Vehicle control method, device, domain controller and vehicle

Abstract

The application relates to a vehicle control method, device, domain controller and vehicle, wherein the vehicle control method comprises the following steps: determining a vehicle collision warning level based on an estimated collision time of the vehicle; matching a vehicle table board storage strategy based on the vehicle collision warning level; and controlling the vehicle to execute the vehicle table board storage strategy, so that the vehicle completes a table board storage action. In this way, by taking the estimated collision time as the grading basis to divide the collision warning level, and by matching and executing the corresponding vehicle table board storage strategy according to the warning level, the table board storage action can be completed in time before the collision occurs, so that the table board can be timely stored in the collision scene, the impact risk of the table board in the collision process is avoided, and the vehicle collision safety protection performance is effectively improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to vehicle control methods, devices, domain controllers, and vehicles. Background Technology

[0002] With the continuous improvement of automotive intelligence, foldable tray tables integrated into vehicle seats have become a common feature in family cars, commercial vehicles, and other vehicles. With their flexible folding and small space-saving features, they can provide passengers with a temporary place to put on while the vehicle is in motion, making it convenient for passengers to do work, eat, and perform other operations, significantly improving passenger comfort and convenience.

[0003] However, when a collision occurs while the vehicle is in motion, the existing small table structure lacks an effective active response mechanism and cannot promptly retract the small table into its folded position.

[0004] There is currently no effective solution to the problem of the small table not being able to be stored in a timely manner in collision scenarios in related technologies. Summary of the Invention

[0005] This embodiment provides a vehicle control method, device, domain controller, and vehicle, designed to promptly store a small table in a collision scenario.

[0006] Firstly, this embodiment provides a vehicle control method, the vehicle control method comprising:

[0007] The vehicle collision warning level is determined based on the estimated time of collision.

[0008] A vehicle table storage strategy is matched based on the vehicle collision warning level.

[0009] Control the vehicle to execute the vehicle table storage strategy so that the vehicle completes the vehicle table storage action.

[0010] Secondly, this embodiment provides a vehicle control device, the vehicle control device comprising:

[0011] The detection module is used to determine the vehicle collision warning level based on the vehicle's estimated collision time;

[0012] The matching module is used to match the vehicle table storage strategy based on the vehicle collision warning level;

[0013] The control module is used to control the vehicle to execute the vehicle table storage strategy so that the vehicle can complete the vehicle table storage action.

[0014] Thirdly, this embodiment provides a domain controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle control method described in the first aspect above.

[0015] Fourthly, this embodiment provides a vehicle that includes the domain controller described in the third aspect above.

[0016] Compared with related technologies, the vehicle control method, device, domain controller, and vehicle provided in this embodiment specifically include: determining the vehicle collision warning level based on the vehicle's estimated collision time; matching an onboard table storage strategy based on the vehicle collision warning level; and controlling the vehicle to execute the onboard table storage strategy to enable the vehicle to complete the onboard table storage action. In this way, by classifying collision warning levels based on the estimated collision time and matching and executing corresponding onboard table storage strategies according to the warning level, it is possible to ensure that the table storage action is completed in time before a collision occurs, thereby achieving timely storage of the onboard table in a collision scenario, avoiding the impact risk posed by the table during the collision, and effectively improving the overall vehicle collision safety performance.

[0017] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 This is a flowchart of an embodiment of the vehicle control method provided in this application;

[0020] Figure 2 This is a flowchart of Embodiment 2 of the vehicle control method provided in this application;

[0021] Figure 3 This is a flowchart of Embodiment 3 of the vehicle control method provided in this application;

[0022] Figure 4 This is a flowchart of Embodiment 4 of the vehicle control method provided in this application;

[0023] Figure 5 This is a flowchart of Embodiment 5 of the vehicle control method provided in this application;

[0024] Figure 6 This is a flowchart of Embodiment Six of the vehicle control method provided in this application;

[0025] Figure 7 This is a flowchart of Embodiment Seven of the vehicle control method provided in this application;

[0026] Figure 8 This is a flowchart of Embodiment 8 of the vehicle control method provided in this application;

[0027] Figure 9 This is a flowchart of Embodiment Nine of the vehicle control method provided in this application;

[0028] Figure 10 This is a flowchart of Embodiment 10 of the vehicle control method provided in this application;

[0029] Figure 11 This is a structural block diagram of the vehicle control device provided in this application. Detailed Implementation

[0030] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0031] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these” used in this application do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to these processes, methods, products, or devices. Words such as “connected,” “linked,” and “coupled” used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. “Multiple” used in this application refers to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. Normally, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," "third," etc., used in this application are merely to distinguish similar objects and do not represent a specific order of objects.

[0032] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0033] Figure 1This is a flowchart of an embodiment of the vehicle control method provided in this application. Please refer to... Figure 1 The method provided in this embodiment may include the following steps:

[0034] Step S101: Determine the vehicle collision warning level based on the vehicle's estimated collision time.

[0035] In practice, the estimated time to collision (TTC) of the vehicle is obtained from the vehicle's automatic emergency braking (AEB) system. The estimated time to collision refers to the remaining time before the vehicle collides with other road users around the vehicle.

[0036] Furthermore, the vehicle collision warning level is determined based on the estimated collision time. For example, if the estimated collision time between the vehicle and other road users is less than a first preset collision time threshold (e.g., 2.5 seconds), the vehicle collision warning level is determined to be an emergency collision risk; if the estimated collision time between the vehicle and other road users is greater than or equal to the first preset collision time threshold but less than a second preset collision time threshold (e.g., 4.5 seconds), the vehicle collision warning level is determined to be a general collision risk. The emergency collision risk indicates a higher degree of urgency in the collision between the vehicle and other road users than the general collision risk.

[0037] Step S102: Match the vehicle table storage strategy based on the vehicle collision warning level.

[0038] Specifically, based on the vehicle's collision warning level and the correspondence between the preset collision warning level and the in-vehicle table storage strategy, the in-vehicle table storage strategy matching the vehicle's collision warning level is determined.

[0039] Based on the previous examples, when the vehicle collision warning level is a general collision risk, the strategy for storing the in-vehicle table includes controlling the in-vehicle table to fold at a first folding speed to a preset folding position; when the vehicle collision warning level is an emergency collision risk, the strategy for storing the in-vehicle table includes controlling the vehicle to issue an urgent buzzer alarm and controlling the in-vehicle table to fold at a second folding speed to a preset folding position, wherein the second folding speed is greater than the first folding speed.

[0040] Step S103: Control the vehicle to execute the vehicle table storage strategy so that the vehicle completes the vehicle table storage action.

[0041] In this step, after determining a vehicle tray table folding strategy that matches the current vehicle collision warning level, a corresponding control command is generated based on this strategy and sent to the vehicle tray table's drive actuator. This control actuator then performs the corresponding folding action according to the folding action parameters indicated by the vehicle tray table folding strategy. The folding action parameters indicated by the vehicle tray table folding strategy include, but are not limited to, folding speed and folding position. The folding position refers to the target stopping position reached by the vehicle tray table after performing the folding action, which can be characterized by the angle between the vehicle tray table and the seat back.

[0042] The vehicle control method provided in this embodiment determines the vehicle collision warning level based on the estimated collision time and matches an onboard table storage strategy based on the collision warning level. This allows the vehicle to execute the onboard table storage strategy, enabling the vehicle to complete the onboard table storage action. By determining the collision warning level based on the estimated collision time and matching the corresponding onboard table storage strategy according to the warning level, the method ensures that the table storage action is completed in time before a collision occurs. This effectively achieves timely storage of the onboard table in a collision scenario, avoiding the impact risk posed by the table during the collision and effectively improving the overall vehicle collision safety performance.

