A vehicle safety control method and device, electronic equipment and medium

Abstract

The application provides a vehicle safety control method and device, electronic equipment and medium, wherein the method comprises: acquiring a front collision warning signal, a driver operation intention signal and a vehicle state signal of a vehicle; when it is determined according to the front collision warning signal that the vehicle has a collision risk, and it is determined according to the driver operation intention signal that the driver of the vehicle does not perform an active safety operation, then controlling an active seat belt motor of the vehicle to perform a seat belt fabric recovery action according to the vehicle state signal; during the execution of the seat belt fabric recovery action, continuously acquiring the front collision warning signal, so as to control the active seat belt motor to release the recovery force and make the seat belt fabric return to an initial state when it is determined according to the front collision warning signal that the collision risk has been eliminated. Through the application, the driver operation intention can be identified in the collision risk scenario to avoid conflict with the active safety operation, and the safety of collision protection and the comfort of driving experience are taken into account.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle safety control method, device, electronic equipment, and medium. Background Technology

[0002] As a crucial component of a vehicle's passive safety system, active seat belts utilize webbing retraction to eliminate slack between the seat belt and the occupant's body before a collision. This restrains the occupant in their seat earlier during a collision, reducing forward displacement and enhancing protection. Current active seat belt control methods generally use a forward collision warning signal as the core trigger condition; that is, when the system detects a collision risk, it directly controls the motor to execute the webbing retraction action.

[0003] However, this control logic does not take into account the driver's intentions. In real-world driving scenarios, upon perceiving a hazard, the driver will often take evasive action such as emergency braking or steering to avoid it. At this point, the driver already has control of the vehicle and is performing the evasive maneuver. If the system still automatically triggers webbing retraction under these circumstances, it will cause a conflict between the system intervention and the driver's operation, resulting in a noticeable abruptness and discomfort. It may even disrupt the driver's evasive maneuver rhythm, affecting driving safety and experience. Summary of the Invention

[0004] In view of the above, the purpose of this application is to provide a vehicle safety control method, device, electronic device and medium, which aims to overcome at least one of the above-mentioned defects.

[0005] In a first aspect, this application provides a vehicle safety control method, including: Acquire forward collision warning signals, driver's operating intention signals, and vehicle status signals; When it is determined that the vehicle is at risk of collision based on the forward collision warning signal, and it is determined that the driver of the vehicle has not performed active avoidance operation based on the driver's operation intention signal, the active seat belt motor of the vehicle is controlled to perform seat belt webbing retraction action based on the vehicle status signal. During the seat belt webbing retraction action, the forward collision warning signal is continuously acquired. When it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force, so that the seat belt webbing returns to its initial state.

[0006] In one possible implementation, it is determined that the driver did not perform any active avoidance maneuvers in the following way: When the driver's intention signal satisfies the following conditions: the brake pedal pressure is not greater than a preset pressure threshold, the steering wheel angle change rate is not greater than a preset angle change rate threshold, and the accelerator pedal opening change rate is not greater than a preset opening change rate threshold, it is determined that the driver has not performed an active avoidance operation.

[0007] In one possible implementation, the vehicle status signal includes vehicle speed, collision time, and webbing slack. Specifically, the active seatbelt motor of the vehicle is controlled to perform the seatbelt webbing retraction action based on the vehicle status signal in the following manner: When the vehicle speed is greater than a preset vehicle speed threshold, the collision time is less than a preset time threshold, and the webbing slack is greater than a preset slack threshold, the active seat belt motor is controlled to perform the seat belt webbing retraction action.

[0008] In one possible implementation, the active seatbelt motor is controlled to perform the seatbelt webbing retraction action in the following manner: The target force and recovery rate of the seat belt webbing retraction action are determined based on the collision time, wherein the target force and the recovery rate are negatively correlated with the collision time.

