A triggering occasion determination method and related apparatus
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-11
- Publication Date
- 2026-08-11
AI Technical Summary
目前该功能的激活仅通过自车与目标车之间的距离作为判断条件，在该功能激活时容易出现与目标车之间的剐蹭、自车侧翻的情况，给车辆的安全行驶和人身安全带来了隐患
[0028]借由上述技术方案，本申请提供的触发时机确定方法，能够根据车辆和目标物之间的相对位置关系以及车辆发生侧翻的临界条件，确定出在自动紧急避让功能激活后车辆未与目标物发生接触以及未发生侧翻时，车辆和目标物之间的最小距离。然后将根据该车辆和目标物发生碰撞的预瞄距离和该最小距离进行比较，确定出车辆的自动紧急避让功能的最晚激活时刻，当在车辆的预瞄距离小于该最小距离即发生接触甚至发生侧翻的临界距离时，可选择不再激活自动紧急避让功能。进而避免与目标车辆等物体发生碰撞甚至侧翻的情况，进一步地保证了车辆和人身安全。
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Figure CN122540132A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and in particular to a method and related apparatus for determining trigger timing. Background Technology
[0002] With the continuous development of vehicle manufacturing technology, vehicles are equipped with more and more safety assistance functions. Among them, AES (Automatic Emergency Steering) can control the vehicle to make emergency steering maneuvers when the driver encounters an emergency. Currently, the activation of this function is based solely on the distance between the vehicle and the target vehicle. When this function is activated, it is easy to cause scrapes with the target vehicle or the vehicle to roll over, posing a threat to safe driving and personal safety. Summary of the Invention
[0003] In view of the above problems, this application provides a method and related device for determining the triggering timing, so as to improve vehicle and personal safety. The specific solution is as follows:
[0004] The first aspect of this application provides a method for determining the triggering timing, including:
[0005] Based on the relative positional relationship between the vehicle and the target object, and the critical condition for the vehicle to overturn, the critical distance between the vehicle and the target object is determined.
[0006] Based on the vehicle's pre-aiming distance and the critical distance, the latest activation time of the vehicle's automatic emergency avoidance function is determined. The pre-aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
[0007] In one possible implementation, determining the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn includes:
[0008] The turning radius of the vehicle is determined based on the maximum lateral acceleration that does not trigger the vehicle to roll over and the vehicle speed.
[0009] The critical distance is determined based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline. The center of the circle is the center of the circle containing the turning radius, and the centerline is an axis that passes through the center of the target object and is parallel to the direction of travel of the vehicle.
[0010] In one possible implementation, determining the turning radius of the vehicle based on the maximum lateral acceleration that does not trigger a rollover and the vehicle's speed includes:
[0011] The minimum turning radius of the vehicle is determined based on the maximum lateral acceleration and the vehicle speed.
[0012] The turning radius is determined based on the minimum turning radius and the vehicle's body width.
[0013] In one possible implementation, determining the critical distance based on a first distance from the center of the circle to the center of the target object and a second distance from the center of the circle to the centerline includes:
[0014] The first distance is obtained by adding the radius of the target object and the turning radius. The radius of the target object is the radius of the circumference obtained by magnifying the center of the target object.
[0015] In one possible implementation, determining the critical distance based on a first distance from the center of the circle to the center of the target object and a second distance from the center of the circle to the centerline includes:
[0016] The distance compensation value is determined based on the relative position of the vehicle at the time of turning with respect to the center line and the center of the circle.
[0017] The second distance is obtained based on the distance compensation value and the turning radius.
[0018] In one possible implementation, the process of determining the pre-aiming distance includes:
[0019] The aiming distance is obtained based on the distance from the rear axle center of the vehicle to the target object, the distance the target object has traveled at the predicted collision time, the length of the vehicle, and the distance the vehicle has traveled during the aiming process.
[0020] A second aspect of this application provides a triggering timing determination device, comprising:
[0021] A critical distance determination module is used to determine the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn; and,
[0022] The activation time determination module is used to determine the latest activation time of the vehicle's automatic emergency avoidance function based on the vehicle's pre-aiming distance and the critical distance. The pre-aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
[0023] A third aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the triggering timing determination method of the first aspect or any implementation thereof.