[0043] Figure 2 This is a flowchart of Embodiment 2 of the vehicle control method provided in this application. Please refer to... Figure 2 Based on the above embodiments, before matching the in-vehicle table storage strategy according to the vehicle collision warning level, the vehicle control method further includes:

[0044] Step S201: Detect whether there is an occupant on each seat in the vehicle, and when there is an occupant on any seat, detect whether the on-board table for the occupant is in the unfolded state.

[0045] Specifically, the system acquires seat occupancy signals from the occupancy sensors in each seat, indicating whether an occupant is present in the seat. Further, when the seat occupancy signal indicates the presence of an occupant, the system identifies the pre-associated in-vehicle table as the occupant's designated table and checks whether it is in an unfolded state. For example, the small table on the driver's seat back is pre-associated with the rear seat directly behind the driver, and the small table on the front passenger seat back is pre-associated with the rear seat directly behind the front passenger.

[0046] It should be noted that, in this embodiment, a limit switch for indicating the opening and closing of the vehicle table is provided at the pivot point of the vehicle table. When the seat occupancy signal indicates that there is a passenger in the seat, the limit switch signal on the vehicle table pre-associated with the seat is obtained. If the limit switch signal is 1, it is determined that the vehicle table is in the unfolded state; if the limit switch signal is 0, it is determined that the vehicle table is not in the unfolded state.

[0047] Step S202: When the vehicle-mounted table for passenger use is in the unfolded state, a vehicle-mounted table storage strategy is matched based on the vehicle collision warning level.

[0048] For example, when the in-vehicle tray table for passenger use is in the unfolded state, if the vehicle collision warning level is a general collision risk, the corresponding tray table folding strategy includes controlling the tray table to fold to a preset position and applying pretension to the seat belts used by the occupants. If the vehicle collision warning level is an emergency collision risk, the corresponding tray table folding strategy includes controlling the tray table to fold to a preset position and controlling the deployment of the airbag located in the seat where the tray table is located.

[0049] The method provided in this embodiment, by adding occupant detection and table status detection steps before performing the folding strategy matching, ensures that the subsequent folding strategy matching and execution process is triggered only when an occupant is present and the table used by that occupant is in an unfolded state. This avoids performing unnecessary control actions when there are no occupants or when the table is already folded. Therefore, it provides an accurate triggering condition for timely folding of the small table in a collision scenario, while effectively reducing the risk of occupant injury.

[0050] Figure 3 This is a flowchart of Embodiment 3 of the vehicle control method provided in this application. Please refer to... Figure 3 Based on the above embodiments, the vehicle collision warning level is determined based on the vehicle's estimated collision time, including:

[0051] Step S301: Determine the relative speed between the vehicle and other traffic participants at the time of the expected collision.

[0052] Specifically, the relative speed between the vehicle and the target object (i.e., other road users at the estimated time of collision) can be obtained through the vehicle's automatic emergency braking system. This relative speed is calculated in real time by the automatic emergency braking system based on the vehicle's speed, the target object's speed, and the relative distance between the two vehicles, collected by onboard sensors. If the vehicle and the target object are traveling in the same direction, the relative speed is the difference between their speeds; if they are traveling in opposite directions, the relative speed is the sum of their speeds.

[0053] Step S302: When the expected collision time is within a first preset time range, or when the expected collision time is within a second preset time range and the relative vehicle speed is less than or equal to a preset speed threshold, determine the vehicle collision warning level as Level 1 collision risk; wherein, the maximum value of the second preset time range is less than the minimum value of the first preset time range.

[0054] For example, when 4s≥TTC>2.5s (the vehicle braking system has not yet intervened), or 2.5s≥TTC>1s (AEB has usually requested the application of partial braking force), and the relative vehicle speed v≤30km / h, the vehicle collision warning level is determined to be a Level 1 collision risk.

[0055] Step S303: When the expected collision time falls within the second preset time range and the relative vehicle speed is greater than the preset speed threshold, the vehicle collision warning level is determined to be a level two collision risk.

[0056] Based on the previous example, when 2.5s≥TTC>1s and the relative vehicle speed v>30km / h, the vehicle collision warning level is determined to be Level 2 collision risk. Level 2 collision risk indicates that the urgency of a collision between the vehicle and other traffic participants is higher than that of Level 1 collision risk.

[0057] Step S304: When the expected collision time falls within the third preset time range, the vehicle collision warning level is determined to be a level three collision risk. The maximum value of the third preset time range is less than the minimum value of the second preset time range, and the level one, level two, and level three collision risks represent the urgency of a collision between the vehicle and other traffic participants around the vehicle in that order.

[0058] Based on the previous example, when TTC≤1s, the vehicle collision warning level is determined to be Level 3 collision risk. Level 3 collision risk indicates that the urgency of a collision between the vehicle and other traffic participants is higher than that of Level 2 collision risk.

[0059] It should be noted that this embodiment does not specifically limit the number of collision warning levels or the method of their classification. In practical applications, multiple collision warning levels can be flexibly set according to the vehicle's safety strategy and other requirements. Furthermore, the specific values ​​in the above examples are for illustrative purposes only and do not constitute a limitation on the scope of protection of this application. The actual values ​​of the first preset time range, the second preset time range, and the preset speed threshold can be adaptively set according to the vehicle's braking capability, sensor performance, and safety design objectives.

[0060] The method provided in this embodiment obtains the estimated collision time and relative speed between the vehicle and surrounding traffic participants, and subdivides the collision risk into three progressively increasing levels based on the estimated collision time and relative speed. This allows for the precise matching of differentiated containment strategies in scenarios with varying degrees of urgency. Simultaneously, it facilitates proactive pre-collision intervention and refined, tiered protection.

[0061] Figure 4 The flowchart is for Embodiment 4 of the vehicle control method provided in this application. Please refer to... Figure 4 Based on the above embodiments, a vehicle-mounted table storage strategy is matched according to the vehicle collision warning level, including:

[0062] Step S401: When the vehicle collision warning level is Level 1 collision risk, the first preset storage strategy is determined as the vehicle table storage strategy; wherein, the first preset storage strategy includes at least one of the following strategies: triggering the vehicle table folding prompt and controlling the vehicle table to enter the pre-folding state.

[0063] Specifically, when the vehicle collision warning level is Level 1 collision risk, a first preset storage strategy is adopted. For example, the first preset storage strategy includes triggering a prompt to fold the in-vehicle table. Another example is triggering a prompt to fold the in-vehicle table (such as broadcasting "Please fold the table" via the in-vehicle voice system, or displaying a table folding icon on the vehicle's dashboard or central control screen), and controlling the in-vehicle table to enter a pre-folding state. The pre-folding state refers to energizing the table's ignition device, putting the ignition device into a standby state, thereby triggering the table's rapid folding mechanism in a very short time.

[0064] Therefore, in situations where the urgency of a collision between the vehicle and other road users is relatively low, timely reminders can prompt occupants to fold the in-vehicle tray table. This also allows the tray table folding mechanism to enter a preparatory state in advance, which helps to shorten the response delay for forced folding when the risk escalates, thus improving the effectiveness of pre-collision protection.

