database. If the vehicle is located in a high-risk environment such as a tunnel, large bridge, underground parking garage, gas station, school, or commercial area, the environmental risk is assigned a high value (e.g., 0.8); otherwise, a low value (e.g., 0.1) is assigned. This risk item reflects the severity of the secondary social harm that the accident may cause. Overall Risk Index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk, including: Normalize the mechanical shock risk, attitude instability risk, hydrogen leakage risk and environmental risk to obtain normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk and normalized environmental risk. By weighting and integrating normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk, and normalized environmental risk, a comprehensive risk index is obtained. .

[0045] Specifically,

[0046] in, As a comprehensive risk index, , , and As weight, To normalize mechanical shock risk, To mitigate the risk of attitude instability in normalization, To normalize the risk of hydrogen leakage, For normalized environmental wind.

[0047] S4. Implement a tiered response based on the comprehensive risk index RI(t) and risk components; Specifically, the tiered response includes Level 1 risk, Level 2 risk, and Level 3 risk. In this embodiment, the first risk threshold is 0.3, and the second risk threshold is 0.7.

[0048] S5. If the comprehensive risk index RI(t) is lower than the first risk threshold, it is judged as a first-level risk and the main safety action is not triggered. S6. If the comprehensive risk index RI(t) is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is judged as a level 2 risk. Local risk control strategy is implemented. Local risk control strategy includes maintaining the connection between hydrogen supply and main high-pressure circuit, limiting power output, monitoring collision data in the collision area, and adjusting the graded response according to the collision data. Specifically, by continuously opening the hydrogen supply valve and the main positive and negative relays of the power battery to maintain the high-voltage circuit, a command is sent to the drive motor controller to limit the motor output torque to 40% of the normal maximum value, allowing the vehicle to "limp" away from the main road at a lower speed.

[0049] The system focuses on monitoring sensor data in the predicted collision area, including hydrogen concentration, component temperature, and high-voltage insulation resistance. During a preset monitoring period (e.g., 30 seconds), the following operations are performed: Monitoring collision data in the collision zone and adjusting the graded response based on the collision data includes: If, within the preset monitoring period, the hydrogen concentration reading, temperature value, and insulation resistance value in the collision data remain stable and within the safe threshold range, then the risk level will be adjusted to Level 1. If, within the preset monitoring period, any of the collision data conditions are met—for example, the hydrogen concentration reading exceeds the warning threshold, the temperature value exceeds the temperature rise threshold, or the insulation resistance value is lower than the insulation failure threshold—then the risk level will be adjusted to Level 3.

[0050] Specifically, if all monitoring data (hydrogen concentration reading, temperature value, insulation resistance value) are stable within the safe range, the system determines that the risk has been eliminated, adjusts the response level back to level one, gradually removes the torque limit, and resumes normal driving. If any of the monitored data exceeds the safety threshold (such as hydrogen concentration > 1000ppm warning threshold, temperature > 80℃ temperature rise threshold, or insulation resistance < 500Ω / V insulation failure threshold), the system will immediately determine that the risk has been upgraded, adjust the response level to level three, and execute the following main safety strategy.

[0051] S7, if the comprehensive risk index If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is judged as a level 3 risk, and the main safety strategy is immediately implemented. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. S8. After executing the main security policy, the system enters the security sentinel mode for a preset duration. S9. In the safety sentinel mode, if it is determined that there is a risk of secondary disaster, the prognostic protection action shall be executed. The prognostic protection action includes at least one of the following: actively releasing the residual electrical energy of the high-voltage bus, releasing inert gas into the hydrogen-related compartment, generating and sending structured rescue information containing the vehicle's hydrogen-related and electric safety status to the outside.

