Safety system for improving roadworthiness of a vehicle, vehicle safety system and apparatus, method, and medium

Abstract

A safety system (10) for improving road compatibility of a vehicle includes a monitoring system (1) and an integrated safety zone control unit (2). The monitoring system includes a vehicle external information monitoring module (11) and a vehicle body posture monitoring module (12). The integrated safety zone control unit (2) is configured to calculate a collision condition between the vehicle and an obstacle based on data acquired by the vehicle external information monitoring module (11) and the vehicle body posture monitoring module (12), where the collision condition includes a collision relative speed and a collision overlap rate, and to determine whether to deploy an external airbag based on the collision relative speed and the collision overlap rate. The determination condition for controlling triggering of deployment of the external airbag includes determining whether the collision relative speed is less than a first speed threshold and / or whether the collision overlap rate is less than a first overlap rate threshold. The system can reduce damage to vulnerable road users in a collision with the front of the vehicle body. The present invention further relates to a safety device and method for improving roadworthiness of a vehicle, and a medium, as well as a vehicle safety system, a vehicle safety device, a method for enhancing vehicle safety, and a readable storage medium.

Description

[Technical Field]

[0001] The present invention relates to the field of vehicle safety, and in particular to a safety system, device, and method for improving roadworthiness of a vehicle, and a readable storage medium, as well as a vehicle safety system, a vehicle safety device, a method for enhancing vehicle safety, and a readable storage medium. [Background technology]

[0002] In a vehicle collision accident, due to the differences in body height, weight, body structure, and even bumper height and shape of various vehicles on the road, one side will inevitably be in an advantageous position and the other side will be in a disadvantageous position during a vehicle collision accident. How to protect the safety of one side and reduce the damage to the other side in a collision is the principle of vehicle road compatibility.

[0003] In the prior art, technical solutions to improve the roadworthiness of vehicles are mainly implemented by improving the structural design of the vehicle body, for example, by reducing the rigidity of the vehicle head. In a collision between two vehicles, in addition to reducing the impact on the vehicle's own cockpit in the collision, it is also possible to absorb the impact force generated by the collision between the two sides and reduce the damage caused to the other side of the collision.

[0004] However, the requirements for vehicle roadworthiness are becoming increasingly strict. For example, roadworthiness point penalty requirements have been newly added to the 2021 edition of the China New Car Assessment Program (CNCAP).

[0005] Therefore, there is a need in the art for a safety system, apparatus, and method for improving vehicle road compatibility, as well as a readable storage medium, to further improve vehicle road compatibility and meet increasingly stringent vehicle road compatibility requirements.

[0006] In the field of vehicle safety, the protection of vulnerable road users (VRUs) has recently become a hot topic. For example, in Europe, vulnerable road users such as pedestrians, cyclists, and motorcyclists account for almost half of all road fatalities, and the number of bicycle fatalities is increasing in many countries. Testing VRUs is one of the test items for the European New Car Assessment Programme (Euro NCAP).

[0007] In the prior art, technical solutions for protecting VRUs include providing front airbags in the front of the vehicle body, and when the front of the vehicle body collides with the VRU, the front airbags are deployed or deployed, thereby protecting the VRU.

[0008] However, the inventors have discovered that in some crash situations, deploying a front airbag may actually worsen injury to a VRU. Accordingly, there is a need in the art for a vehicle safety system, a vehicle safety device, a method for enhancing vehicle safety, and a readable storage medium to reduce injury to vulnerable road users in a frontal collision with a vehicle body. Summary of the Invention [Problem to be solved by the invention]

[0009] It is an object of the present invention to provide a safety system for improving the roadworthiness of a vehicle.

[0010] Another object of the present invention is to provide a vehicle safety device for improving the roadworthiness of a vehicle.

[0011] It is yet another object of the present invention to provide a method for improving the roadworthiness of a vehicle.

[0012] It is yet another object of the present invention to provide a computer readable storage medium that can improve the roadworthiness of a vehicle. [Means for solving the problem]

[0013] According to one aspect of the present invention, a safety system for improving road compatibility of a vehicle is configured to improve road compatibility of the vehicle, and is capable of controlling an external airbag of the vehicle, and includes a monitoring system including: a vehicle external information monitoring module configured to monitor obstacles around the vehicle body, and a vehicle body attitude monitoring module configured to monitor vehicle body motion and vehicle body attitude; and an integrated safety area control unit configured to calculate collision conditions between the vehicle and the obstacle, the collision conditions including a collision relative speed and a collision overlap rate, based on data acquired by the vehicle external information monitoring module and the vehicle body attitude monitoring module, and to determine whether to deploy the external airbag based on the collision relative speed and the collision overlap rate, wherein the determination conditions for controlling triggering of deployment of the external airbag include determining whether the collision relative speed is less than a first speed threshold and / or whether the collision overlap rate is less than a first overlap rate threshold.

[0014] In one or more embodiments, the determination condition for controlling the triggering of deployment of the external airbag further includes determining whether deployment of the external airbag in a crash condition would reduce damage to the vehicle, and if deployment of the external airbag in a crash condition would not reduce damage to the vehicle, the integrated safety zone control unit controls the external airbag to remain contained.

[0015] In one or more embodiments, the monitoring system further includes an in-vehicle monitoring module configured to acquire mental state data of a driver within the vehicle, and the integrated safety area control unit calculates a probability that the driver will notice a collision with an obstacle based on the mental state data and the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, and calculates a collision condition based on the probability.

[0016] In one or more embodiments, the integrated safe zone control unit is further configured to provide an alarm prompt, and if the likelihood is below an alarm threshold, the integrated safe zone control unit outputs an alarm signal to increase the likelihood that the driver will notice a collision with the obstacle.

[0017] In one or more embodiments, the in-vehicle monitoring module includes a camera and / or an in-vehicle radar.

[0018] In one or more embodiments, the mental state data includes one or a combination of physical state data and facial data of a driver in a vehicle.

[0019] In one or more embodiments, the monitoring system further includes an Internet of Vehicles module that, in conjunction with the vehicle external information monitoring module, provides information about obstacles around the vehicle.

[0020] In one or more embodiments, the vehicle external information monitoring module includes one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera.

[0021] In one or more embodiments, the vehicle body attitude monitoring module includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor, where the speed sensor is configured to monitor vehicle body movement and the yaw rate sensor and steering wheel angle sensor are configured to monitor vehicle body attitude.

[0022] In one or more embodiments, the integrated safety area control unit obtains, through calculation, a monitoring area based on data acquired by the vehicle body posture monitoring module, and the vehicle external information monitoring module monitors only obstacles within the monitoring area.

[0023] In one or more embodiments, the integrated safety area control unit is further configured to model an obstacle based on monitoring information from the vehicle external information monitoring module, model a vehicle body based on monitoring information from the vehicle body attitude monitoring module, and calculate a collision condition based on the modeling information.

[0024] In one or more embodiments, the safety system further includes a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of collisions between the obstacle and the vehicle, the simulation database is configured to provide simulation data of collisions between the obstacle and the vehicle based on the modeling information, and the integrated safety area control unit calculates collision conditions based on the historical data and the simulation data.

[0025] According to another aspect of the invention, a vehicle safety device includes an external airbag and a safety system according to one of the above.