[0009] In one possible implementation, it also includes: When it is determined that the driver is performing an active avoidance maneuver based on the driver's operating intention signal, the forward collision warning signal and the collision time are continuously monitored for a preset time. If, after the preset time, it is determined from the forward collision warning signal that the collision risk has not been eliminated and the collision time is less than the second time threshold, then the active seat belt motor is controlled to perform the seat belt webbing retraction action, wherein the second time threshold is less than the preset time threshold.

[0010] In one possible implementation, it also includes: When the steering wheel angle change rate is greater than the preset angle change rate threshold, and the same-side turn signal is activated, it is determined that the driver is performing an active hazard avoidance operation.

[0011] Secondly, this application also provides a vehicle safety control device, comprising: The acquisition module is used to acquire the vehicle's forward collision warning signal, driver's operation intention signal, and vehicle status signal; The execution module is used to control the active seat belt motor of the vehicle to perform seat belt webbing retraction action according to the vehicle status signal when it is determined that the vehicle has a collision risk according to the forward collision warning signal and the driver's operation intention signal is determined that the driver of the vehicle has not performed active avoidance operation. The detection module is used to continuously acquire the forward collision warning signal during the execution of the seat belt webbing retraction action, so that when it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force so that the seat belt webbing returns to its initial state.

[0012] In one possible implementation, the execution module is further configured to: When the driver's intention signal satisfies the following conditions: the brake pedal pressure is not greater than a preset pressure threshold, the steering wheel angle change rate is not greater than a preset angle change rate threshold, and the accelerator pedal opening change rate is not greater than a preset opening change rate threshold, it is determined that the driver has not performed an active avoidance operation.

[0013] Thirdly, this application also provides an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0014] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described above.

[0015] This application provides a vehicle safety control method, device, electronic device, and medium. The method includes: acquiring a forward collision warning signal, a driver's operational intention signal, and a vehicle status signal; when a collision risk is determined based on the forward collision warning signal, and the driver's operational intention signal indicates that the driver has not performed active avoidance maneuvers, controlling the vehicle's active seatbelt motor to perform seatbelt webbing retraction based on the vehicle status signal; continuously acquiring the forward collision warning signal during the seatbelt webbing retraction process, so that when the collision risk is determined based on the forward collision warning signal to be eliminated, controlling the active seatbelt motor to release the retraction force, restoring the seatbelt webbing to its initial state. This application enables the identification of driver's operational intentions in collision risk scenarios to avoid conflicts with active avoidance maneuvers, and automatically releases the webbing after the collision risk is eliminated, achieving closed-loop control and balancing collision protection safety with driving comfort.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A flowchart of a vehicle safety control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the vehicle safety control device provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0020] First, the applicable scenarios for this application will be introduced. This application can be applied to the field of vehicle technology.

[0021] Research has found that active seat belts, as an important component of a vehicle's passive safety system, have a webbing gap recovery function designed to eliminate the slack between the seat belt and the occupant's body before a collision occurs. This restrains the occupant to the seat earlier during a collision, reduces occupant forward displacement, and enhances the protective effect of the seat belt and airbag system.

[0022] Several related solutions have been disclosed in the prior art. One existing solution discloses a motor-driven active pretensioning seat belt device, whose technical solution mainly focuses on mechanical structure and driving method, eliminating wearing gaps by using a motor to wind up the webbing. However, the triggering control logic of this solution is relatively simple, relying solely on vehicle acceleration signals for judgment, and cannot distinguish between real collision risks and non-emergency scenarios, such as bumpy roads or minor avoidance maneuvers. This can easily trigger pretensioning unnecessarily, causing the seat belt to frequently tighten around occupants, leading to user discomfort and complaints.

[0023] Another existing solution discloses a technology for triggering seatbelt pretensioning based on terrain pattern signals. Its core principle is to activate the pretensioning function according to the vehicle's current terrain mode, such as off-road mode or snow mode, and to set different pretensioning levels. This solution has relatively simple triggering conditions and limited scenarios, applicable only to specific terrain conditions and unable to cover collision risks in common scenarios such as urban roads and highways. Furthermore, this solution does not consider the driver's intentions, and pretensioning may still be triggered even when the driver has actively taken evasive action, causing unnecessary intervention.