[0052] If a secondary disaster risk is identified, it includes: If any axial acceleration is detected to exceed a second acceleration threshold within a second time threshold, and the second acceleration threshold is lower than a first acceleration threshold, then it is determined that there is a risk of secondary disaster. If the vehicle attitude angle is detected to be changing continuously in a dangerous direction and the rate of change exceeds the preset secondary instability threshold, it is determined that there is a risk of secondary disaster. If the hydrogen concentration value is continuously and rapidly rising as detected by the vehicle-mounted hydrogen concentration sensor, it is determined that there is a risk of secondary disaster. If an abnormally high temperature is detected in a specific area outside the vehicle by an onboard ambient temperature sensor or an infrared thermal imager, it is determined that there is a risk of secondary disaster.

[0053] Structured rescue information includes at least: Vehicle Identifier (VIN), collision event timestamp, final value of Comprehensive Risk Index (RI(t)), hydrogen leak risk status, high-voltage power cut-off status, remaining pressure of hydrogen storage tank and status of shut-off valve, real-time GPS location of vehicle, and rescue suggestion code generated based on safety status.

[0054] A collision safety monitoring and intelligent power-off system for an articulated hydrogen fuel cell bus includes: The acquisition module is used to acquire vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensor in real time. The judgment module is used to determine when any axial acceleration in the vehicle dynamics data exceeds a first acceleration threshold within a first time threshold, or when a collision signal is received from any of the vehicle collision sensors. The comprehensive risk index calculation module is used to construct the comprehensive risk index of the vehicle at the current moment based on vehicle dynamics data and collision signals. Comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. The tiered response module is used to execute tiered responses based on the comprehensive risk index RI(t) and risk components. The Level 1 Risk Module is used to determine Level 1 risk if the comprehensive risk index RI(t) is lower than the first risk threshold, and the main safety action will not be triggered. If the comprehensive risk index RI(t) of the second-level risk module is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is judged as a second-level risk and a local risk control strategy is implemented. The local risk control strategy includes maintaining the connection between the hydrogen supply and the main high-pressure circuit, limiting power output, monitoring the collision data of the collision area, and adjusting the graded response according to the collision data. The third-level risk module is used to assess the comprehensive risk index. If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is judged as a level 3 risk, and the main safety strategy is immediately implemented. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. After executing the main security policy, the system enters a security sentinel mode for a preset duration; The rescue module is used to perform prognostic protection actions if a secondary disaster risk is determined to exist in the safety sentinel mode. The prognostic protection actions include at least one of the following: actively releasing residual electrical energy from the high-voltage bus, releasing inert gas into the hydrogen-related compartment, and generating and sending structured rescue information containing the vehicle's hydrogen-related and electric-related safety status to the outside.

[0055] This application also discloses a terminal device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor loads and executes the computer program, a collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus is adopted.

[0056] The terminal device can be a computer device such as a desktop computer, a laptop computer, or a cloud server. The terminal device includes, but is not limited to, a processor and a memory. For example, the terminal device may also include input / output devices, network access devices, and buses.

[0057] The processor can be a central processing unit (CPU). Of course, depending on the actual use, it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc., and this application does not limit it.

[0058] The memory can be an internal storage unit of the terminal device, such as a hard disk or RAM of the terminal device, or an external storage device of the terminal device, such as a plug-in hard disk, smart memory card (SMC), secure digital card (SD), or flash memory card (FC) equipped on the terminal device. Furthermore, the memory can be a combination of internal storage units and external storage devices of the terminal device. The memory is used to store computer programs and other programs and data required by the terminal device. The memory can also be used to temporarily store data that has been output or will be output. This application does not limit this.

[0059] In this terminal device, the collision safety monitoring and intelligent power-off method of an articulated hydrogen fuel cell bus described in the above embodiment is stored in the memory of the terminal device and loaded and executed on the processor of the terminal device for convenient use.

[0060] This application also discloses a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it employs a collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus as described in the above embodiments.

[0061] The computer program can be stored in a computer-readable medium. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or certain middleware. The computer-readable medium includes any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the computer-readable medium includes, but is not limited to, the above-mentioned components.