[0024] A fourth aspect of this application provides an electronic device, including at least one processor and a memory connected to the processor, wherein:
[0025] The memory is used to store computer programs;
[0026] The processor is used to execute the computer program so that the electronic device can implement the trigger timing determination method of the first aspect or any implementation thereof.
[0027] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the triggering timing determination method of the first aspect or any implementation thereof.
[0028] By employing the above technical solution, the triggering timing determination method provided in this application can determine the minimum distance between the vehicle and the target object after the automatic emergency avoidance function is activated, without the vehicle contacting the target object or causing a rollover, based on the relative positional relationship between the vehicle and the target object and the critical conditions for the vehicle to roll over. Then, by comparing the predicted collision distance between the vehicle and the target object with this minimum distance, the latest activation time of the vehicle's automatic emergency avoidance function is determined. When the predicted distance of the vehicle is less than this minimum distance—the critical distance for contact or even rollover—the automatic emergency avoidance function can be deactivated. This avoids collisions or rollovers with target vehicles and other objects, further ensuring vehicle and personal safety. Attached Figure Description
[0029] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.
[0030] Figure 1 An architecture diagram of a trigger timing determination system provided in this application;
[0031] Figure 2 An architecture diagram of a terminal provided in this application;
[0032] Figure 3 An architecture diagram of a server provided for this application;
[0033] Figure 4 A flowchart of a method for determining triggering timing provided in this application;
[0034] Figure 5 A schematic diagram of the critical distance provided for this application;
[0035] Figure 6 A schematic diagram of the aiming distance provided for this application;
[0036] Figure 7 A structural diagram of a trigger timing determination device provided in this application;
[0037] Figure 8 This is a structural diagram of an electronic device provided in this application. Detailed Implementation
[0038] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.
[0039] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.
[0040] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.
[0041] See Figure 1 , Figure 1 A schematic diagram of the architecture of a trigger timing determination system is shown. The system may include a terminal 100 and a server 200. The server 200 may include one or more servers (…). Figure 1 (The example includes a server), and the server 200 can provide the trigger timing determination method provided in the embodiments of this application to one or more terminals.
[0042] The terminal 100 can send vehicle speed, location and other parameter information to the server 200. The server 200 can obtain the processing result based on the received parameters and return the processing result to the terminal 100.
[0043] It should be understood that in some optional implementations, the terminal 100 can also complete the action of obtaining the processing result based on the received parameters on its own, without the need for the server to cooperate. This application embodiment is not limited to this.
[0044] The following description Figure 1 The product form of the mid-terminal 100;
[0045] In this application embodiment, the terminal 100 can be an ECU (Electronic Control Unit), a VCU (Vehicle Control Unit), an MCU (Micro Controller Unit), an HCU (Hybrid Control Unit), etc., and this application embodiment does not impose any restrictions on it.
[0046] Figure 2 A schematic diagram of an optional hardware structure for terminal 100 is shown.
[0047] refer to Figure 2 As shown, terminal 100 may include components such as radio frequency unit 110, memory 120, processor 130, power supply 140, and external interface 150. Those skilled in the art will understand that... Figure 2 These are merely examples of terminals or multi-functional devices and do not constitute a limitation on terminals or multi-functional devices. They may include more or fewer components than shown in the illustration, or combine certain components, or use different components.
[0048] The memory 120 can be used to store instructions and data. The memory 120 may primarily include an instruction storage area and a data storage area. The data storage area can store various types of data, such as multimedia files and text. The instruction storage area can store software units such as operating systems, applications, and instructions required for at least one function, or subsets or extended sets thereof. It may also include non-volatile random access memory. It provides the processor 130 with hardware, software, and data resources for managing the computing device, supporting control software and applications. It is also used for storing multimedia files, as well as storing running programs and applications.