[0024] Another existing solution discloses a graded pretensioning technique triggered by a forward collision warning signal. This solution explicitly aims to avoid unnecessary pretensioning caused by misjudged emergency braking and employs a graded strategy of primary and secondary pretensioning. The main difference between this solution and the present application is that its control logic still uses the forward collision warning signal as the core trigger condition, failing to fully consider the driver's operational intentions. Even when the driver has actively applied the brakes to avoid a hazard, this solution still executes pretensioning, resulting in an overlap of driver action and system intervention, creating a jarring effect. Furthermore, this solution does not disclose a reversible mechanism for automatically releasing pretensioning force after the danger has passed; after a false trigger or after the danger has passed, the seatbelt remains tightened, impacting the user experience.

[0025] In summary, existing technologies generally suffer from the following technical problems: the triggering conditions are too simple, making them prone to accidental triggering in non-emergency scenarios and causing disturbance to residents; the driver's operational intentions are not taken into account, resulting in a conflict between system intervention and driver's active operation; and there is a lack of a reversible release mechanism, meaning that the system cannot automatically recover after accidental triggering or when the danger has passed, affecting comfort.

[0026] Based on this, the embodiments of this application provide a vehicle safety control method, device, electronic device and medium, which aim to solve the problems in the prior art that the active seat belt webbing gap retraction function is easily triggered in non-emergency scenarios, still performs pretensioning when the driver has actively avoided danger, causing human-machine conflict, and cannot be automatically released after being triggered or the danger has been eliminated, resulting in continuous tightening.

[0027] Please see Figure 1 , Figure 1This is a flowchart illustrating a vehicle safety control method provided in an embodiment of this application. Figure 1 As shown in the embodiments of this application, the vehicle safety control method includes: Step S101: Acquire the vehicle's forward collision warning signal, driver's operation intention signal, and vehicle status signal.

[0028] Specifically, during vehicle operation, the controller acquires forward collision warning (FCW) signals, driver intention signals, and vehicle status signals in real time from forward-facing millimeter-wave radar or cameras. The FCW signal indicates whether there is a risk of a forward collision. The driver intention signal reflects the driver's current operating state, and may include brake pedal pressure, steering wheel angle change rate, and accelerator pedal opening rate. Brake pedal pressure represents the force with which the driver depresses the brake pedal; steering wheel angle change rate represents the angular velocity of the steering wheel rotation; and accelerator pedal opening rate represents the rate at which the accelerator pedal is depressed or released. The vehicle status signal characterizes the vehicle's current driving state and restraint system state, and may include vehicle speed, collision time, and webbing slack. Collision time (TTC) represents the estimated remaining time before a collision occurs between the vehicle and the vehicle in front. The webbing refers to the fabric strip of the seatbelt; webbing slack is calculated based on the extended length of the seatbelt webbing and characterizes the looseness between the seatbelt webbing and the occupant's body.

[0029] Step S102: When it is determined that there is a collision risk to the vehicle based on the forward collision warning signal, and it is determined based on the driver's operation intention signal that the driver of the vehicle has not performed active avoidance operation, the active seat belt motor of the vehicle is controlled to perform the seat belt webbing retraction action based on the vehicle status signal.

[0030] Specifically, after receiving a forward collision warning signal, the controller first determines whether there is a collision risk to the vehicle based on the signal. If no forward collision warning signal is received, or if the received signal is invalid, the controller determines that there is no collision risk and returns to step S101 to continue acquiring various vehicle signals. If a valid forward collision warning signal is received, the controller determines that there is a collision risk to the vehicle.