[0026] According to yet another aspect of the present invention, there is provided a method for improving roadworthiness of a vehicle, the method comprising: Monitoring obstacles around the vehicle and acquiring data about the obstacles around the vehicle; Monitoring vehicle body motion and vehicle body attitude to obtain vehicle body attitude data and vehicle body motion data; Calculating a collision condition between the vehicle and the obstacle based on data of the obstacle around the vehicle, vehicle body motion data, and vehicle body posture data, where the collision condition includes a collision relative speed and a collision overlap rate; determining whether to deploy an external airbag based on a crash relative speed and a crash multiple rate, wherein a determination condition for controlling triggering of deployment of the external airbag includes controlling the external airbag to remain stowed instead of triggering deployment of the external airbag when the crash relative speed is less than a first speed threshold and / or the crash multiple rate is less than a first multiple rate threshold; A method comprising:

[0027] In one or more embodiments, the determination condition for controlling the triggering of deployment of the external airbag further includes determining whether deployment of the external airbag in a crash condition would reduce the damage value to the vehicle, and controlling the external airbag to remain contained if deployment of the external airbag in a crash condition would not reduce the damage value to the vehicle.

[0028] In one or more embodiments, monitoring obstacles around the vehicle includes monitoring whether obstacles are present around the vehicle, identifying the type of obstacle, and predicting movement of the obstacle.

[0029] In one or more embodiments, the method further includes monitoring a mental state of a driver in the vehicle and obtaining mental state data of the driver in the vehicle, and calculating a likelihood that the driver will notice a collision with the obstacle based on the state data, data of obstacles around the vehicle, vehicle body motion data, and vehicle body attitude data, and calculating a collision condition based on the likelihood.

[0030] In one or more embodiments, the method further includes recording and uploading the crash condition to a cloud database.

[0031] According to yet another aspect of the present invention, a computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps: a step of calculating a collision condition between the vehicle and the obstacle based on input data of the obstacle around the vehicle, vehicle body motion data, and vehicle body posture data, the collision condition including a collision relative velocity and a collision overlap rate; A step of determining whether to trigger deployment of an external airbag based on a collision relative speed and a collision overlap rate, the step including controlling the external airbag to remain contained instead of triggering deployment of the external airbag when the collision relative speed is less than a first speed threshold and / or the collision overlap rate is less than a first overlap rate threshold.

[0032] The beneficial effects of the aforementioned safety systems, vehicle safety systems and apparatus, methods, and media for improving vehicle roadworthiness include, but are not limited to:

[0033] 1. The collision relative speed and the collision overlap rate are used as the judgment conditions for determining whether to deploy the external airbag, and if either the collision relative speed is less than a first speed threshold or the collision overlap rate is less than a first overlap rate threshold, the external airbag does not need to be deployed. In this way, the external airbag can be configured to improve road compatibility in a more targeted manner so as to avoid danger caused by false triggering of the external airbag.

[0034] 2. A vehicle external information monitoring module, a vehicle interior monitoring module, and a vehicle body posture monitoring module are provided so that collision conditions are calculated by fusing driver mental state information, vehicle external information, and vehicle body posture, resulting in more accurate triggering and deployment timing of external airbags.

[0035] 3. To calculate the collision conditions more accurately, the simulation database and cloud historical collision database are used. In addition, collision data is uploaded and the database itself has the ability to learn, which can continuously improve the accuracy of the calculation.

[0036] SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle safety system for reducing injuries to vulnerable road users in a frontal collision with a vehicle body.

[0037] Another object of the present invention is to provide a vehicle safety device for reducing injuries to vulnerable road users in a frontal collision with a vehicle body.

[0038] It is yet another object of the present invention to provide a method for increasing vehicle safety so as to reduce injuries to vulnerable road users in frontal collisions with the vehicle body.

[0039] It is still another object of the present invention to provide a computer-readable storage medium that can reduce damage to vulnerable road users in a frontal collision with a vehicle body.

[0040] According to one aspect of the present invention, a vehicle safety system is configured to reduce damage to vulnerable road users in a collision with the front of a vehicle body, the vehicle safety system being capable of controlling a front airbag of the vehicle, the vehicle safety system comprising: a monitoring system including a vulnerable road user information monitoring module configured to monitor vulnerable road users around the vehicle, and a vehicle body attitude monitoring module configured to monitor vehicle body motion and the attitude of the front of the vehicle body; and a calculating unit for calculating a collision condition between the vehicle and the vulnerable road user based on data acquired by the vulnerable road user information monitoring module and the vehicle body attitude monitoring module, the collision condition including a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of the collision. and calculating, based on the crash condition, a first damage value and a second damage value to the vulnerable road users in the crash condition to determine whether to deploy a front airbag before the moment of the crash, wherein the first damage value is a damage value to the vulnerable road users for the front airbag being stored in the crash condition, the second damage value is a damage value to the vulnerable road users for the front airbag being deployed in the crash condition, and when the first damage value is greater than the second damage value, the front airbag is controlled to trigger deployment, and when the first damage value is less than the second damage value, the front airbag is controlled to remain stored.

[0041] In one or more embodiments, the first damage value includes a third damage value caused by a first impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a stowed state at the time of the impact, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a deployed state at the moment of the impact and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road occupant caused by the impact energy absorbed due to the deployment of the front airbag.

[0042] In one or more embodiments, the monitoring system further includes an in-vehicle monitoring module configured to acquire mental state data of a driver in the vehicle, and the integrated safety area control unit calculates a probability that the driver will notice a collision with a vulnerable road user based on the mental state data and the data acquired by the vulnerable road user information monitoring module and the vehicle body posture monitoring module, and calculates a collision condition based on the probability.

[0043] In one or more embodiments, the integrated safety zone control unit is further configured to provide an alarm prompt, and if the likelihood is below an alarm threshold, the integrated safety zone control unit outputs an alarm signal to increase the likelihood that the driver will notice a collision with a vulnerable road user.

[0044] In one or more embodiments, the in-vehicle monitoring module includes a camera and / or an in-vehicle radar.

[0045] In one or more embodiments, the mental state data includes one or a combination of physical state data and facial data of a driver in a vehicle.

[0046] In one or more embodiments, the monitoring system further includes an Internet of Vehicles module that, in conjunction with the vulnerable road user information monitoring module, provides information about vulnerable road users around the vehicle.

[0047] In one or more embodiments, the vulnerable road user information monitoring module includes one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera.

[0048] In one or more embodiments, the vehicle body attitude monitoring module includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor, where the speed sensor is configured to monitor vehicle body movement and the yaw rate sensor and steering wheel angle sensor are configured to monitor the attitude of the front of the vehicle body.

[0049] In one or more embodiments, the integrated safety area control unit obtains a monitoring area through calculation based on data acquired by the vehicle body posture monitoring module, and the vulnerable road users information monitoring module monitors only vulnerable road users within the monitoring area.

[0050] In one or more embodiments, the integrated safety area control unit is further configured to model vulnerable road users based on monitoring information from the vulnerable road user information monitoring module, model the vehicle body based on monitoring information from the vehicle body posture monitoring module, and calculate collision conditions based on the modeling information.

[0051] In one or more embodiments, the vehicle safety system further includes a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of collisions between vulnerable road users and the front of the vehicle body, the simulation database is configured to provide simulation data of collisions between vulnerable road users and the front of the vehicle body based on the modeling information, and the integrated safety area control unit calculates collision conditions based on the historical data and the simulation data.

[0052] According to another aspect of the present invention, a vehicle safety device includes a front airbag and a vehicle safety system according to any one of the above.