[0062] The collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus described in the above embodiments is stored in the computer-readable storage medium and loaded and executed on a processor to facilitate the storage and application of the above method.

[0063] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0064] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A collision safety monitoring and intelligent power-off method for an articulated hydrogen fuel cell bus, characterized in that, include: Real-time acquisition of vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensors; When any axial acceleration in the vehicle dynamics data exceeds a first acceleration threshold within a first time threshold, or when a collision signal is received from any of the vehicle collision sensors; Based on vehicle dynamics data and collision signals, a comprehensive risk index for the vehicle at the current moment is constructed. The comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. Based on the comprehensive risk index RI(t) and risk components, implement a tiered response; If the comprehensive risk index RI(t) is lower than the first risk threshold, it is judged as a level 1 risk and no main safety action is triggered. If the comprehensive risk index RI(t) is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is determined to be a level 2 risk, and a local risk control strategy is implemented. The local risk control strategy includes maintaining the connection between the hydrogen supply and the main high-pressure circuit, limiting power output, monitoring the collision data of the collision area, and adjusting the graded response according to the collision data. If the comprehensive risk index If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is determined to be a Level 3 risk, and the main safety strategy is immediately executed. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. After executing the main security policy, the system enters a security sentinel mode for a preset duration; In the safety sentinel mode, if a secondary disaster risk is determined, a prognostic protection action is executed. The prognostic protection action includes at least one of the following: actively releasing residual electrical energy from the high-voltage bus, releasing inert gas into the hydrogen-related compartment, and generating and sending structured rescue information containing the vehicle's hydrogen-related and electric-related safety status to the outside.

2. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, include: The method for calculating mechanical impact risk is as follows: Based on vehicle dynamics data, obtain triaxial acceleration data; Based on the triaxial acceleration data, calculate the peak acceleration and energy integral of each axis within a preset time window; Perform a fast Fourier transform on the triaxial acceleration data to extract the ratio of low-frequency energy to total energy; The mechanical impact risk is obtained by weighting and fusing the peak acceleration, energy integral, and ratio. The method for calculating attitude instability risk is as follows: Based on vehicle dynamics data, the vehicle roll angle, pitch angle change rate, and roll angle change rate were obtained. The time margin for the preset rollover threshold is calculated based on vehicle roll and the rate of change of vehicle roll angle. The attitude instability risk is determined based on the time margin and the rate of change of pitch angle. The method for calculating hydrogen leakage risk is as follows: Obtain the total number of hydrogen concentration sensors and the value of each hydrogen concentration sensor; Obtain the pressure difference at key nodes in the hydrogen supply pipeline and calculate the pressure change rate based on the pressure difference. The collision position is obtained based on the collision signal, and a prediction result is obtained based on the collision position. The prediction result is calculated using a monotonically decreasing function of the minimum distance to the key component of the hydrogen system. The risk of hydrogen leakage is calculated based on the pressure change rate, the prediction results, and the values ​​of each hydrogen concentration sensor. The method for calculating environmental risk is as follows: Obtain the real-time location of the articulated hydrogen fuel cell bus; Based on the real-time location, risk scenarios are matched, and environmental risks are obtained based on the risk scenarios.

3. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, The collision data of the monitored collision area, and the adjustment of the graded response based on the collision data, include: If, within the preset monitoring period, the hydrogen concentration reading, temperature value, and insulation resistance value in the collision data remain stable and within the safe threshold range, then the risk level will be adjusted to Level 1. If, within the preset monitoring period, any one of the collision data conditions is met—that is, the hydrogen concentration reading exceeds the warning threshold, the temperature value exceeds the temperature rise threshold, or the insulation resistance value is lower than the insulation failure threshold—then the risk level is adjusted to Level 3.

4. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, The comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk, including: Normalize the mechanical shock risk, attitude instability risk, hydrogen leakage risk and environmental risk to obtain normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk and normalized environmental risk. The normalized mechanical shock risk, normalized attitude instability risk, normalized hydrogen leakage risk, and normalized environmental risk are weighted and fused to obtain a comprehensive risk index. .

5. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, If a secondary disaster risk is identified, it includes: If any axial acceleration is detected to exceed a second acceleration threshold within a second time threshold, and the second acceleration threshold is lower than the first acceleration threshold, then it is determined that there is a risk of secondary disaster. If the vehicle attitude angle is detected to be changing continuously in a dangerous direction and the rate of change exceeds the preset secondary instability threshold, it is determined that there is a risk of secondary disaster. If the hydrogen concentration value is continuously and rapidly rising as detected by the vehicle-mounted hydrogen concentration sensor, it is determined that there is a risk of secondary disaster. If an abnormally high temperature is detected in a specific area outside the vehicle by an onboard ambient temperature sensor or an infrared thermal imager, it is determined that there is a risk of secondary disaster.

6. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, The structured rescue information includes at least: the vehicle unique identification number (VIN), the collision event timestamp, the final value of the comprehensive risk index RI(t), the status of the hydrogen leakage risk sub-items, the high-voltage power cut-off status, the remaining pressure of the hydrogen storage tank and the status of the shut-off valve, the real-time GPS location of the vehicle, and a rescue suggestion code generated based on the safety status.

7. The collision safety monitoring and intelligent power-off method for articulated hydrogen fuel cell buses according to claim 1, characterized in that, The first time threshold is 10 milliseconds to 50 milliseconds, and the first acceleration threshold is 3 times the gravitational acceleration to 5 times the gravitational acceleration.

8. A collision safety monitoring and intelligent power-off system for an articulated hydrogen fuel cell bus, characterized in that, include: The acquisition module is used to acquire vehicle dynamics data from the onboard inertial measurement unit (IMU) and collision signals from the vehicle body collision sensor in real time. The judgment module is used to determine when any axial acceleration in the vehicle dynamics data exceeds a first acceleration threshold within a first time threshold, or when a collision signal is received from any of the vehicle collision sensors. The comprehensive risk index calculation module is used to construct the comprehensive risk index of the vehicle at the current moment based on vehicle dynamics data and collision signals. The comprehensive risk index It is calculated by integrating at least two of the following: mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk. Mechanical shock risk, attitude instability risk, hydrogen leakage risk, and environmental risk are considered as risk sub-items. The tiered response module is used to execute tiered responses based on the comprehensive risk index RI(t) and risk components. The Level 1 Risk Module is used to determine Level 1 risk if the comprehensive risk index RI(t) is lower than the first risk threshold, and the main safety action will not be triggered. If the comprehensive risk index RI(t) of the second-level risk module is between the first risk threshold and the second risk threshold, and the hydrogen leakage risk item in the risk sub-item is zero, it is determined to be a second-level risk, and a local risk control strategy is implemented. The local risk control strategy includes maintaining the connection between the hydrogen supply and the main high-pressure circuit, limiting power output, monitoring the collision data of the collision area, and adjusting the graded response according to the collision data. The third-level risk module is used to assess the comprehensive risk index. If the risk reaches or exceeds the second risk threshold, or if the hydrogen leakage risk component is greater than zero, it is determined to be a Level 3 risk, and the main safety strategy is immediately executed. The main safety strategy includes simultaneously cutting off the hydrogen supply and the vehicle's high-voltage power supply. After executing the main security policy, the system enters a security sentinel mode for a preset duration; The rescue module is used to perform prognostic protection actions if a secondary disaster risk is determined to exist in the safety sentinel mode. The prognostic protection actions include at least one of the following: actively releasing residual electrical energy from the high-voltage bus, releasing inert gas into the hydrogen-related compartment, and generating and sending structured rescue information containing the vehicle's hydrogen-related and electric-related safety status to the outside.

9. A terminal device, comprising a memory and a processor, characterized in that, The memory stores a computer program that can run on a processor, and when the processor loads and executes the computer program, it employs the method described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it employs the method described in any one of claims 1 to 7.

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