[0065] Step S402: When the vehicle collision warning level is Level 2 collision risk, determine the relevant status information of the vehicle table and determine the vehicle table storage strategy based on the relevant status information; the relevant status information includes the current distance between the occupant and the vehicle table for the occupant's use, and / or whether there are heavy objects on the vehicle table.

[0066] Specifically, when the vehicle collision warning level is Level 2 collision risk, the current distance between the occupant and the in-vehicle table for the occupant's use is determined in advance, and / or, it is determined whether there are heavy objects on the in-vehicle table.

[0067] It should be noted that there are several ways to determine the current distance between the passenger and the onboard table for the passenger's use.

[0068] For example, an ultrasonic or infrared distance sensor can be installed on the edge of the vehicle table facing the passenger. The sensor emits pulses in the direction of the passenger and measures the straight-line distance between the passenger's body and the edge of the table based on the echo time. This is the current distance between the passenger and the vehicle table for the passenger's use.

[0069] For example, in one embodiment, a multi-angle image sequence of the vehicle interior space is acquired; the multi-angle image sequence includes multiple images of the vehicle interior from different shooting angles; based on the multi-angle image sequence, a three-dimensional model of the vehicle interior space is established; the midpoint of the edge of the vehicle-mounted table facing the occupant in the three-dimensional model, and a target feature point on the occupant's body surface facing the vehicle-mounted table that is at the same horizontal height as the midpoint are identified; the first coordinate of the midpoint and the second coordinate of the target feature point are determined, and the current distance is determined based on the first coordinate and the second coordinate.

[0070] In practice, multiple cameras deployed inside the vehicle cabin simultaneously capture multiple images of the vehicle's interior from different perspectives, forming a multi-angle image sequence. Then, feature points are extracted from each image and matched to reconstruct a 3D point cloud or mesh model of the vehicle's interior space. Within this 3D model, the midpoint of the edge of the vehicle's tray table facing the occupant is identified (serving as a reference point for the table end). Simultaneously, target feature points on the surface of the occupant's body facing the tray table are identified. The midpoint of the edge and the target feature points are at the same horizontal level. Based on the first coordinate of the midpoint and the second coordinate of the target feature points, the current distance between the occupant and the vehicle's tray table is calculated.

[0071] In this way, by using a three-dimensional model of the vehicle's interior space, the current distance between the occupant and the onboard table can be accurately calculated, and it can adapt to different sitting postures of the occupant and different unfolding angles of the table, thereby improving the stability and reliability of distance calculation.

[0072] Furthermore, there are multiple ways to determine whether there are heavy objects on the vehicle's table.

[0073] For example, a pressure sensor is installed below the upper surface of the vehicle-mounted table. When the pressure detected by the pressure sensor is greater than a preset pressure threshold, it is determined that there is a heavy object on the vehicle-mounted table; when the pressure detected by the pressure sensor is less than or equal to the preset pressure threshold, it is determined that there is no heavy object on the vehicle-mounted table.

[0074] For example, in one embodiment, the current weight of the vehicle table is obtained from the weight sensor deployed on the vehicle table; the deviation between the current weight and the preset weight of the vehicle table is determined; when the deviation is greater than or equal to a preset deviation threshold, it is determined that there is a heavy object on the vehicle table; when the deviation is less than the preset deviation threshold, it is determined that there is no heavy object on the vehicle table.

[0075] In practice, a weight sensor is integrated into the pivot bracket of the vehicle-mounted table or the support structure at the bottom of the table. The weight sensor collects the current weight borne by the table in real time. A preset weight is obtained beforehand when the table is unloaded (or when only light objects are placed on the table). After obtaining the current weight, the deviation between the current weight and the preset weight is calculated. If the deviation is greater than or equal to a preset deviation threshold, it is determined that there are heavy objects on the vehicle-mounted table; if the deviation is less than the preset deviation threshold, it is determined that there are no heavy objects on the vehicle-mounted table.

[0076] Furthermore, when the vehicle collision warning level is Level 2 collision risk, a second preset storage strategy is adopted. For example, if heavy objects (such as laptops, water cups, etc.) are detected on the in-vehicle table, indicating that the automatically folding table may pinch the occupant's fingers or cause heavy objects to fly and injure people, the second preset storage strategy includes issuing a heavy object removal prompt (such as broadcasting "Please remove the items on the table immediately" through the vehicle's voice system) and prohibiting the in-vehicle table from performing the folding action to avoid blindly folding and causing injury to the occupant; if no heavy objects are detected on the in-vehicle table, indicating that there is sufficient safety clearance between the occupant and the table, and there are no items on the table that may fly or get stuck, the second preset storage strategy includes controlling the in-vehicle table to fold to a preset position and applying pretension to the seat belt used by the occupant.

[0077] Step S403: When the vehicle collision warning level is a level three collision risk, the second preset storage strategy is determined as the vehicle table storage strategy; wherein, the second preset storage strategy includes: sending a detonation command to the detonator of a designated control object, so that the detonator detonates upon receiving the detonation command, and causing the designated control object to perform the action corresponding to the detonation of the detonator; the designated control object includes at least one of the following objects: the vehicle table, the airbag in the seat where the vehicle table is located, and the seat belt used by the occupant.

[0078] Specifically, when the vehicle tray's storage strategy is based on a Level 3 collision risk, a third preset storage strategy is adopted. For example, the second preset storage strategy includes sending corresponding detonation commands to the tray's detonator and the airbag in the seat where the tray is located, causing the detonators to detonate upon receiving the commands, thereby controlling the tray to fully fold and the airbag in the seat to deploy and cover the tray. As another example, the second preset storage strategy includes sending corresponding detonation commands to the tray's detonator, the airbag in the seat where the tray is located, and the seatbelt's detonator, causing the detonators to detonate upon receiving the commands, thereby controlling the tray to fully fold, the airbag in the seat to deploy and cover the tray, and the seatbelt to fully tighten.

[0079] It's important to note that in-vehicle table folding strategies are not limited to physically folding the table. Rather, they involve a series of actions taken in collision-risk scenarios to mitigate the impact risks posed by the in-vehicle table during a collision. These actions include, but are not limited to, triggering a folding warning, putting the table into a pre-folding state, folding the table to a preset position, and preventing folding due to close proximity of occupants. The purpose of all these different in-vehicle table folding strategies is to avoid the risk of impact from the in-vehicle table.

[0080] The method provided in this embodiment significantly improves the overall protection effectiveness and intelligence level of the vehicle in the pre-collision stage by customizing differentiated storage strategies for each collision warning level. Specifically, under the first-level collision risk, mild prompts and pre-preparation actions guide occupants to participate in protection decisions. Under the second-level collision risk, intelligent decisions are made in conjunction with the status of the tray table to avoid injury. Under the third-level collision risk, multiple actuators such as the tray table, airbags, and seat belts are linked to perform point-deployment instantaneous protection.

[0081] Figure 5 The flowchart for Embodiment 5 of the vehicle control method provided in this application is shown below. Please refer to... Figure 5 Based on the above embodiments, the relevant status information includes the current distance between the passenger and the vehicle-mounted table for the passenger's use, and whether there are heavy objects on the vehicle-mounted table; the vehicle-mounted table storage strategy is determined based on the relevant status information, including:

[0082] Step S501: When the current distance is less than or equal to the first preset distance threshold, the third preset storage strategy is determined as the vehicle table storage strategy; wherein, the third preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing the folding action, applying a first pretension force to the seat belt, and triggering a vehicle collision warning.