[0053] According to yet another aspect of the present invention, a method for enhancing vehicle safety is used to reduce injury to vulnerable road users in a frontal collision with a vehicle body, the vehicle including a front airbag, the method comprising: Monitoring vulnerable road users around the vehicle; and monitoring vehicle body motion and front body attitude; Calculating a collision condition between the vehicle and the vulnerable road user based on the monitored vulnerable road users around the vehicle, vehicle body motion, and front posture of the vehicle body, the collision condition including a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of the collision; calculating a first damage value and a second damage value to the vulnerable road user in the collision condition to determine whether to deploy a front airbag before the collision moment, the first damage value being a damage value to the vulnerable road user for the front airbag being stored in the collision condition, the second damage value being a damage value to the vulnerable road user for the front airbag being deployed in the collision condition, and determining whether to deploy the front airbag when the first damage value is greater than the second damage value, and whether to control the front airbag to remain stored when the first damage value is less than the second damage value; Includes.

[0054] In one or more embodiments, the first damage value includes a third damage value caused by a first impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a stowed state at the time of the impact, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a deployed state at the moment of the impact and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road occupant caused by the impact energy absorbed due to the deployment of the front airbag.

[0055] In one or more embodiments, monitoring vulnerable road users around the vehicle includes monitoring whether vulnerable road users are present around the vehicle, identifying the type of vulnerable road users, tracking the trajectory of the vulnerable road users, and predicting the travel path of the vulnerable road users.

[0056] In one or more embodiments, the method further includes recording and uploading the crash condition to a cloud database.

[0057] According to yet another aspect of the present invention, a computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps: a step of calculating collision conditions between the vehicle and the vulnerable road user based on input data of the vulnerable road user around the vehicle, vehicle body motion data, and posture data of the front of the vehicle body, the collision conditions including a collision probability, a collision moment, a relative speed at the time of collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of collision; calculating a first damage value and a second damage value to a vulnerable road user in a crash condition, wherein the first damage value is a damage value to the vulnerable road user for a front airbag that is housed in the crash condition, and the second damage value is a damage value to the vulnerable road user for a front airbag that is deployed in the crash condition; A step of determining whether to deploy a front airbag before the moment of collision, controlling the front airbag to deploy when the first damage value is greater than the second damage value, and controlling the front airbag to maintain a housed state when the first damage value is less than the second damage value.

[0058] Beneficial effects of the aforementioned vehicle safety system and apparatus, method for enhancing vehicle safety, and medium include, but are not limited to, the following: a front airbag deployment strategy is optimized by comparing a first damage value with a second damage value, i.e., adaptively deploying or keeping the front airbag in a stowed state for a specific crash condition, thereby reducing crash damage between vulnerable road users and the front of the vehicle body.

[0059] Specific features and implementations of the present invention are further provided by the following embodiments and their accompanying drawings. [Brief explanation of the drawings]

[0060] [Figure 1] 1 is a schematic diagram of a safety system according to one or more embodiments. [Figure 2] 1 is a flowchart of a method for improving road compatibility of a vehicle, according to one embodiment. [Figure 3A] 4 is a flowchart of a method for improving road compatibility of a vehicle according to another embodiment. [Figure 3B] 4 is a flowchart of a method for improving road compatibility of a vehicle according to another embodiment. [Figure 4] 1 is a schematic diagram of a vehicle safety system according to one or more embodiments. [Figure 5] 1 is a flowchart of a method for increasing vehicle safety, according to one embodiment. [Figure 6A] According to another embodiment, a method for increasing vehicle safety. [Figure 6B] According to another embodiment, a method for increasing vehicle safety. DETAILED DESCRIPTION OF THE INVENTION

[0061] The present invention will be further described below with reference to specific embodiments and the accompanying drawings. Although more detailed information is provided in the following description to fully understand the present invention, it is clear that the present invention can be implemented in many other ways different from those described herein. Without violating the implication of the present invention, those skilled in the art can make similar propositions and inferences according to actual applications, and therefore the content of specific embodiments should not limit the protection scope of the present invention.

[0062] On the one hand, the present application uses specific terms to describe the embodiments of the present application. The orientation terms "inner" and "outer" refer to the inner and outer sides of each component's own external shape, and further, "one embodiment," "one embodiment," and / or "some embodiments" refer to features, structures, or characteristics associated with at least one embodiment of the present application. Therefore, it should be emphasized and noted that two or more references to "one embodiment" or "an embodiment" in various places herein do not necessarily refer to the same embodiment. Furthermore, some features, structures, or characteristics of one or more embodiments of the present application may be combined as appropriate.

[0063] 1 and 3A and 3B, an embodiment of the safety system of the present application can be understood. A safety system 10 for improving roadworthiness of a vehicle includes a monitoring system 1 and an integrated safety area control unit 2. The safety system 10 may control the storage and deployment of an external airbag 20 of the vehicle; i.e., the safety system 10 and the external airbag 20 may constitute a vehicle safety device 100. Those skilled in the art will appreciate that the safety system 10 and the external airbag 20 may be located together within the vehicle or separately; for example, the safety system 10 may be located outside the vehicle and control the deployment or storage of the external airbag 20 via wireless communication. A specific form of the external airbag 20 may include a front airbag located at the front of the vehicle body, i.e., the vehicle head portion, and may further include a rear airbag located at the rear of the vehicle body to improve roadworthiness in the event of a high-speed rear-end collision, and may further include side airbags located on both sides of the vehicle body. The front airbags, rear airbags, and side airbags together form an external airbag system that surrounds the vehicle body to improve road compatibility in all-direction crashes.

[0064] The monitoring system 1 may include a vehicle external information monitoring module 11 and a vehicle body posture monitoring module 12. The vehicle external information monitoring module 11 is configured to monitor obstacles around the vehicle body, where the term "obstacle" refers to a generalized obstacle, i.e., a collision object on the road. The vehicle body posture monitoring module 12 is configured to monitor vehicle body motion and vehicle body posture. The integrated safety area control unit 2 is configured to process data acquired from the monitoring system 1 and output a control signal to an external airbag 20.

[0065] The integrated safety zone control unit 2 is configured to calculate a collision condition between the vehicle and an obstacle based on data acquired by the vehicle external information monitoring module 11 and the vehicle body posture monitoring module 12. The collision condition includes at least a collision relative speed and a collision overlap rate, and may further include a collision probability, a collision moment, and a collision location. Whether to deploy the external airbag 20 is determined based on the collision relative speed and the collision overlap rate. The determination conditions for controlling the triggering of deployment of the external airbag 20 include determining whether the collision relative speed is greater than a first speed threshold V1 and whether the collision overlap rate is greater than a first overlap rate threshold X1. Specifically, in a certain collision condition, if the integrated safety zone control unit 2 determines through calculation that the collision relative speed is less than the first speed threshold V1 and / or the collision overlap rate is less than the first overlap rate threshold X1, a control signal for keeping the external airbag in a stowed state is output to the external airbag 20 to keep it in a stowed state. However, if the crash relative speed is greater than the first speed threshold V1 and the crash overlap rate is greater than the first overlap threshold X1, it can be determined that road compatibility can be improved by deploying the external airbag 20 in that crash condition.

[0066] A beneficial effect of using the safety system 10 and the vehicle safety device 100 of the above embodiment is that the integrated safety zone control unit 2 uses the collision relative speed and the collision overlap rate as judgment conditions to judge whether to deploy an external airbag, and if the collision relative speed is less than the first speed threshold V1 and / or the collision overlap rate is less than the first overlap rate threshold X1, there is no need to deploy the external airbag. In this way, the external airbag can be configured to improve road compatibility in a more targeted manner so as to avoid danger caused by false triggering of the external airbag 20. There is no need to perform judgment and calculation regarding whether to deploy the external airbag 20 in a low or medium speed collision, thus improving the calculation speed of the integrated safety zone control unit 2 and improving road compatibility.