[0049] The processor 130 is the control center of the terminal 100. It connects various parts of the terminal 100 via various interfaces and lines. By running or executing instructions stored in the memory 120 and calling data stored in the memory 120, it performs various functions of the terminal 100 and processes data, thereby controlling the terminal device as a whole. Optionally, the processor 130 may include one or more processing units; preferably, the processor 130 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 130. In some embodiments, the processor and memory can be implemented on a single chip; in some embodiments, they can also be implemented separately on independent chips. The processor 130 can also be used to generate corresponding operation control signals, send them to the corresponding components of the computing device, read and process data in the software, especially read and process data and programs in the memory 120, so that the various functional modules therein perform corresponding functions, thereby controlling the corresponding components to act according to the instructions.
[0050] The memory 120 can be used to store software code related to the trigger timing determination method, and the processor 130 can execute the steps of the trigger timing determination method.
[0051] The radio frequency unit 110 (optional) can be used for receiving and transmitting signals during information transmission or calls. For example, it can receive downlink information from the base station and process it for the processor 130; additionally, it can transmit uplink data to the base station. Typically, the RF circuit includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), a duplexer, etc. Furthermore, the radio frequency unit 110 can also communicate wirelessly with network devices and other devices. This wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, Short Messaging Service (SMS), etc.
[0052] In this embodiment of the application, the radio frequency unit 110 can send data to the server 200 and receive the processing results sent by the server 200.
[0053] It should be understood that the radio frequency unit 110 is optional and can be replaced with other communication interfaces, such as a network port.
[0054] The terminal 100 also includes a power supply 140 (such as a battery) that supplies power to various components. Preferably, the power supply can be logically connected to the processor 130 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.
[0055] Terminal 100 also includes an external interface 150, which can be a standard Micro USB interface or a multi-pin connector, which can be used to connect terminal 100 to other devices for communication or to connect a charger to charge terminal 100.
[0056] Although not shown, terminal 100 may also include a flash, a wireless fidelity (WiFi) module, a Bluetooth module, sensors with various functions, etc., which will not be described in detail here. Some or all of the methods described below can be applied to, for example... Figure 2 In the terminal 100 shown.
[0057] The following description Figure 1 The product form of the mid-range server 200;
[0058] Figure 3 A structural diagram of a server 200 is provided, as follows: Figure 3 As shown, server 200 includes bus 201, processor 202, communication interface 203, and memory 204. Processor 202, memory 204, and communication interface 203 communicate with each other via bus 201.
[0059] Bus 201 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 3 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.
[0060] The processor 202 can be any one or more of the following processors: central processing unit (CPU), graphics processing unit (GPU), microprocessor (MP), or digital signal processor (DSP).
[0061] Memory 204 may include volatile memory, such as random access memory (RAM). Memory 204 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).
[0062] The memory 204 can be used to store software code related to the trigger timing determination method, and the processor 202 can execute the steps of the chip's trigger timing determination method, and can also schedule other units to achieve the corresponding functions.
[0063] It should be understood that the aforementioned terminal 100 and server 200 can be centralized or distributed devices. The processors (e.g., processor 130 and processor 202) in the aforementioned terminal 100 and server 200 can be hardware circuits (such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), general-purpose processors, digital signal processors (DSPs), microprocessors or microcontrollers, etc.) or combinations of these hardware circuits. For example, the processor can be a hardware system with instruction execution capabilities, such as a CPU or DSP, or a hardware system without instruction execution capabilities, such as an ASIC or FPGA, or a combination of the aforementioned hardware systems without instruction execution capabilities and hardware systems with instruction execution capabilities.
[0064] Currently, AES activation for vehicles typically involves calculating the collision distance between the vehicle and the target vehicle based on vehicle dynamics, and then determining when to activate AES based on this distance. However, using a uniform acceleration linear model to determine the AES activation time when assessing the collision distance is overly idealistic, neglecting whether the vehicle might scrape against the target vehicle while turning or whether a rollover might occur after AES activation, posing significant safety hazards.
[0065] To address the aforementioned problems, embodiments of this application provide a method for determining triggering timing. The triggering timing determination method of this application embodiment will be described in detail below with reference to the accompanying drawings.
[0066] Reference Figure 4 , Figure 4 This is a flowchart illustrating a method for determining triggering timing provided in an embodiment of this application, as shown below. Figure 4 As shown in the embodiment of this application, a method for determining the triggering timing may include steps 401 to 402, which are described in detail below.