[0083] For example, when the current distance is less than or equal to a first preset distance threshold (e.g., 50mm), the third preset storage strategy is determined to include prohibiting the in-vehicle table from folding. As another example, when the current distance is less than or equal to the first preset distance threshold, the third preset storage strategy is determined to include prohibiting the in-vehicle table from folding and applying a first pretension force to the seatbelt. Yet another example, when the current distance is less than or equal to the first preset distance threshold, the third preset storage strategy is determined to include prohibiting the in-vehicle table from folding, applying a first pretension force to the seatbelt, and triggering a vehicle collision warning.

[0084] The first pretension force can be the maximum pretension force of the seat belt, or it can be a custom-set pressure value. For example, the first pretension force is 300N.

[0085] It should be noted that by preventing the in-vehicle table from folding, it is possible to prevent the table from automatically folding and causing injury to the occupant. By applying an initial pretension force to the seatbelt, the occupant's forward lean can be effectively restrained, reducing their contact with the in-vehicle table and thus increasing the safe distance. In addition, by triggering a vehicle collision warning, occupants can be reminded to actively move away from the table.

[0086] Step S502: When the current distance is greater than the first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fourth preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing the folding action, applying a first pretension force to the seat belt, and triggering a heavy object removal prompt.

[0087] For example, when the current distance is greater than a first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined to include prohibiting the vehicle table from folding. As another example, when the current distance is greater than the first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined to include prohibiting the vehicle table from folding and triggering a heavy object removal prompt. Yet another example, when the current distance is greater than the first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined to include prohibiting the vehicle table from folding, applying a first pretension force to the seatbelt, and triggering a heavy object removal prompt.

[0088] Step S503: When the current distance is greater than the first preset distance threshold and there are no heavy objects on the vehicle table, the fifth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fifth preset storage strategy includes at least one of the following strategies: controlling the vehicle table to fold up to a position at a preset angle with the seat back and applying a second pretension force to the seat belt; wherein, the second pretension force is less than the first pretension force.

[0089] For example, when the current distance is greater than a first preset distance threshold and there are no heavy objects on the vehicle table, the fifth preset storage strategy is determined to include controlling the vehicle table to fold up to a position at a preset angle with the seat back. As another example, when the current distance is greater than the first preset distance threshold and there are no heavy objects on the vehicle table, the fifth preset storage strategy is determined to include controlling the vehicle table to fold up to a position at a preset angle with the seat back and applying a second pretension force to the seat belt (e.g., the second pretension force is 200N).

[0090] It's important to note that in-vehicle table folding strategies are not limited to physically folding the table. Rather, they involve a series of actions taken in collision scenarios to mitigate the impact risks posed by the in-vehicle table during a collision. These actions include, but are not limited to, folding the table to a preset position, preventing the table from folding, applying pretension to the seatbelt, triggering a vehicle collision warning, and triggering a heavy object removal warning. The purpose of all these different in-vehicle table folding strategies is to avoid the risk of impact from the in-vehicle table.

[0091] The method provided in this embodiment further detects the distance between the occupant and the table and whether there are heavy objects on the table under the secondary collision risk, and matches differentiated storage strategies accordingly. This enables accurate perception and decision-making regarding the individual status of the occupant and environmental items in medium-risk scenarios, further improving the intelligence level of pre-collision protection for vehicles.

[0092] Figure 6 This is a flowchart of Embodiment Six of the vehicle control method provided in this application. Please refer to... Figure 6 Based on the above embodiments, an airbag is provided inside the backrest of the seat where the vehicle table is located, and the installation height of the airbag on the backrest is greater than the installation height of the vehicle table on the backrest; the vehicle table storage strategy includes controlling the airbag in the seat where the vehicle table is located to cover the vehicle table; controlling the airbag in the seat where the vehicle table is located to cover the vehicle table includes:

[0093] Step S601: Determine the current distance between the occupant and the onboard table for the occupant's use.

[0094] It should be noted that the vehicle table storage strategy is not limited to controlling the table to perform physical folding actions, but rather a series of operations performed in collision risk scenarios to avoid the impact risk brought by the vehicle table during a collision. This may include controlling the deployment of the airbag in the seat where the vehicle table is located to cover the vehicle table.

[0095] Furthermore, the method for calculating the current distance between the occupant and the vehicle-mounted table in this step can be found in the relevant description in step S402, and will not be repeated here.

[0096] Step S602: When the current distance is greater than or equal to the second preset distance threshold, control the airbag to deploy with the first inflation volume and cover the vehicle table.

[0097] It should be noted that the installation height of the vehicle table on the backrest refers to the height of the upper edge of the table when it is fully folded and pressed against the backrest. The airbag itself mainly consists of a generator, shell, and airbag, and is located inside the seat back. Upon receiving a detonation command, the airbag pops out from the seat back and inflates rapidly, forming a cushioning airbag shape. The inflated airbag covers the small table, placing it within the airbag's envelope, while providing cushioning protection for rear passengers (a vent can be provided on the airbag to adjust the gas stiffness). Furthermore, the airbag's interior is connected by straps sewn together to form multiple virtual chambers. The straps help maintain the airbag's stable and regular shape, and have perforations for airflow to ensure balanced air pressure between the chambers.

[0098] Specifically, when the current distance is greater than or equal to the second preset distance threshold, it indicates that there is a sufficient safety gap between the occupant and the table, allowing the airbag to inflate to a greater extent without excessively compressing the occupant. At this time, the airbag is controlled to deploy at the first inflation volume and cover the vehicle table, thereby covering the hard edges and tabletop of the vehicle table and forming a reliable buffer isolation layer.

[0099] Step S603: When the current distance is less than the second preset distance threshold, control the airbag to deploy with the second inflation amount and cover the vehicle table; wherein, the first inflation amount is greater than the second inflation amount.

[0100] Specifically, when the current distance is less than the second preset distance threshold, it indicates that the occupant's body is too close to the vehicle's table. If the airbag deploys with a large inflation volume, it may excessively compress the occupant's chest and abdomen, causing discomfort or even injury. In this case, the airbag is controlled to deploy with a second inflation volume (the first inflation volume is greater than the second inflation volume) to cover the vehicle's table, thereby covering the hard edges and surface of the table while avoiding excessive volume that could compress the occupant.

[0101] The method provided in this embodiment dynamically adjusts the airbag inflation volume based on the current distance between the occupant and the vehicle-mounted table for the occupant's use. This ensures that the airbag effectively shields the table while also taking into account the comfort and safety of the occupant in close proximity.

[0102] Figure 7 The flowchart for Embodiment Seven of the vehicle control method provided in this application is shown below. Please refer to... Figure 7 Based on the above embodiments, an angle sensor is provided on the vehicle-mounted table; controlling the airbag located in the seat where the vehicle-mounted table is located to cover the vehicle-mounted table includes:

[0103] Step S701: Obtain the first current angle of the vehicle table collected by the angle sensor; wherein, the first current angle is the angle between the vehicle table and the back of the seat.

[0104] In this embodiment, the angle sensor can be installed at the hinge of the vehicle-mounted table. Specifically, the first current angle of the vehicle-mounted table, collected by the angle sensor, is obtained. This first current angle is the angle between the vehicle-mounted table and the back of the seat.

[0105] It should be understood that, for ease of description, with the seat back in a vertical position as a reference, the first current angle of 0° means that the in-vehicle table is fully folded and close to the backrest, and the first current angle of 90° means that the in-vehicle table is horizontally unfolded.