[0067] 1 and 3A and 3B, in some embodiments, the conditions for controlling the triggering of deployment of the external airbag 20 by the integrated safety zone control unit 2 may further include determining whether deployment of the external airbag 20 reduces damage to the vehicle in a collision condition, and if deployment of the external airbag in a collision condition does not reduce damage to the vehicle, the integrated safety zone control unit 2 controls the external airbag 20 to remain contained. Specifically, for example, the collision location is not within the protection area covered by the external airbag 20, and in another example, the vehicle external information monitoring module 11 monitors and recognizes that the mass of the collided obstacle is much larger than the mass of the vehicle on this side, such as a large truck or bus. In this case, even if the external airbag 20 is deployed on this side of the vehicle, it cannot reduce damage, and the integrated safety zone control unit 2 controls the external airbag 20 to remain contained.

[0068] The monitoring system 1 may further include an in-vehicle monitoring module 13 configured to acquire mental state data of a driver in the vehicle, including, for example, one or a combination of health state data and facial data of the driver in the vehicle. The above data may be acquired by a camera and / or in-vehicle radar hardware. Specifically, the health state data monitored by the camera may include heart rate information, etc., and the information about the facial data may include facial emotional state information (such as excitement and anger), facial fatigue state information (such as blink frequency and yawning), facial gaze information (such as a camera tracking a person's gaze to determine whether the driver notices an obstacle), and facial orientation information (such as determining the occupant's head rotation based on the facial orientation for analysis to determine whether the person is paying attention to the road ahead). The in-vehicle radar may function to implement in-vehicle liveness detection and heart rate detection.

[0069] The integrated safety zone control unit 2 can calculate the probability that the driver in the vehicle will notice a collision with an obstacle based on the mental state data of the driver in the vehicle, together with data acquired by the vehicle external information monitoring module 11 and the vehicle body posture monitoring module 12, and calculate a collision condition based on the probability. For example, if the integrated safety zone control unit 2 determines that the driver in the vehicle is unlikely to notice a collision with an obstacle, the calculation result for that collision condition will increase the relative collision speed, the collision moment will progress, and the collision probability will increase. By providing the in-vehicle monitoring module 13, the integrated safety zone control unit 2 can calculate the collision condition by combining the driver's mental state information, vehicle external information, and vehicle posture, resulting in more accurate calculation results and results that reflect road conditions and vehicle conditions closest to the actual situation. However, those skilled in the art can understand that the probability that the driver in the vehicle will notice a collision with an obstacle can be obtained in other ways. For example, the integrated safety zone control unit 2 performs matching between the big data of the vehicle body posture and the driver's mental state, and directly obtains the data of the above-mentioned possibilities by using the data acquired by the vehicle body posture monitoring module 12, thus reducing the amount of calculation. Although its hardware and software cost is low, its calculation accuracy is lower than that of the in-vehicle monitoring module 13.

[0070] 1 , in one embodiment, the integrated safety zone control unit 2 may include an alarm prompt function. If the likelihood that the driver in the vehicle will notice a collision with an obstacle is less than the alarm threshold, the integrated safety zone control unit 2 outputs an alarm signal to prompt the driver by generating a sharp warning sound in the vehicle, illuminating the dashboard or central console screen, vibrating the steering wheel, or in another manner, so as to increase the likelihood that the driver will notice the collision with the obstacle. Specific monitoring and determining steps may be as follows: The driver's heart rate data acquired by the in-vehicle monitoring module 13 is a first value, the driver's blink frequency is a second value, and it is determined based on the database information that the driver is in a first mental state at this time and the likelihood that the driver will notice the collision is higher than the alarm threshold. Therefore, no prompt is given; The driver's heart rate data acquired by the in-vehicle monitoring module 13 is a third value, the driver's blink frequency is a fourth value, and the driver's gaze is away from the road surface for a period longer than the first period. Based on the database information, it is determined that the driver is in the second mental state at this time and the probability that the driver will notice a collision with an obstacle is less than the alarm threshold, and then an alarm is given to prompt the driver. In this way, a collision accident can be avoided as much as possible, and even if the collision cannot be completely avoided, the driver can react in time to reduce the collision relative speed, thereby avoiding a high-speed collision. The integrated safety zone control unit 2 repeats the above probability calculation process until the probability is higher than the alarm threshold, and then cancels the output of the alarm signal, and the integrated safety zone control unit 2 calculates changed collision conditions in real time based on the changed probability value after the alarm.

[0071] 1 , in some embodiments, the monitoring system 1 may further include an Internet of Vehicles module 14. Communication between the Internet of Vehicles and other moving vehicles and / or obstacles and / or network systems may provide information between the vehicle and obstacles. The Internet of Vehicles module 14, together with the vehicle external information monitoring module 11, provides information about obstacles around the vehicle, further improving the calculation accuracy of the integrated safety zone control unit 2.

[0072] In one or more embodiments, the vehicle external information monitoring module 11 includes one or a combination of millimeter-wave radar, laser radar, and an external camera. The millimeter-wave radar and laser radar are configured to locate obstacles and acquire data such as the speed, angle, and distance of the obstacles. The millimeter-wave radar is less susceptible to interference from adverse weather conditions, has a long detection range, and can monitor obstacles at long distances. The laser radar is highly accurate and simple in data processing, and can complement the information acquired by the millimeter-wave radar in terms of data content and accuracy, resulting in more accurate monitoring results. The external camera is configured to acquire image information of the obstacles for use in distinguishing and identifying the obstacles.

[0073] The vehicle body attitude monitoring module 12 includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor, where the speed sensor is configured to monitor vehicle body motion, and the yaw rate sensor and steering wheel angle sensor are configured to monitor vehicle body attitude. It can be understood that the sensors included in the vehicle body attitude monitoring module 12 are not limited to those described above, and can alternatively be other sensors mounted inside the vehicle body.

[0074] The integrated safety area control unit 2 obtains, through calculation, a monitoring area based on the data acquired by the vehicle body attitude monitoring module 12, i.e., an area corresponding to the vehicle body attitude and vehicle body movement and where a collision with an obstacle may occur, while the vehicle external information monitoring module 11 only monitors obstacles within the monitoring area, thereby reducing the amount of data acquisition and data processing of the vehicle external information monitoring module 11 and also reducing the amount of data processing of the integrated safety area control unit 2. In this way, the operating speed of the safety system 10 is faster, and the software and hardware requirements are reduced, resulting in lower costs.

[0075] Referring further to FIG. 1 , in some embodiments, the integrated safety area control unit 2 has a modeling function and may perform calculations based on the modeling information. The integrated safety area control unit 2 separately models obstacles and the vehicle. Specifically, the integrated safety area control unit 2 fuses data acquired by a millimeter-wave radar, a laser radar, and an external camera to continuously model obstacles in real time. Furthermore, the integrated safety area control unit 2 continuously models the moving vehicle in real time based on vehicle body motion information monitored by a speed sensor, vehicle body yaw angular velocity information monitored by a yaw rate sensor, and vehicle steering wheel angle information monitored by a steering wheel angle sensor. The integrated safety area control unit 2 compares the obstacle modeling information and vehicle body modeling information, which are updated in real time, to calculate collision conditions. Meanwhile, the integrated safety area control unit 2 updates the calculation results in real time during calculation and continuously compares the calculation results with real-time observation results to improve calculation accuracy with reduced error.