[0067] 401. Based on the relative positional relationship between the vehicle and the target object and the critical conditions for the vehicle to roll over, determine the critical distance between the vehicle and the target object. The critical distance is the minimum distance between the vehicle and the target object after the vehicle's automatic emergency avoidance function is activated, without the vehicle coming into contact with the target object or rolling over.
[0068] Specifically, the target object here can be a target vehicle in front of the vehicle, or other similar objects. Taking the target vehicle as an example, the relative positional relationship between the vehicle and the target vehicle can be the lateral positional relationship between them. For details, please refer to... Figure 5 As shown, A represents the center of the vehicle, O2 represents the center of the target vehicle, and the lateral positional relationship between the vehicle and the target vehicle is... Figure 5 The distance shown in 'a' is used. The critical condition for a vehicle to roll over can be the maximum lateral acceleration at which the vehicle can turn without rolling over, as shown in the reference. Figure 5 As shown, considering that the target vehicle has dimensions in actual operation and is not just a point, an expansion can be made with O2 as the center to obtain a circle representing the range of the target vehicle. The radius of the obtained circle can be determined according to the length of the target vehicle (for example, it can be half the length of the target vehicle). Further, based on vehicle kinematics, after obtaining the maximum lateral acceleration and speed of the vehicle, when the vehicle turns (refer to Figure 5, taking a right turn as an example), the position of the center O1 of the circular motion of the vehicle can be obtained. Based on this, under critical conditions, the vehicle at point A moves with a radius... The vehicle is undergoing uniform circular motion and is tangent to circle O2 at point B. This is the critical point to avoid collision. That is, after passing point A, even if the vehicle turns at its maximum steering capacity under these conditions, its turning radius will intrude into the obstacle box, posing a collision risk. Therefore, according to the Pythagorean theorem, at this point... Figure 5 The y in the equation can be approximated as the critical distance.
[0069] It is understandable that the position of the center of the circular motion of the vehicle during turning will be different depending on the direction in which the vehicle turns to the left or right, which will not be elaborated here.
[0070] 402. Based on the vehicle's advance aiming distance and critical distance, determine the latest activation time of the vehicle's automatic emergency avoidance function. The advance aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
[0071] Specifically, the anti-collision distance is the distance between the vehicle and the target vehicle at the point of impact, taking into account system latency and other factors. The anti-collision distance can be obtained from four parts: the distance from the rear axle center of the vehicle to the target object, the predicted distance the target object has traveled at the moment of collision, the length of the vehicle, and the distance the vehicle has traveled during the anti-collision process. For details, please refer to... Figure 6 The following shows the calculation process for the pre-aiming distance between the vehicle and the target vehicle, using the target vehicle as an example:
[0072]
[0073] in Indicates the aiming distance. This indicates the distance from the center of the rear axle of the vehicle to the target vehicle. This indicates the distance the target vehicle has traveled when the vehicle collides with it. Indicates the length of the vehicle. This indicates the distance the vehicle travels due to delays during the aiming process.
[0074] The latest activation time is determined by checking if the vehicle's aiming distance is less than the critical distance (i.e., the latest turning distance). When the aiming distance and the critical distance are equal, it indicates that the latest activation time for AES has been reached. Activating AES when the aiming distance exceeds this critical distance can easily lead to a collision with the target vehicle or even a rollover of the vehicle. Therefore, AES will not be activated after this latest activation time to ensure the safety of the vehicle and its occupants.
[0075] In a specific embodiment, to accurately and quickly determine the critical distance, step 401 above, which involves determining the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn, may specifically include:
[0076] Step 11: Determine the turning radius of the vehicle based on the maximum lateral acceleration that did not trigger a rollover and the vehicle speed.
[0077] Step 12: Determine the critical distance based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline. The center of the circle is the center of the turning radius, and the centerline is the axis that passes through the center of the target object and is parallel to the direction of travel of the vehicle.