[0106] Step S702: When the first current angle is less than or equal to a preset first angle threshold, determine that the vehicle table is in a fully folded position, and control the airbag to cover the vehicle table at a first preset angle.

[0107] Specifically, when the first current angle is less than or equal to a preset first angle threshold (e.g., the first angle threshold is 5°), it is determined that the vehicle table is in a fully folded position, that is, the vehicle table has been basically folded and pressed against the backrest, and it is not unfolded or has only a very small gap. In this state, the vehicle table itself has a low risk of direct impact to the occupant, but in order to avoid the table accidentally popping open or interfering with the airbag deployment during a collision, the airbag is controlled to unfold at a first preset angle and cover the vehicle table.

[0108] It should be noted that the first preset angle is used to characterize the angle between the airbag's expansion direction and the horizontal plane, and the airbag's expansion direction is not higher than the horizontal plane, thereby ensuring that the airbag can cover the table area. In this step, since the table is in the folded position, the first preset angle is usually taken to its minimum value (e.g., 0°~5°), so that the airbag unfolds horizontally or slightly downwards.

[0109] Step S703: When the first current angle is greater than the first angle threshold and the current angle is less than the preset second angle threshold, determine that the vehicle table is in the middle unfolded position, and control the airbag to cover the vehicle table at the second preset angle; wherein, the second angle threshold is greater than the first angle threshold.

[0110] Specifically, when the first current angle is greater than a first angle threshold and less than a preset second angle threshold (e.g., the first current angle is greater than 5° and less than 85°), it is determined that the vehicle-mounted table is in the middle unfolded position, meaning the vehicle-mounted table is partially opened but not fully flattened. At this time, because the vehicle-mounted table extends obliquely, it poses a potential impact threat to the occupant's chest or abdomen. To effectively cover the vehicle-mounted table at the middle angle, the airbag is controlled to deploy at a second preset angle to cover the vehicle-mounted table.

[0111] It should be noted that the second preset angle is used to characterize the angle between the airbag's expansion direction and the horizontal plane, and the airbag's expansion direction is not higher than the horizontal plane. The second preset angle (for example, 15°~30°) is greater than the first preset angle, making the airbag more inclined to expand downward and forward to cover the inclined surface and edge of the table.

[0112] Step S704: When the first current angle is greater than or equal to the second angle threshold, determine that the vehicle table is in the fully deployed position, and control the airbag to cover the vehicle table at a third preset angle; wherein, the first preset angle, the second preset angle and the third preset angle are used to characterize the angle between the airbag's expansion direction and the horizontal plane, and the airbag's expansion direction is not higher than the horizontal plane; the first preset angle, the second preset angle and the third preset angle increase in sequence.

[0113] Specifically, when the first current angle is greater than or equal to a second angle threshold (e.g., the second angle threshold is 85°), the vehicle-mounted table is determined to be in a fully deployed position, which is typically close to horizontal (e.g., the vehicle-mounted table is at a 90° angle to the backrest). At this point, because the vehicle-mounted table extends fully forward with its tabletop facing the occupant, the risk of injury in the event of a vehicle collision is highest. To completely cover the entire tabletop and edges of the vehicle-mounted table, the airbag deploys at a third preset angle and wraps around the table.

[0114] It should be noted that the third preset angle is used to characterize the angle between the airbag's inflation direction and the horizontal plane, and the airbag's inflation direction is not higher than the horizontal plane. The third preset angle is greater than (for example, 45°~60°) than the second preset angle so that the airbag can cover the entire vehicle table after deployment.

[0115] The method provided in this embodiment uses an angle sensor to obtain the angle between the vehicle's table and the seat back in real time, and adaptively adjusts the airbag deployment direction according to different table deployment angles, allowing the airbag to specifically cover the vehicle's table in different postures. Simultaneously, limiting the airbag deployment direction to no higher than the horizontal plane avoids unnecessary impact on the occupant's head. This further enhances occupant safety in collision accidents.

[0116] Figure 8 The flowchart for Embodiment 8 of the vehicle control method provided in this application is shown below. Please refer to... Figure 8 Based on the above embodiments, after controlling the vehicle to execute the second preset storage strategy, the vehicle control method further includes:

[0117] Step S801: When the second preset storage strategy fails to execute, acquire the vehicle's target data; the target data includes the vehicle's current estimated collision time with other traffic participants, and / or the vehicle's acceleration.

[0118] In this embodiment, the failure of the second preset storage strategy refers to the failure of the detonator to detonate normally after a detonation command is sent to a designated controlled object (such as the detonator of the vehicle table, the detonator of the seat airbag, or the detonator of the seat belt) due to reasons such as controller crash, software program failure, or CAN bus congestion, or the designated controlled object failing to perform the expected protective action. Specific failure scenarios include, but are not limited to, the vehicle table failing to detonate and fold, the airbag failing to detonate and deploy, and the seat belt failing to detonate and tighten.

[0119] In practice, the second preset containment strategy is determined to have failed if the self-test feedback signal of the ignition circuit where the controlled object is located is received, or if the detonation confirmation signal is not received within a specified time. When the second preset containment strategy fails to execute, the target data of the vehicle is obtained. The target data includes, but is not limited to, the current estimated collision time of the vehicle and other traffic participants, and the vehicle's acceleration.

[0120] Step S802: The target data is sent to the comparator in the ignition circuit where the designated controlled object is located, so that when the comparator detects that the target data meets the preset trigger conditions, it outputs an ignition command to the igniter in the ignition circuit, so that the designated controlled object performs the action corresponding to the ignition of the igniter; wherein, the preset trigger conditions include the current estimated collision time being within a fourth preset time range, or the acceleration being greater than a preset acceleration threshold; the maximum value of the fourth preset time range is less than the minimum value of the third preset time range.

[0121] Specifically, the acquired target data is sent to a comparator in the ignition circuit where the designated controlled object resides. For example, the current estimated collision time is sent to the first comparator. Another example is sending the vehicle's acceleration to a second comparator simultaneously with sending the current estimated collision time to the first comparator.

[0122] Referring to the previous example, when the first comparator detects that the current estimated collision time falls within the fourth preset time range (e.g., TTC ≤ 600ms), or when the second comparator detects that the acceleration exceeds a preset acceleration threshold (e.g., the preset acceleration threshold is 8g), an ignition command is output to the ignition circuit's detonator to cause the designated controlled object to perform the action corresponding to the detonation of the detonator (e.g., folding the vehicle's table, deploying the airbag in the seat back, or tightening the seatbelt used by the occupant). The maximum value of the fourth preset time range is less than the minimum value of the third preset time range.

[0123] The method provided in this embodiment acquires the vehicle's current estimated collision time and acceleration data when the second preset containment strategy fails, and sends this data to a hardware comparator in the ignition circuit of a designated control object. When the comparator detects that the estimated collision time has entered a preset range or the acceleration has exceeded a preset threshold, it outputs an ignition command to the ignition device, achieving hardware-level redundant trigger protection. This solution can ensure the timely operation of safety actuators such as the vehicle's table, seat airbags, and seat belts even in extreme cases where software-level anomalies cause strategy failure, significantly improving the reliability of the vehicle safety system.

[0124] Figure 9 The flowchart for Embodiment Nine of the vehicle control method provided in this application is shown below. Please refer to... Figure 9 Based on the above embodiments, the system detects whether there is an occupant on each seat in the vehicle, and when there is an occupant on any seat, it detects whether the onboard table for the occupant is in an unfolded state, including:

[0125] Step S901: Obtain the seat occupancy signal corresponding to each seat in the vehicle.