[0076] Referring further to FIG. 1 , in some embodiments, the safety system 10 further includes a cloud database 3 and a simulation database 4. The cloud database 3 is configured to provide historical data of collisions between obstacles and vehicles, and the simulation database 4 is configured to provide simulation data of collisions between obstacles and vehicles based on modeling information. The integrated safety area control unit 2 calculates the collision conditions between the obstacle and the vehicle during a collision based on the historical data and the simulation data. Specifically, the distance traveled by the vehicle in a certain period of time is S=VT, and the vehicle speed is V=V0+aT. If deceleration cannot reduce the speed to 0 within the corresponding time and distance, the collision probability can be considered high. Furthermore, it takes time to turn the vehicle to a certain angle. If the vehicle cannot be sufficiently turned to a certain angle within the corresponding time and distance, the collision cannot be avoided. The collision position of the obstacle when the collision occurs can be calculated by calculating the angle at which the vehicle can be turned within a limited time.

[0077] An example of calculating the collision probability may be as follows: The cloud database 3 is configured to provide historical data of collisions between an obstacle and a vehicle as a first collision model, and the simulation database 4 is configured to provide simulation data of collisions between the obstacle and the vehicle based on modeling information as a second collision model. The integrated safety area control unit 2 combines the data information of the first collision model and the second collision model to calculate the collision conditions between the obstacle and the vehicle.

[0078] As with previous implementations, it will be appreciated that the integrated safe domain control unit 2 may include one or a combination of one or more hardware processors such as a system on a chip (SOC), microcontroller, microprocessor (e.g., an MCU chip or 51 single-chip microcomputer), reduced instruction set computer (RISC), application specific integrated circuit (ASIC), application specific instruction integrated processor (ASIP), central processing unit (CPU), graphics processing unit (GPU), physical processing unit (PPU), microcontroller unit, digital signal processor (DSP), field programmable gate array (FPGA), RISC machine (ARM), programmable logic device (PLD), any circuit or processor capable of performing one or more functions.

[0079] With reference to FIG. 2 and FIGS. 3A and 3B, it can be seen from the above description that for a vehicle including an external airbag, a method for improving the road compatibility of the vehicle may include the following steps:

[0080] Step A. Monitoring obstacles around the vehicle and acquiring data of the obstacles around the vehicle; Step B. Monitoring vehicle body motion and vehicle body attitude to obtain vehicle body attitude data and vehicle body motion data, Specifically, as shown in FIG. 3A , in one or more embodiments, a vehicle sensor acquires and monitors vehicle body data, including vehicle body motion data and vehicle body posture data, and a monitoring area is obtained through calculation, i.e., corresponding to the vehicle body posture and vehicle body motion, and an area where a collision may occur is obtained; meanwhile, a radar and a camera monitor information about obstacles around the vehicle, and the Internet of Vehicles can also provide information about obstacles around the vehicle; and Step C. Calculating a collision condition between the vehicle and the obstacle according to the data of the obstacle around the vehicle, the vehicle body motion data, and the vehicle body posture data, where the collision condition includes a collision relative speed and a collision overlap rate; Step D. Determining whether to deploy an external airbag based on the collision relative speed and the collision overlap rate, wherein the determination condition for controlling the triggering of the deployment of the external airbag includes controlling the external airbag to remain stowed instead of triggering the external airbag to deploy when the collision relative speed is less than a first speed threshold V1 and / or the collision overlap rate is less than a first overlap rate threshold X1.

[0081] Specifically, as shown in FIG. 3A , in some embodiments, based on the monitored obstacles around the vehicle, the vehicle body motion, and the vehicle body motion posture, it is determined whether there is an obstacle within the monitoring area, and the type of the obstacle is recognized as a static obstacle or a dynamic obstacle such as a moving vehicle. The static obstacle may be a road obstacle, a stationary vehicle, etc. Then, the obstacle is modeled, the motion of the obstacle, including the motion direction and speed, is predicted, and the collision condition of each obstacle is calculated. The collision condition includes at least a collision relative speed and a collision overlap rate, and may further include a collision probability, a collision moment, and a collision location. The probability of collision with each obstacle is calculated, and the obstacle with the highest collision probability is selected for determining whether to deploy an external airbag, thereby improving the road compatibility of the vehicle. First, it may be determined whether the collision relative speed is less than a first speed threshold V1 and whether the collision overlap rate is less than X1. If either of these two conditions is met, the external airbag is controlled to remain contained, so that it can be quickly and accurately determined whether the external airbag needs to be deployed, which allows the external airbag to be deployed in time, thereby improving the road compatibility of the vehicle. Then, it is determined whether the predicted moment of the collision is before the first moment T1.

[0082] Preferably, as shown in Figure 3A, in some embodiments, the mental state of the driver in the vehicle may be further monitored, mental state data of the driver in the vehicle may be obtained, and the probability that the driver will notice a collision with an obstacle may be calculated based on the state data, data of obstacles around the vehicle, vehicle body motion data, and vehicle body posture data, and a collision condition may be calculated based on the probability. If the probability is less than an alarm threshold, the driver may be warned to increase the probability that the driver will notice a collision, and the collision time may be corrected based on the above calculation result of the probability, and it may be determined whether the predicted moment of the collision is before the second moment T2. If the predicted moment of the collision is not before the second moment T2, the collision may be avoided, or even if a collision occurs, there is no need to trigger the deployment of an external airbag.

[0083] Preferably, as shown in FIG. 3B , in one or more embodiments, historical data of collisions between the vehicle and the obstacle can be further obtained from the cloud database, and simulation results of collisions between the vehicle and the obstacle can be obtained from the simulation database to provide comparison and reference for the calculation of the integrated safety area control unit 2, so that the calculation of the collision conditions is more accurate.

[0084] 3B, the method for improving roadworthiness of a vehicle may further include determining whether the deployment of an external airbag in a crash condition reduces damage to the vehicle through calculation, and if the deployment of the external airbag in a crash condition does not reduce damage to the vehicle, controlling the external airbag to remain stowed instead of triggering its deployment. For example, based on data of obstacles around the vehicle, it is recognized that the mass of the collided obstacle is much larger than the mass of the vehicle on this side, such as a large truck or bus. In this case, even if the external airbag is deployed on this side of the vehicle, it cannot reduce damage, and the external airbag is controlled to remain stowed instead of being triggered to be deployed.

[0085] 3B , if it is determined that deploying an external airbag may reduce damage, it may be determined whether the predicted moment of impact is before a third moment T3. If the predicted moment of impact is before the third moment T3, it may be checked whether communications and components are functioning properly, and if communications and components are functioning properly, the external airbag is deployed.

[0086] 3B , after a collision, the collision conditions, including parameters such as the collision probability, the moment of the collision, the collision location, the collision relative speed, and the collision overlap rate, may be further recorded in the cloud database. While some embodiments shown in FIG. 3B illustrate that the external airbag is deployed and then recording is performed, those skilled in the art can understand that this is not limited thereto. For example, even if the external airbag is not deployed because it is determined that the deployment of the external airbag cannot reduce the damage, the data of this collision may still be recorded in the cloud database. As a result, the number of samples in the database may increase, and the accuracy of predictions may continuously improve due to the learning ability of the database itself.

[0087] For ease of explanation, the methods above are illustrated and described as a series of operations, but it should be understood and appreciated that the steps are not limited by the order of operations, since, according to one or more embodiments, some operations may occur in different orders and / or concurrently with other operations illustrated and described herein or not illustrated and described herein but that would be understood by one of ordinary skill in the art, e.g., steps A and B above may be performed concurrently.