[0078] Specifically, refer to Figure 5 As shown, with the target vehicle's center O2 as the center and the radius as... Inflate the target vehicle's box. To prevent the vehicle from overturning, the maximum lateral acceleration when AES is triggered is set to... (Generally 6m / s) 2 The current speed of the vehicle is .
[0079] From the vehicle's kinematic equations, the vehicle's acceleration can be obtained as:
[0080]
[0081] in, For the vehicle's acceleration, Angular velocity, measured in rad / s.
[0082] Based on the maximum lateral acceleration and vehicle speed, the minimum turning radius of the vehicle is determined as follows:
[0083]
[0084] in, This is the minimum turning radius.
[0085] Based on this, the minimum turning radius determined by considering the vehicle's body width is:
[0086]
[0087] in, This refers to the width of the vehicle.
[0088] In the critical situation where a rollover occurs, the vehicle at point A uses the minimum turning radius obtained above. The vehicle is moving in uniform circular motion and is tangent to circle O2 at point B. This is the critical point to avoid collision. That is, after passing point A, even if the vehicle turns at its maximum steering capacity under these conditions, its turning radius will intrude into the target vehicle's box, posing a collision risk. The first distance can be obtained by adding the target object's radius and the turning radius, where the target object's radius is the radius of the circle obtained by magnifying the target object's center.
[0089] Considering that the vehicle might be to the left or right of the target vehicle's centerline, a distance compensation value is determined based on the vehicle's position relative to the centerline and the center of the circle during the turn. Then, based on this distance compensation value and the turning radius, a second distance is obtained. (Refer to...) Figure 6 As shown, with the vehicle to the left of the centerline (point A), the lateral relative position of the vehicle and the target vehicle is:
[0090]
[0091]
[0092] in, Let A be the distance from point A to the center line.
[0093] Then, according to the Pythagorean theorem, the critical distance y can be obtained as:
[0094] =
[0095] Therefore, the longitudinal distance between point A of the vehicle and the target vehicle is approximated as y.
[0096] The above describes a method for determining the triggering timing provided by an embodiment of this application. The following describes the apparatus for performing the above-described method for determining the triggering timing.
[0097] Please see Figure 7 , Figure 7 This is a schematic diagram of a trigger timing determination device provided in an embodiment of this application. Figure 7 As shown, the trigger timing determination device includes:
[0098] The critical distance determination module 701 is used to determine the critical distance between the vehicle and the target object based on the relative positional relationship between them and the critical conditions for the vehicle to overturn.
[0099] The activation time determination module 702 is used to determine the latest activation time of the vehicle's automatic emergency avoidance function based on the vehicle's pre-aiming distance and critical distance. The pre-aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
[0100] In one possible implementation, the critical distance determination module 701 determines the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn, including:
[0101] The turning radius of the vehicle is determined based on the maximum lateral acceleration that caused the vehicle to roll over without triggering the rollover and the vehicle speed.
[0102] The critical distance is determined based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline. The center of the circle is the center of the turning radius, and the centerline is the axis that passes through the center of the target object and is parallel to the direction of travel of the vehicle.
[0103] In one possible implementation, the critical distance determination module 701 determines the turning radius of the vehicle based on the maximum lateral acceleration that does not trigger a rollover and the vehicle's speed, including:
[0104] The minimum turning radius of the vehicle is determined based on the maximum lateral acceleration and vehicle speed.
[0105] The turning radius is determined based on the minimum turning radius and the vehicle's width.
[0106] In one possible implementation, the critical distance determination module 701 determines the critical distance based on a first distance from the center of the circle to the center of the target object and a second distance from the center of the circle to the centerline, including:
[0107] Add the target radius and the turning radius to get the first distance. The target radius is the radius of the circle obtained by magnifying the target center.
[0108] In one possible implementation, the critical distance determination module 701 determines the critical distance based on a first distance from the center of the circle to the center of the target object and a second distance from the center of the circle to the centerline, including:
[0109] The distance compensation value is determined based on the vehicle's position relative to the center line and the center of the circle when it is turning;
[0110] The second distance is obtained based on the distance compensation value and the turning radius.