[0126] Specifically, the seat occupancy signal collected by the occupancy sensor in each seat is acquired, and this seat occupancy signal is used to indicate whether there is an occupant in the seat.

[0127] Step S902: When the seat occupancy signal indicates that there is an occupant on the seat, the vehicle table pre-associated with the seat is determined as the vehicle table for the occupant to use, and the second current angle of the vehicle table is obtained; wherein, the second current angle is the angle between the vehicle table and the back of the seat.

[0128] Specifically, when a seat occupancy signal indicates that there is an occupant in the seat, the pre-associated in-vehicle table is designated as the in-vehicle table for the occupant's use. For example, the small table on the back of the driver's seat is pre-associated with the rear seat directly behind the driver's seat, and the small table on the back of the front passenger seat is pre-associated with the rear seat directly behind the front passenger seat.

[0129] Subsequently, angle sensors deployed on the vehicle-mounted table are used to collect the second current angle of the table in real time. This second current angle is the angle between the vehicle-mounted table and the seat back. It should be understood that, for ease of description, with the seat back in a vertical position as a reference, a second current angle of 0° indicates that the vehicle-mounted table is fully folded and close to the backrest, and a second current angle of 90° indicates that the vehicle-mounted table is horizontally unfolded.

[0130] Step S903: When the second current angle is less than or equal to the preset third angle threshold, it is determined that the vehicle-mounted table is in the unfolded state.

[0131] Specifically, the acquired second current angle is compared with a preset third angle threshold. When the second current angle is less than or equal to the preset third angle threshold (for example, the third angle threshold is 10°), it is determined that the vehicle-mounted table is in the unfolded state.

[0132] Step S904: When the second current angle is greater than the third angle threshold, it is determined that the vehicle-mounted table is not in the unfolded state.

[0133] Specifically, when the second current angle is greater than the third angle threshold, the vehicle-mounted table is determined to be not in the unfolded state. It should be noted that the third angle threshold can be flexibly set according to the model and specifications of the vehicle-mounted table, the curvature of the seat back, and the overall safety design goals of the vehicle.

[0134] The method provided in this embodiment identifies occupant seats using seat occupancy signals and quickly locates the corresponding in-vehicle table based on pre-association relationships, avoiding invalid detection of table status in unoccupied seats. Simultaneously, it obtains the angle between the table and the backrest and accurately determines whether the table is in an unfolded state by comparing it with a third angle threshold, thus providing reliable input for collision risk assessment and subsequent storage strategies.

[0135] The present embodiment will now be described and illustrated through preferred embodiments.

[0136] Figure 10 The flowchart of Embodiment 10 of the vehicle control method provided in this application is as follows: Figure 10 As shown, the vehicle control method includes the following steps:

[0137] Step S1001: Determine the vehicle collision warning level based on the vehicle's estimated collision time, and obtain the seat occupancy signal corresponding to each seat in the vehicle; when the seat occupancy signal indicates that there is an occupant on the seat, determine the vehicle table pre-associated with the seat as the vehicle table for the occupant to use, and obtain the second current angle of the vehicle table; wherein, the second current angle is the angle between the vehicle table and the back of the seat;

[0138] Step S1002: When the second current angle is less than or equal to a preset third angle threshold, it is determined that the vehicle table is in the unfolded state; when the second current angle is greater than the third angle threshold, it is determined that the vehicle table is not in the unfolded state.

[0139] Step S1003: If the vehicle table for passenger use is in the unfolded state, when the vehicle collision warning level is Level 1 collision risk, trigger the vehicle table folding prompt and control the vehicle table to enter the pre-folding state.

[0140] Step S1004: When the vehicle collision warning level is Level 2 collision risk, determine the relevant status information of the vehicle table and determine the vehicle table storage strategy based on the relevant status information; the relevant status information includes the current distance between the occupant and the vehicle table for the occupant's use, and / or whether there are heavy objects on the vehicle table;

[0141] Step S1005: When the vehicle collision warning level is a level 3 collision risk, a detonation command is sent to the detonator of the vehicle tray table, the detonator of the airbag in the seat where the vehicle tray table is located, and the detonator of the seat belt used by the occupant, so that the detonator detonates upon receiving the detonation command, and the corresponding control object executes the action corresponding to the detonation of the detonator; wherein, the maximum value of the third preset time range is less than the minimum value of the second preset time range, and the level 1 collision risk, level 2 collision risk, and level 3 collision risk represent the urgency of the collision between the vehicle and other traffic participants around the vehicle increasing in sequence.

[0142] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0143] This embodiment also provides a vehicle control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that implement a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0144] Figure 11 This is a structural block diagram of the vehicle control device in this embodiment, as shown below. Figure 11 As shown, the device includes:

[0145] The detection module 10 is used to determine the vehicle collision warning level based on the vehicle's estimated collision time.

[0146] Matching module 20 is used to match the vehicle table storage strategy based on the vehicle collision warning level;

[0147] The control module 30 is used to control the vehicle to execute the vehicle table storage strategy so that the vehicle can complete the vehicle table storage action.

[0148] Optionally, in one possible implementation, the matching module 20 is specifically used for:

[0149] The system detects whether there is an occupant in each seat of the vehicle, and if there is an occupant in any seat, it detects whether the onboard table for the occupant is in the unfolded state.

[0150] When the in-vehicle table for passenger use is in the unfolded state, the in-vehicle table storage strategy is matched based on the vehicle collision warning level.

[0151] Optionally, in one possible implementation, the detection module 10 is specifically used for:

[0152] Determine the relative speeds of the vehicle and other road users at the time of the expected collision.

[0153] When the expected collision time falls within a first preset time range, or when the expected collision time falls within a second preset time range and the relative vehicle speed is less than or equal to a preset speed threshold, the vehicle collision warning level is determined to be Level 1 collision risk; wherein, the maximum value of the second preset time range is less than the minimum value of the first preset time range.

[0154] If the expected collision time falls within the second preset time range and the relative vehicle speed exceeds the preset speed threshold, the vehicle collision warning level is determined to be a level two collision risk.

[0155] When the expected collision time falls within the third preset time range, the vehicle collision warning level is determined to be a Level 3 collision risk. The maximum value of the third preset time range is less than the minimum value of the second preset time range, and the Level 1, Level 2, and Level 3 collision risks represent the urgency of a collision between the vehicle and other traffic participants around the vehicle in that order.

[0156] Optionally, in one possible implementation, the matching module 20 is specifically used for:

[0157] When the vehicle collision warning level is Level 1 collision risk, the first preset storage strategy is determined to be the vehicle table storage strategy; wherein, the first preset storage strategy includes at least one of the following strategies: triggering the vehicle table folding prompt and controlling the vehicle table to enter the pre-folding state.

[0158] When the vehicle collision warning level is Level 2 collision risk, determine the relevant status information of the vehicle table and determine the vehicle table storage strategy based on the relevant status information; the relevant status information includes the current distance between the occupant and the vehicle table for the occupant's use, and / or whether there are heavy objects on the vehicle table;

[0159] When the vehicle collision warning level is a level three collision risk, the second preset storage strategy is determined as the vehicle table storage strategy; wherein, the second preset storage strategy includes: sending a detonation command to the detonator of a designated control object, so that the detonator detonates upon receiving the detonation command, and causing the designated control object to perform the action corresponding to the detonation of the detonator; the designated control object includes at least one of the following objects: the vehicle table, the airbag in the seat where the vehicle table is located, and the seat belt used by the occupant.