[0031] After determining that a collision risk exists, the controller further determines whether the driver is performing an active avoidance maneuver based on the driver's intention signal. Active avoidance maneuvers refer to emergency actions taken by the driver to avoid collision risks, specifically including at least one of emergency braking, sharp steering, and rapid release of the accelerator. The method for determining whether the driver has not performed an active avoidance maneuver based on the driver's intention signal is as follows: when the driver's intention signal meets the following conditions: brake pedal pressure is not greater than a preset pressure threshold, steering wheel angle change rate is not greater than a preset angle change rate threshold, and accelerator pedal opening change rate is not greater than a preset opening change rate threshold, it is determined that the driver has not performed an active avoidance maneuver. The preset pressure threshold can be set to 80 bar.

[0032] The controller monitors the brake pedal pressure signal in real time. When the brake pedal pressure exceeds a preset pressure threshold, it determines that the driver is performing emergency braking, i.e., the driver is taking active evasive action. At this time, the system inhibits the seat belt webbing retraction action and does not perform seat belt webbing retraction. When the brake pedal pressure does not exceed the preset pressure threshold and a valid forward collision warning signal is received, it is determined that the driver has not taken active evasive action.

[0033] It should be noted that this application uses the driver's intention as a prerequisite for triggering retraction, rather than relying solely on the forward collision warning signal. When the driver has already actively applied emergency braking or swerved to avoid collision, the system suppresses the retraction action, thus avoiding a conflict between system intervention and driver operation.

[0034] If it is determined that the driver is performing an active avoidance maneuver, the controller will not execute the subsequent seatbelt webbing retraction action, i.e., it will suppress the generation of the seatbelt webbing retraction command. As an optional implementation, when it is determined that the driver is performing an active avoidance maneuver, the forward collision warning signal and collision time can be continuously monitored for a preset time, which can be between 0.3 seconds and 0.8 seconds. If, after the preset time, it is determined based on the forward collision warning signal that the collision risk has not been eliminated, and the collision time is less than a second time threshold, the active seatbelt motor is controlled to perform the seatbelt webbing retraction action. The second time threshold is less than the preset time threshold; for example, the second time threshold can be 1.0 second. If the collision risk has been eliminated within the preset time, the seatbelt webbing retraction action is canceled.

[0035] In another example, driver intent determination includes not only the determination of emergency braking intent but also the determination of steering avoidance intent. Specifically, when the steering wheel angle change rate exceeds a preset angle change rate threshold and the same-side turn signal is simultaneously activated, the controller determines that the driver is performing active steering avoidance, i.e., the driver is performing active hazard avoidance maneuvers, and at this time, the execution of the seatbelt webbing retraction action is suppressed. By introducing the determination of steering avoidance intent, this scheme further reduces system intervention during driver active avoidance, improving the smoothness of human-machine collaboration.

[0036] If it is determined that the driver did not perform any active avoidance maneuvers, the controller further determines whether to execute the seatbelt webbing retraction action based on auxiliary conditions according to vehicle status signals. Specifically, vehicle status signals include vehicle speed, collision time, and webbing slack. The controller determines whether the vehicle speed is greater than a preset speed threshold, whether the collision time is less than a preset time threshold, and whether the webbing slack is greater than a preset slack threshold. The preset speed threshold can be set to 30 km / h, the preset time threshold can be set to 2.0 seconds, and the preset slack threshold can be set to 50 mm. When the vehicle speed is greater than the preset speed threshold, the collision time is less than the preset time threshold, and the webbing slack is greater than the preset slack threshold, the controller confirms that the current vehicle status meets the auxiliary triggering conditions and controls the active seatbelt motor to execute the seatbelt webbing retraction action. By setting the above auxiliary triggering conditions, scenarios where retraction is unnecessary, such as low speed, long distance, or when the webbing is already close to the body, can be further filtered out, reducing the probability of false triggering.