[0111] In one possible implementation, the process of determining the pre-aiming distance in the activation time determination module 702 includes:
[0112] The aiming distance is obtained based on the distance from the rear axle center of the vehicle to the target, the distance the target has traveled at the predicted moment of collision, the length of the vehicle, and the distance the vehicle has traveled during the aiming process.
[0113] This application also provides an electronic device in its embodiments. (See reference...) Figure 8The diagram illustrates a structural schematic suitable for implementing the electronic devices in the embodiments of this application. The electronic devices in the embodiments of this application may include, but are not limited to, ECU (Electronic Control Unit), VCU (Vehicle Control Unit), MCU (Micro Controller Unit), HCU (Hybrid Control Unit), etc. Figure 8 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.
[0114] like Figure 8 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803. When the electronic device is powered on, the RAM 803 also stores various programs and data required for the operation of the electronic device. The processing unit 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.
[0115] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 808 including, for example, memory cards, hard drives, etc.; and communication devices 809. Communication device 809 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.
[0116] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the trigger timing determination methods provided in this application.
[0117] This application also provides a computer-readable storage medium that carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the trigger timing determination methods provided in this application.
[0118] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.
[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0120] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.
[0121] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).
Claims
1. A method for determining triggering timing, characterized in that, include: Based on the relative positional relationship between the vehicle and the target object, and the critical condition for the vehicle to overturn, the critical distance between the vehicle and the target object is determined. Based on the vehicle's pre-aiming distance and the critical distance, the latest activation time of the vehicle's automatic emergency avoidance function is determined. The pre-aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
2. The method of determining a triggering occasion according to claim 1, characterized in that, The step of determining the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn includes: The turning radius of the vehicle is determined based on the maximum lateral acceleration that does not trigger the vehicle to roll over and the vehicle speed. The critical distance is determined based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline. The center of the circle is the center of the circle containing the turning radius, and the centerline is an axis that passes through the center of the target object and is parallel to the direction of travel of the vehicle.
3. The method of determining a triggering occasion according to claim 2, characterized in that, The step of determining the turning radius of the vehicle based on the maximum lateral acceleration that does not trigger a rollover and the vehicle's speed includes: The minimum turning radius of the vehicle is determined based on the maximum lateral acceleration and the vehicle speed. The turning radius is determined based on the minimum turning radius and the vehicle's body width.
4. The method of determining a triggering occasion according to claim 2 or 3, wherein, Determining the critical distance based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline includes: The first distance is obtained by adding the radius of the target object and the turning radius. The radius of the target object is the radius of the circumference obtained by magnifying the center of the target object.
5. The method for determining the triggering timing according to claim 2 or 3, characterized in that, Determining the critical distance based on the first distance from the center of the circle to the center of the target object and the second distance from the center of the circle to the centerline includes: The distance compensation value is determined based on the relative position of the vehicle at the time of turning with respect to the center line and the center of the circle. The second distance is obtained based on the distance compensation value and the turning radius.
6. The method for determining the triggering timing according to any one of claims 1 to 5, characterized in that, The process of determining the pre-aiming distance includes: The aiming distance is obtained based on the distance from the rear axle center of the vehicle to the target object, the distance the target object has traveled at the predicted collision time, the length of the vehicle, and the distance the vehicle has traveled during the aiming process.
7. A triggering timing determination device, characterized in that, include: The critical distance determination module is used to determine the critical distance between the vehicle and the target object based on the relative positional relationship between the vehicle and the target object and the critical condition for the vehicle to overturn. as well as, The activation time determination module is used to determine the latest activation time of the vehicle's automatic emergency avoidance function based on the vehicle's pre-aiming distance and the critical distance. The pre-aiming distance is the distance from the vehicle to the target position, and the target position is the predicted location where the vehicle and the target object will collide.
8. A computer program product, characterized in that, It includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the trigger timing determination method as described in any one of claims 1 to 6.
9. An electronic device, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the electronic device to implement the trigger timing determination method as described in any one of claims 1 to 6.
10. A computer storage medium, characterized in that, The storage medium carries one or more computer programs that, when executed by an electronic device, enable the electronic device to implement the trigger timing determination method as described in any one of claims 1 to 6.