[0160] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0161] When the current distance is less than or equal to the first preset distance threshold, the third preset storage strategy is determined as the vehicle table storage strategy; wherein, the third preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing the folding action, applying a first pretension force to the seat belt, and triggering a vehicle collision warning prompt;

[0162] When the current distance is greater than the first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fourth preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing the folding action, applying a first pretension force to the seat belt, and triggering a heavy object removal prompt;

[0163] When the current distance is greater than the first preset distance threshold and there are no heavy objects on the vehicle table, the fifth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fifth preset storage strategy includes at least one of the following strategies: controlling the vehicle table to fold up to a position at a preset angle with the seat back, and applying a second pretension force to the seat belt; wherein, the second pretension force is less than the first pretension force.

[0164] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0165] Determine the current distance between the occupant and the onboard table for the occupant's use;

[0166] When the current distance is greater than or equal to the second preset distance threshold, the airbag is controlled to deploy with the first inflation volume and cover the vehicle table.

[0167] When the current distance is less than the second preset distance threshold, the airbag is controlled to deploy with the second inflation amount and cover the vehicle table; wherein, the first inflation amount is greater than the second inflation amount.

[0168] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0169] The first current angle of the vehicle table is acquired by the angle sensor; wherein the first current angle is the angle between the vehicle table and the back of the seat.

[0170] When the first current angle is less than or equal to a preset first angle threshold, the vehicle table is determined to be in a fully folded position, and the airbag is controlled to cover the vehicle table at the first preset angle.

[0171] When the current angle is greater than the first angle threshold and the current angle is less than the preset second angle threshold, it is determined that the vehicle table is in the middle unfolded position, and the airbag is controlled to cover the vehicle table at the second preset angle; wherein, the second angle threshold is greater than the first angle threshold.

[0172] When the first current angle is greater than or equal to the second angle threshold, the vehicle table is determined to be in the fully deployed position, and the airbag is controlled to cover the vehicle table at a third preset angle; wherein, the first preset angle, the second preset angle and the third preset angle are used to characterize the angle between the airbag expansion direction and the horizontal plane, and the airbag expansion direction is not higher than the horizontal plane; the first preset angle, the second preset angle and the third preset angle increase in sequence.

[0173] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0174] Acquire a multi-angle image sequence of the vehicle's interior space; the multi-angle image sequence includes vehicle interior images taken from multiple different shooting angles.

[0175] A three-dimensional model of the vehicle's interior space is established based on a multi-angle image sequence.

[0176] Identify the midpoint of the edge of the vehicle-mounted table facing the occupant in the 3D model, as well as the target feature points on the occupant's body surface facing the vehicle-mounted table that are at the same horizontal height as the midpoint;

[0177] Determine the first coordinate of the midpoint and the second coordinate of the target feature point, and determine the current distance based on the first and second coordinates.

[0178] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0179] Obtain the current weight of the vehicle-mounted table as collected by the weight sensor;

[0180] Determine the deviation between the current weight and the preset weight of the vehicle-mounted table;

[0181] If the deviation is greater than or equal to the preset deviation threshold, it is determined that there is a heavy object on the vehicle table.

[0182] If the deviation is less than the preset deviation threshold, it is determined that there is no heavy object on the vehicle table.

[0183] Optionally, in one possible implementation, the control module 30 is specifically used for:

[0184] When the second preset storage strategy fails to execute, the target data of the vehicle is acquired; the target data includes the current estimated collision time of the vehicle with other traffic participants, and / or the vehicle's acceleration;

[0185] The target data is sent to the comparator in the ignition circuit where the designated controlled object is located. When the comparator detects that the target data meets the preset trigger conditions, it outputs an ignition command to the igniter in the ignition circuit, so that the designated controlled object performs the action corresponding to the ignition of the igniter. The preset trigger conditions include that the current estimated collision time is within a fourth preset time range, or the acceleration is greater than a preset acceleration threshold. The maximum value of the fourth preset time range is less than the minimum value of the third preset time range.

[0186] Optionally, in one possible implementation, the matching module 20 is specifically used for:

[0187] Obtain the seat occupancy signal for each seat in the vehicle;

[0188] When the seat occupancy signal indicates that there is an occupant in the seat, the vehicle table pre-associated with the seat is determined as the vehicle table for the occupant's use, and the second current angle of the vehicle table is obtained; wherein, the second current angle is the angle between the vehicle table and the back of the seat;

[0189] When the second current angle is less than or equal to the preset third angle threshold, the vehicle-mounted table is determined to be in the unfolded state.

[0190] When the second current angle is greater than the third angle threshold, it is determined that the vehicle-mounted table is not in the unfolded state.

[0191] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0192] This embodiment also provides a domain controller, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0193] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0194] This embodiment also provides a vehicle that includes the aforementioned domain controller.

[0195] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0196] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0197] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0198] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Determining a vehicle collision warning level based on the estimated collision time includes: determining the relative speed between the vehicle and other traffic participants corresponding to the estimated collision time; determining the vehicle collision warning level as Level 1 collision risk when the estimated collision time falls within a first preset time range, or when the estimated collision time falls within a second preset time range and the relative speed is less than or equal to a preset speed threshold; wherein the maximum value of the second preset time range is less than the minimum value of the first preset time range; determining the vehicle collision warning level as Level 2 collision risk when the estimated collision time falls within the second preset time range and the relative speed is greater than a preset speed threshold; and determining the vehicle collision warning level as Level 3 collision risk when the estimated collision time falls within a third preset time range; wherein the maximum value of the third preset time range is less than the minimum value of the second preset time range, and the Level 1, Level 2, and Level 3 collision risks represent an increasing degree of urgency of the collision between the vehicle and other traffic participants around the vehicle. A vehicle table storage strategy is matched based on the vehicle collision warning level. Control the vehicle to execute the vehicle table storage strategy so that the vehicle completes the vehicle table storage action.

2. The vehicle control method according to claim 1, characterized in that, Before matching the in-vehicle table storage strategy based on the vehicle collision warning level, the method further includes: The system detects whether there is an occupant on each seat in the vehicle, and when there is an occupant on any seat, it detects whether the onboard table for the occupant is in the unfolded state. When the vehicle-mounted table for the use of the occupants is in the unfolded state, a vehicle-mounted table storage strategy is matched based on the vehicle collision warning level.

3. The vehicle control method according to claim 2, characterized in that, The vehicle-mounted table storage strategy based on the vehicle collision warning level includes: When the vehicle collision warning level is Level 1 collision risk, the first preset storage strategy is determined as the vehicle table storage strategy; wherein, the first preset storage strategy includes at least one of the following strategies: triggering a vehicle table folding prompt and controlling the vehicle table to enter a pre-folding state. When the vehicle collision warning level is Level 2 collision risk, the relevant status information of the vehicle table is determined, and the storage strategy of the vehicle table is determined based on the relevant status information; the relevant status information includes the current distance between the occupant and the vehicle table used by the occupant, and / or whether there are heavy objects on the vehicle table; When the vehicle collision warning level is a level three collision risk, the second preset storage strategy is determined as the vehicle-mounted table storage strategy; wherein, the second preset storage strategy includes: sending a detonation command to the detonator of a designated control object, so that the detonator detonates upon receiving the detonation command, and causing the designated control object to perform the action corresponding to the detonation of the detonator; the designated control object includes at least one of the following objects: the vehicle-mounted table, the airbag in the seat where the vehicle-mounted table is located, and the seat belt used by the occupant.