[0088] According to another aspect of the present application, the present application further provides a computer-readable storage medium.

[0089] The computer-readable storage medium provided in the present application stores computer instructions, which, when executed by a processor, cause a program to be executed by the processor and perform the following steps: a step of calculating a collision condition between the vehicle and the obstacle based on input data of the obstacle around the vehicle, vehicle body motion data, and vehicle body posture data, the collision condition including a collision probability, a collision moment, a collision position, a collision relative velocity, and a collision overlap rate; determining whether to trigger deployment of the external airbag 20 based on the collision relative speed and the collision overlap rate, the determination condition for which includes controlling the external airbag 20 to remain in a stowed state instead of triggering deployment of the external airbag 20 when the collision relative speed is less than a first speed threshold V1 and / or the collision overlap rate is less than a first overlap rate threshold X1; can be implemented.

[0090] Those skilled in the art will appreciate that additional steps may also be performed by the program, such as those that may be performed by the program described in the method for improving roadworthiness of a vehicle above.

[0091] DETAILED DESCRIPTION OF THE INVENTION Embodiments of vehicle safety systems and devices, methods for enhancing vehicle safety, and media are described below.

[0092] Vulnerable Road Users (VRUs) described in the following embodiments include pedestrians and two-wheeled vehicles such as bicycles, motorcycles, and electric bicycles. Two-wheeled vehicles do not refer to the means of transport themselves, but rather to users who use the means of transport.

[0093] Please refer to FIG. 4 to understand one embodiment of the vehicle safety system of the present application. A vehicle safety system 101 for reducing collision damage between vulnerable road users and the front of a vehicle includes a monitoring system 110 and an integrated safety area control unit 200. The vehicle safety system 101 may control the deployment and deployment of a front airbag 201 of the vehicle, i.e., the vehicle safety system 101 and the front airbag 201 may constitute a vehicle safety device 1000. Those skilled in the art will understand that the vehicle safety system 101 and the front airbag 201 may be located together within the vehicle or separately. For example, the vehicle safety system 101 may be located outside the vehicle and control the deployment or deployment of the front airbag 201 through wireless communication. The monitoring system 110 may include a vulnerable road user information monitoring module 111 and a vehicle body posture monitoring module 121. The vulnerable road user information monitoring module 111 is configured to monitor vulnerable road users around the vehicle, and the vehicle body posture monitoring module 121 is configured to monitor vehicle body motion and the posture of the front of the vehicle. The integrated safety zone control unit 200 is configured to process data obtained from the monitoring system 110 and output control signals to the front airbags 201 .

[0094] The integrated safety area control unit 200 is configured to: calculate collision conditions between the vehicle and the vulnerable road user based on the data acquired by the vulnerable road user information monitoring module 111 and the vehicle body posture monitoring module 121, where the collision conditions include the collision probability, the moment of collision, the relative speed at the time of collision, and the collision position between the head of the vulnerable road user and the front part of the vehicle body at the time of collision; and calculate a damage value to the vulnerable road user based on the collision conditions, and output a signal for controlling the front airbag 201 to trigger deployment or a signal for controlling the front airbag 201 to keep it in a contained state. Specifically, the integrated safety area control unit 200 calculates a first damage value H1 to vulnerable road users when the front airbag 201 is deployed under collision conditions, and a second damage value H2 to vulnerable road users when the front airbag 201 is deployed under collision conditions, compares H1 with H2, and if H1 is greater than H2, outputs a control signal to the front airbag 201 to trigger deployment, triggering the front airbag to deploy; if H1 is less than H2, outputs a control signal to the front airbag 201 to maintain the deployed state, maintaining the front airbag in the deployed state.

[0095] A beneficial effect of using the vehicle safety system 101 and vehicle safety device 1000 of the above embodiment is that the integrated safety area control unit 200 calculates and compares damage values, thereby maximizing protection for vulnerable road users when they collide with the front of a vehicle. The above embodiment avoids a problem in the prior art where the deployment of a front airbag can cause greater damage to vulnerable road users. For example, when a pedestrian collides at a very low speed, the impact force during the instantaneous deployment of the front airbag 201 can be prevented from becoming the main cause of damage in a collision accident. Similarly, in other false triggering systems that simply use speed as a determining factor, the front airbag 201 cannot be deployed in time for vulnerable road users with low impact speeds and high heights, such as those riding road bikes. After the collision, the vulnerable road user's head collides with a high-envelope valve area, such as the windshield, at the front of the vehicle, resulting in serious injury.

[0096] Specifically, in one or more embodiments, H1 may include a third damage value H3 caused by a first impact location between the vulnerable road user's head and the front of the vehicle when the front airbag 201 is in a stowed state at the time of the impact, and H2 may include the sum of a fourth damage value caused by a second impact location between the vulnerable road user's head and the front of the vehicle when the front airbag 201 is in a deployed state at the moment of the impact and a fifth damage value H5 caused by the impact energy to the vulnerable road user when the front airbag 201 is triggered to deploy, minus an injury reduction value H6 to the vulnerable road user caused by the impact energy absorbed due to the deployment of the front airbag 201; that is, the integrated safety zone control unit 200 compares H3 with H4 + H5 - H6. Because the deployment of the front airbag 201 generally lowers the envelope value for the second impact location than the envelope value for the first impact location, H4 is generally less than H3. However, in some low-speed collision situations, the deployment impact force of the front airbag 201 may cause injuries to the pedestrian's legs, including the thighs and lower legs, due to the impact force of the airbag, or secondary damage to the pedestrian due to impact to the extremities. Therefore, the damage values ​​to vulnerable road users when the front airbag 201 is in a deployed state and a stowed state in a collision condition can be accurately compared by comparing H3 with H4 + H5 - H6.

[0097] 4 , in one or more embodiments, the monitoring system 110 may further include an in-vehicle monitoring module 131 configured to acquire mental state data of a driver in the vehicle, including, for example, one or a combination of health state data and facial data of the driver in the vehicle. The above data may be acquired by a camera and / or in-vehicle radar hardware. Specifically, the health state data monitored by the camera may include, for example, heart rate information, and the information about the facial data may include facial emotional state information (such as excitement and anger), facial fatigue state information (such as blink frequency and yawning), facial gaze information (such as a camera tracking a person's gaze to determine whether the driver notices a vulnerable road user), and facial orientation information (such as determining the occupant's head rotation based on the facial orientation for analysis to determine whether the person is paying attention to the road ahead). The in-vehicle radar may function to implement in-vehicle liveness detection and heart rate detection.

[0098] The integrated safety zone control unit 200 can calculate the probability that the driver in the vehicle will notice a collision with a vulnerable road user, together with the mental state data of the driver in the vehicle and the data acquired by the vulnerable road user information monitoring module 111 and the body posture monitoring module 121, and calculate a collision condition based on the probability. For example, if the probability that the driver in the vehicle will notice a collision with a vulnerable road user obtained through the calculation by the integrated safety zone control unit 200 is low, then the calculation result for the collision condition increases, the collision relative speed increases, the collision moment progresses, and the collision probability increases. It can be understood that the in-vehicle monitoring module 131 can be provided to make the calculation result of the integrated safety zone control unit 200 more accurate. However, those skilled in the art can understand that the probability that the driver in the vehicle will notice a collision with a vulnerable road user can be obtained in other ways. For example, the integrated safety zone control unit 200 performs matching between the body posture and the big data of the driver's state, and directly obtains the above probability data by using the data acquired by the body posture monitoring module 121, thereby reducing the amount of calculation. Its hardware and software costs are low, but its calculation accuracy is lower than that of the in-vehicle monitoring module 131 .