[0037] When performing seatbelt webbing retraction, this application employs a tiered control strategy, dynamically adjusting the retraction force and rate based on the urgency of the collision. Specifically, the target force and retraction rate for the seatbelt webbing retraction are determined based on the collision time. The target force and retraction rate are negatively correlated with the collision time. In other words, the shorter the collision time, the greater the target force and the faster the retraction rate. For example, when the collision time is between 1.5 and 2.0 seconds, a Level 1 warning is issued, and the controller controls the active seatbelt motor to gently retract the seatbelt at a target force of 50N and a retraction rate of 100mm / s, minimizing disturbance to the occupants while eliminating webbing slack. When the collision time is less than 1.5 seconds, a Level 2 warning is issued, and the controller controls the active seatbelt motor to rapidly retract the seatbelt at a target force of 120N and a retraction rate of 300mm / s, firmly restraining the occupants in their seats and preparing for potential collision impacts. Through this tiered and refined control, this application achieves an optimal balance between safety and comfort.

[0038] Step S103: During the seat belt webbing retraction action, a forward collision warning signal is continuously acquired. When it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force so that the seat belt webbing returns to its initial state.

[0039] During the seatbelt webbing retraction process, the controller continuously acquires forward collision warning signals and monitors the collision risk status in real time. The method for determining whether the collision risk has been eliminated is as follows: if the forward collision warning signal disappears, or the collision time returns to a safe range (e.g., the collision time is greater than 3.0 seconds), then the collision risk is determined to have been eliminated.

[0040] If the collision risk is determined to have been eliminated, the controller instructs the active seatbelt motor to release the retraction force, restoring the seatbelt webbing to its initial state. Specifically, the controller reverses the active seatbelt motor to release the retraction force, returning the seatbelt webbing to its relaxed state before receiving the forward collision warning signal. Through this reversible release mechanism, even if the system is falsely triggered, or if the collision risk has been eliminated before the retraction action is completed, the seatbelt webbing can automatically return to a relaxed state, avoiding the discomfort caused to occupants by continuous tightening.

[0041] If, during the seatbelt webbing retraction process, it is determined, based on continuously acquired forward collision warning signals, that the collision risk has not yet been eliminated, the controller will continue to execute the seatbelt webbing retraction process until it is completed, retracting the webbing to the target position to ensure that the occupant is reliably restrained in the event of a collision.

[0042] Compared with existing technologies, this application has the following beneficial effects: First, it improves triggering accuracy by combining forward collision warning signals with driver intent judgment, triggering retraction only when there is a real collision risk and the driver has not actively intervened, significantly reducing the probability of false triggering; Second, it achieves human-machine collaboration by introducing a driver operation intent recognition mechanism, which suppresses or delays the retraction action when the driver actively brakes or avoids, avoiding double intervention and improving the driving experience; Third, it provides a reversible comfort mechanism by automatically releasing the pretension force after the danger has passed, allowing the seat belt to return to its initial relaxed state and avoiding the discomfort caused by continuous tightening; Fourth, it provides graded and refined control by dynamically adjusting the retraction force and rate according to the degree of collision urgency, achieving the best balance between safety and comfort.

[0043] Based on the same inventive concept, this application also provides a vehicle safety control device corresponding to the vehicle safety control method. Since the principle of the device in this application is similar to that of the vehicle safety control method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0044] Please see Figure 2 , Figure 2 This is a schematic diagram of the vehicle safety control device provided in an embodiment of this application. Figure 2 As shown, the vehicle safety control device 200 includes: The acquisition module 201 is used to acquire the vehicle's forward collision warning signal, driver's operation intention signal, and vehicle status signal.

[0045] The execution module 202 is used to control the active seat belt motor of the vehicle to perform a seat belt webbing retraction action according to the vehicle status signal when it is determined that the vehicle has a collision risk according to the forward collision warning signal and the driver's operation intention signal determines that the driver of the vehicle has not performed an active avoidance operation.

[0046] The detection module 203 is used to continuously acquire the forward collision warning signal during the execution of the seat belt webbing retraction action, so that when it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force so that the seat belt webbing returns to its initial state.