4. The vehicle control method according to claim 3, characterized in that, The relevant status information includes the current distance between the passenger and the vehicle-mounted table used by the passenger, and whether there are heavy objects on the vehicle-mounted table; The step of determining the vehicle-mounted table storage strategy based on relevant status information includes: When the current distance is less than or equal to the first preset distance threshold, the third preset storage strategy is determined as the vehicle table storage strategy; wherein, the third preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing a folding action, applying a first pretension force to the seat belt, and triggering a vehicle collision warning prompt; When the current distance is greater than the first preset distance threshold and there is a heavy object on the vehicle table, the fourth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fourth preset storage strategy includes at least one of the following strategies: prohibiting the vehicle table from performing a folding action, applying the first pretension force to the seat belt, and triggering a heavy object removal prompt; When the current distance is greater than the first preset distance threshold and there are no heavy objects on the vehicle table, the fifth preset storage strategy is determined as the vehicle table storage strategy; wherein, the fifth preset storage strategy includes at least one of the following strategies: controlling the vehicle table to fold up to a position at a preset angle with the seat back, and applying a second pretension force to the seat belt; wherein, the second pretension force is less than the first pretension force.

5. The vehicle control method according to claim 2, characterized in that, An airbag is installed inside the backrest of the seat where the vehicle table is located, and the installation height of the airbag on the backrest is greater than the installation height of the vehicle table on the backrest; the vehicle table storage strategy includes controlling the airbag in the seat where the vehicle table is located to cover the vehicle table. The control system, which is located in the seat where the vehicle table is situated, covers the vehicle table, including: Determine the current distance between the occupant and the onboard table for the occupant's use; When the current distance is greater than or equal to the second preset distance threshold, the airbag is controlled to deploy with a first inflation volume and cover the vehicle table. When the current distance is less than the second preset distance threshold, the airbag is controlled to expand with a second inflation amount and cover the vehicle table; wherein the first inflation amount is greater than the second inflation amount.

6. The vehicle control method according to claim 5, characterized in that, The vehicle-mounted table is equipped with an angle sensor; the control of the airbag located in the seat where the vehicle-mounted table is situated to cover the vehicle-mounted table includes: The first current angle of the vehicle table is obtained from the angle sensor; wherein the first current angle is the angle between the vehicle table and the back of the seat; When the first current angle is less than or equal to a preset first angle threshold, it is determined that the vehicle table is in a fully folded position, and the airbag is controlled to cover the vehicle table at a first preset angle. When the first current angle is greater than the first angle threshold and the current angle is less than the preset second angle threshold, it is determined that the vehicle table is in the middle unfolded position, and the airbag is controlled to cover the vehicle table at the second preset angle; wherein, the second angle threshold is greater than the first angle threshold; When the first current angle is greater than or equal to the second angle threshold, it is determined that the vehicle table is in the fully deployed position, and the airbag is controlled to cover the vehicle table at a third preset angle; wherein, the first preset angle, the second preset angle and the third preset angle are used to characterize the angle between the expansion direction of the airbag and the horizontal plane, and the expansion direction of the airbag is not higher than the horizontal plane; the first preset angle, the second preset angle and the third preset angle increase in sequence.

7. The vehicle control method according to any one of claims 3 to 5, characterized in that, Determining the current distance between the occupant and the onboard table for the occupant's use includes: Acquire a multi-angle image sequence of the vehicle's interior space; the multi-angle image sequence includes vehicle interior images taken from multiple different shooting angles. Based on the multi-angle image sequence, a three-dimensional model of the vehicle's interior space is established; Identify the midpoint of the edge of the vehicle-mounted table facing the occupant in the 3D model, and the target feature point on the body surface of the occupant facing the vehicle-mounted table that is at the same horizontal height as the midpoint; Determine the first coordinates of the midpoint and the second coordinates of the target feature point, and determine the current distance based on the first coordinates and the second coordinates.

8. The vehicle control method according to claim 3 or claim 4, characterized in that, The vehicle-mounted table is equipped with weight sensors; determining the relevant status information of the vehicle-mounted table includes: Obtain the current weight of the vehicle-mounted table as collected by the weight sensor; Determine the deviation between the current weight and the preset weight of the vehicle-mounted table; When the deviation is greater than or equal to a preset deviation threshold, it is determined that there is a heavy object on the vehicle table. When the deviation is less than a preset deviation threshold, it is determined that there is no heavy object on the vehicle-mounted table.

9. The vehicle control method according to claim 3, characterized in that, After controlling the vehicle to execute the second preset storage strategy, the method further includes: When the second preset storage strategy fails to execute, the target data of the vehicle is acquired; the target data includes the current estimated collision time between the vehicle and the other traffic participants, and / or the acceleration of the vehicle; The target data is sent to a comparator in the ignition circuit where the designated controlled object is located. When the comparator detects that the target data meets a preset trigger condition, it outputs an ignition command to the igniter in the ignition circuit, so that the designated controlled object performs the action corresponding to the ignition of the igniter. The preset trigger condition includes the current estimated collision time being within a fourth preset time range, or the acceleration being greater than a preset acceleration threshold. The maximum value of the fourth preset time range is less than the minimum value of the third preset time range.

10. The vehicle control method according to claim 2, characterized in that, The step of detecting whether there is an occupant on each seat in the vehicle, and when there is an occupant on any seat, detecting whether the onboard table for the occupant is in an unfolded state, includes: Obtain the seat occupancy signal corresponding to each seat in the vehicle; When the seat occupancy signal indicates that there is an occupant in the seat, the vehicle table pre-associated with the seat is determined as the vehicle table for the occupant to use, and the second current angle of the vehicle table is obtained; wherein, the second current angle is the angle between the vehicle table and the back of the seat; When the second current angle is less than or equal to a preset third angle threshold, it is determined that the vehicle-mounted table is in an unfolded state; When the second current angle is greater than the third angle threshold, it is determined that the vehicle-mounted table is not in the unfolded state.

11. A vehicle control device, characterized in that, The vehicle control device includes: The detection module is used to determine the vehicle collision warning level based on the vehicle's estimated collision time; The detection module is further configured to determine the relative speed between the vehicle and other traffic participants corresponding to the expected collision time; when the expected collision time falls within a first preset time range, or when the expected collision time falls within a second preset time range and the relative speed is less than or equal to a preset speed threshold, the vehicle collision warning level is determined to be a Level 1 collision risk; wherein the maximum value of the second preset time range is less than the minimum value of the first preset time range; when the expected collision time falls within the second preset time range and the relative speed is greater than the preset speed threshold, the vehicle collision warning level is determined to be a Level 2 collision risk; when the expected collision time falls within a third preset time range, the vehicle collision warning level is determined to be a Level 3 collision risk; wherein the maximum value of the third preset time range is less than the minimum value of the second preset time range, and the Level 1 collision risk, Level 2 collision risk, and Level 3 collision risk represent the urgency of a collision between the vehicle and other traffic participants around the vehicle increasing sequentially; The matching module is used to match the vehicle table storage strategy based on the vehicle collision warning level; The control module is used to control the vehicle to execute the vehicle table storage strategy so that the vehicle can complete the vehicle table storage action.

12. A domain controller, comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the steps of the vehicle control method according to any one of claims 1 to 10.

13. A vehicle, characterized in that, The vehicle includes the domain controller as described in claim 12.

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