[0099] 4 , in one embodiment, the integrated safety zone control unit 200 may include an alarm prompt function. If the likelihood that the driver in the vehicle will notice a collision with a vulnerable road user is less than the alarm threshold, the integrated safety zone control unit 200 outputs an alarm signal to generate a sharp warning sound in the vehicle, light up the dashboard or center console screen, generate a vibration on the steering wheel, or otherwise prompt the driver, so as to increase the likelihood that the driver will notice the collision with a vulnerable road user. Specific monitoring and determination steps may be as follows: The driver's heart rate data acquired by the in-vehicle monitoring module 131 is a first value, the driver's blink frequency is a second value, and it is determined based on database information that the driver is in a first mental state at this time and the likelihood that the driver will notice the collision is higher than the alarm threshold. Therefore, no prompt is given. The driver's heart rate data acquired by the in-vehicle monitoring module 131 is a third value, the driver's blink frequency is a fourth value, and the driver's gaze is away from the road surface for a period longer than the first time. Based on the database information, it is determined that the driver is in the second mental state at this time and the probability that the driver will notice a collision with a vulnerable road user is less than the alarm threshold, and then an alarm is given to prompt the driver. The integrated safety zone control unit 200 repeats the above probability calculation process until the probability is higher than the alarm threshold, and then cancels the output of the alarm signal, and the integrated safety zone control unit 200 calculates the changed collision conditions in real time based on the changed probability value after the alarm.

[0100] 4, in some embodiments, the monitoring system 110 may further include an Internet of Vehicles module 141. Communication between the Internet of Vehicles and other moving vehicles and / or vulnerable road users and / or network systems may provide information between the vehicle and vulnerable road users. The Internet of Vehicles module 141, together with the vulnerable road user information monitoring module 111, provides information about vulnerable road users around the vehicle, further improving the calculation accuracy of the integrated safety zone control unit 200.

[0101] In one or more embodiments, the vulnerable road user information monitoring module 111 includes one or a combination of millimeter-wave radar, laser radar, and an external camera. The millimeter-wave radar and laser radar are configured to locate vulnerable road users and acquire data such as their speed, angle, and distance. The millimeter-wave radar is less susceptible to interference from adverse weather conditions, has a long detection range, and can monitor vulnerable road users at long distances. The laser radar is highly accurate and simple in data processing, and can complement the information acquired by the millimeter-wave radar in terms of data content and accuracy, resulting in more accurate monitoring results. The external camera is configured to acquire image information of vulnerable road users for use in distinguishing and identifying them.

[0102] The vehicle body attitude monitoring module 121 includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor, where the speed sensor is configured to monitor vehicle body movement, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor vehicle body attitude. It can be understood that the sensors included in the vehicle body attitude monitoring module 121 are not limited to those described above, and can alternatively be other sensors mounted inside the vehicle body.

[0103] The integrated safety zone control unit 200 may obtain, through calculation, a monitoring area based on the data acquired by the vehicle body posture monitoring module 121, i.e., an area corresponding to the vehicle body posture and vehicle body movement, where a collision with a vulnerable road user may occur, while the vulnerable road user information monitoring module 111 only monitors vulnerable road users within the monitoring area, thereby reducing the amount of data acquisition and data processing of the vulnerable road user information monitoring module 111, and also reducing the amount of data processing of the integrated safety zone control unit 200. In this way, the operating speed of the vehicle safety system 101 is faster, and the software and hardware requirements are reduced, resulting in lower costs.

[0104] Referring further to FIG. 4 , in some embodiments, the integrated safety zone control unit 200 may have a modeling function and perform calculations based on the modeling information. The integrated safety zone control unit 200 separately models vulnerable road users and vehicles. Specifically, the integrated safety zone control unit 200 continuously models vulnerable road users in real time by fusing data acquired by a millimeter-wave radar, a laser radar, and an external camera. Furthermore, the integrated safety zone control unit 200 continuously models a moving vehicle in real time based on vehicle body motion information monitored by a speed sensor, vehicle body yaw angular velocity information monitored by a yaw velocity sensor, and vehicle steering wheel angle information monitored by a steering wheel angle sensor. The integrated safety zone control unit 200 compares the vulnerable road user modeling information and vehicle body modeling information, which are updated in real time, to calculate collision conditions. Meanwhile, the integrated safety zone control unit 200 updates the calculation results in real time during calculation and continuously compares the calculation results with real-time observation results to improve calculation accuracy with reduced error.

[0105] Referring further to FIG. 4 , in some embodiments, the vehicle safety system 101 further includes a cloud database 300 and a simulation database 400. The cloud database 300 is configured to provide historical data of collisions between vulnerable road users and the front of the vehicle, and the simulation database is configured to provide simulation data of collisions between vulnerable road users and the front of the vehicle based on modeling information. The integrated safety zone control unit 200 calculates the collision conditions between the vulnerable road users and the front of the vehicle during a collision based on the historical data and the simulation data. Specifically, the distance traveled by the vehicle in a certain period of time is S=VT, and the vehicle speed is V=aT. If deceleration cannot reduce the speed to 0 within a corresponding time and distance, the collision probability can be considered high. Furthermore, it takes time to turn the vehicle to a certain angle. If the vehicle cannot be sufficiently turned to a certain angle within a corresponding time and distance, the collision cannot be avoided. The collision position between the head of the vulnerable road user and the front of the vehicle when a collision occurs can be calculated by calculating the angle at which the vehicle can be turned within a limited time.

[0106] An example of calculating the collision probability may be as follows: The cloud database 300 is configured to provide historical data of collisions between vulnerable road users and the front of the vehicle body as a first collision model, and the simulation database 400 is configured to provide simulation data of collisions between vulnerable road users and the front of the vehicle body based on modeling information as a second collision model. The integrated safety zone control unit 200 combines the data information of the first collision model and the second collision model to calculate the collision conditions between the vulnerable road users and the front of the vehicle body.

[0107] As with previous implementations, it will be appreciated that the integrated safe domain control unit 200 may include one or a combination of one or more hardware processors such as a system on a chip (SOC), a microcontroller, a microprocessor (e.g., an MCU chip or a single-chip microcomputer), a reduced instruction set computer (RISC), an application specific integrated circuit (ASIC), an application specific instruction processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), or any circuit or processor capable of performing one or more functions.