[0047] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 3 As shown, the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0048] The memory 320 stores machine-readable instructions that can be executed by the processor 310. When the electronic device 300 is running, the processor 310 and the memory 320 communicate via the bus 330. When the machine-readable instructions are executed by the processor 310, the steps of the method described above can be performed. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0049] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of the method described above. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0050] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0051] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0052] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0053] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0054] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0055] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle safety control method, characterized in that, include: Acquire forward collision warning signals, driver's operating intention signals, and vehicle status signals; When it is determined that the vehicle is at risk of collision based on the forward collision warning signal, and it is determined that the driver of the vehicle has not performed active avoidance operation based on the driver's operation intention signal, the active seat belt motor of the vehicle is controlled to perform seat belt webbing retraction action based on the vehicle status signal. During the seat belt webbing retraction action, the forward collision warning signal is continuously acquired. When it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force, so that the seat belt webbing returns to its initial state.

2. The method according to claim 1, characterized in that, The driver was determined not to have taken active evasive action using the following methods: When the driver's intention signal satisfies the following conditions: the brake pedal pressure is not greater than a preset pressure threshold, the steering wheel angle change rate is not greater than a preset angle change rate threshold, and the accelerator pedal opening change rate is not greater than a preset opening change rate threshold, it is determined that the driver has not performed an active avoidance operation.

3. The method according to claim 1, characterized in that, The vehicle status signals include vehicle speed, collision time, and webbing slack. Specifically, the active seatbelt motor of the vehicle is controlled to perform the seatbelt webbing retraction action based on the vehicle status signal in the following manner: When the vehicle speed is greater than a preset vehicle speed threshold, the collision time is less than a preset time threshold, and the webbing slack is greater than a preset slack threshold, the active seat belt motor is controlled to perform the seat belt webbing retraction action.

4. The method according to claim 3, characterized in that, The active seatbelt motor is controlled to perform the seatbelt webbing retraction action in the following manner: The target force and recovery rate of the seat belt webbing retraction action are determined based on the collision time, wherein the target force and the recovery rate are negatively correlated with the collision time.

5. The method according to claim 3, characterized in that, Also includes: When it is determined that the driver is performing an active avoidance maneuver based on the driver's operating intention signal, the forward collision warning signal and the collision time are continuously monitored for a preset time. If, after the preset time, it is determined from the forward collision warning signal that the collision risk has not been eliminated and the collision time is less than the second time threshold, then the active seat belt motor is controlled to perform the seat belt webbing retraction action, wherein the second time threshold is less than the preset time threshold.

6. The method according to claim 2, characterized in that, Also includes: When the steering wheel angle change rate is greater than the preset angle change rate threshold, and the same-side turn signal is activated, it is determined that the driver is performing an active hazard avoidance operation.

7. A vehicle safety control device, characterized in that, include: The acquisition module is used to acquire the vehicle's forward collision warning signal, driver's operation intention signal, and vehicle status signal; The execution module is used to control the active seat belt motor of the vehicle to perform seat belt webbing retraction action according to the vehicle status signal when it is determined that the vehicle has a collision risk according to the forward collision warning signal and the driver's operation intention signal is determined that the driver of the vehicle has not performed active avoidance operation. The detection module is used to continuously acquire the forward collision warning signal during the execution of the seat belt webbing retraction action, so that when it is determined from the forward collision warning signal that the collision risk has been eliminated, the active seat belt motor is controlled to release the retraction force so that the seat belt webbing returns to its initial state.

8. The apparatus according to claim 7, characterized in that, The execution module is also used for: When the driver's intention signal satisfies the following conditions: the brake pedal pressure is not greater than a preset pressure threshold, the steering wheel angle change rate is not greater than a preset angle change rate threshold, and the accelerator pedal opening change rate is not greater than a preset opening change rate threshold, it is determined that the driver has not performed an active avoidance operation.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 6.

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