[0108] Referring to FIG. 5, from the above description, it can be seen that for a vehicle including a front airbag, a method for reducing collision damage between vulnerable road users and the front of the vehicle body and improving vehicle safety may include the following steps: Step A. Monitoring vulnerable road users around the vehicle; Step B. Monitoring vehicle body motion and vehicle front attitude, Specifically, as shown in FIG. 6A , in one or more embodiments, a vehicle sensor acquires and monitors vehicle body data, including vehicle body motion data and vehicle body front posture data, and a monitoring area is obtained through calculation, i.e., corresponding to the vehicle body posture and vehicle body motion, and an area where a collision with a vulnerable road user may occur is obtained; meanwhile, radar and camera monitor information about vulnerable road users around the vehicle, and the Internet of Vehicles can also provide information about vulnerable road users around the vehicle; Step C. Calculating collision conditions between the vehicle and the vulnerable road users based on the monitored vulnerable road users around the vehicle, the vehicle body motion, and the posture of the front of the vehicle body, where the collision conditions include: collision probability, collision moment, relative speed at the time of collision, and collision position between the head of the vulnerable road users and the front of the vehicle body at the time of collision; Specifically, as shown in FIG. 6A , in some embodiments, based on the monitored vulnerable road users around the vehicle, the vehicle body motion, and the posture of the front of the vehicle body, it is determined whether there are any vulnerable road users within the monitoring area; it is determined whether the collision relative speed is higher than a first speed; if the collision relative speed is higher than the first speed, the trajectory of the vulnerable road user is tracked, the movement path of the vulnerable road user is predicted, it is determined whether the vulnerable road user will cross the path of the vehicle; if the vulnerable road user crosses the path of the vehicle, the collision position and collision time between the vehicle and the vulnerable road user are predicted, and it is determined whether the predicted collision moment is before the first moment; Preferably, as shown in FIG. 6A, in some embodiments, the driver's state information can also be monitored through an in-vehicle monitoring module, and the probability that the driver will notice a collision with a vulnerable road user can be calculated; if the probability is less than an alarm threshold, the driver is warned so as to increase the probability that the driver will notice the collision; and the collision time is corrected according to the above calculation result of the probability; and it is determined whether the predicted collision moment is before the second moment; Preferably, as shown in FIG. 6B, in one or more embodiments, historical data of collisions between vulnerable road users and the front of the vehicle body can also be obtained from the cloud database, and simulation results of collisions between vulnerable road users and the front of the vehicle body can be obtained from the simulation database to provide comparison and reference for the calculation of the collision system, so that the calculation of the collision conditions is more accurate. Step D. calculating a first damage value and a second damage value to vulnerable road users in a crash condition to determine whether to deploy a front airbag before the moment of impact, wherein the first damage value is a damage value to vulnerable road users for a front airbag that is housed in the crash condition, and the second damage value is a damage value to vulnerable road users for a front airbag that is deployed in the crash condition; Determining that when the first damage value is greater than the second damage value, the front airbag is deployed, and when the first damage value is less than the second damage value, the front airbag is controlled to remain in a stowed state.

[0109] 6B, in some embodiments, after a crash condition is calculated, a determination is made as to whether a collision probability between the vulnerable road user and the front of the vehicle body is greater than a threshold value. If the collision probability is greater than the threshold value, a first damage value to the vulnerable road user for the front airbags stored in the crash condition is compared to a second damage value to the vulnerable road user for the front airbags deployed in the crash condition. If the second damage value is greater than the first damage value, a determination is made that there is no need to deploy the front airbags.

[0110] If the first damage value is greater than the second damage value, it may be determined whether the predicted crash moment is before a third moment. If the predicted crash moment is before the third moment, it may be checked whether communications and components are functioning properly, and if communications and components are functioning properly, an external airbag is deployed.

[0111] Specifically, the first damage value includes a third damage value caused by a first impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a stowed state at the time of the collision, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the vulnerable road occupant's head and the front of the vehicle body when the front airbag is in a deployed state at the moment of the collision and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus the damage reduction value to the vulnerable road occupant caused by the impact energy absorbed due to the deployment of the front airbag.

[0112] Preferably, referring to FIG. 6B , step E may be further included. After the collision, the collision conditions, including the collision probability, the moment of the collision, the relative speed at the time of the collision, the collision position between the head of the vulnerable road user and the front of the vehicle body at the time of the collision, and other data, may also be recorded in the cloud database. While some embodiments shown in FIG. 6B illustrate that the front airbag is deployed and then recording is performed, those skilled in the art will understand that this is not limited thereto. For example, if the front airbag is deployed during the collision because the first damage value is less than the second damage value, the collision conditions of this collision may also be recorded in the cloud database.

[0113] For ease of explanation, the methods above are illustrated and described as a series of operations, but it should be understood and appreciated that the steps are not limited by the order of operations, since, according to one or more embodiments, some operations may occur in different orders and / or concurrently with other operations illustrated and described herein or not illustrated and described herein but that would be understood by one of ordinary skill in the art, e.g., steps A and B above may be performed concurrently.

[0114] According to another aspect of the present application, the present application further provides a computer-readable storage medium.

[0115] The computer-readable storage medium provided in the present disclosure stores computer instructions, which, when executed by a processor, cause a program to be executed by the processor, which performs the following steps: a step of calculating collision conditions between the vehicle and the vulnerable road user based on input data of the vulnerable road user around the vehicle, vehicle body motion data, and posture data of the front of the vehicle body, the collision conditions including a collision probability, a collision moment, a relative speed at the time of collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of collision; calculating a first damage value and a second damage value to a vulnerable road user in a crash condition, wherein the first damage value is a damage value to the vulnerable road user caused by a front airbag being stored in the crash condition, and the second damage value is a damage value to the vulnerable road user caused by a front airbag being deployed in the crash condition; determining whether to deploy a front airbag before the moment of collision, and controlling the front airbag to deploy when the first damage value is greater than the second damage value, and controlling the front airbag to remain in a stowed state when the first damage value is less than the second damage value; can be implemented.

[0116] Those skilled in the art will appreciate that additional steps may also be performed by the program, such as those that may be performed by the program described in the method for increasing vehicle safety above.

[0117] The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integrated within the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and the storage medium may reside as separate assemblies in a user terminal.

[0118] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Computer-readable media includes both computer storage media and communication media, including any medium that facilitates transfer of a computer program from one place to another. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store suitable program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, microwave, etc., the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, microwave, etc. are included within the definition of medium. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray® discs, although disks are often used to reproduce data magnetically and discs are used to reproduce data optically using laser light. Combinations of the above should also be included within the scope of computer-readable media.

[0119] Although the present invention has been disclosed above together with preferred embodiments, the preferred embodiments are not intended to limit the present invention. Those skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, without departing from the content of the technical solutions of the present invention, any modifications, equivalent changes and modifications made to the above embodiments according to the technical content of the present invention shall fall within the scope of protection defined by the claims of the present invention. <Additional Notes> [Form 1] 1. A safety system for improving roadability of a vehicle, the system being configured to improve the roadability of the vehicle and capable of controlling an external airbag of the vehicle; a vehicle external information monitoring module configured to monitor obstacles around the vehicle body; a body attitude monitoring module configured to monitor body motion and body attitude; a monitoring system comprising: an integrated safety area control unit configured to calculate a collision condition between the vehicle and the obstacle, the collision condition including a collision relative speed and a collision overlap rate, based on data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, and to determine whether to deploy the external airbag based on the collision relative speed and the collision overlap rate, wherein the determination conditions for controlling triggering of deployment of the external airbag include determining whether the collision relative speed is less than a first speed threshold and / or whether the collision overlap rate is less than a first overlap rate threshold; and A safety system comprising: [Form 2] In the safety system described in form 1, the judgment condition for controlling the triggering of the deployment of the external airbag further includes determining whether the deployment of the external airbag in the collision condition will reduce damage to the vehicle, and if the deployment of the external airbag in the collision condition does not reduce damage to the vehicle, the integrated safety area control unit controls the external airbag to remain contained. [Form 3] In the safety system described in form 1, the monitoring system further includes an in-vehicle monitoring module configured to acquire mental state data of a driver within the vehicle, and the integrated safety area control unit calculates a probability that the driver will notice a collision with the obstacle based on the mental state data and the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, and calculates the collision condition based on the probability. [Form 4] In the safety system described in form 3, the integrated safety zone control unit is further configured to provide an alarm prompt, and when the likelihood that the driver will notice a collision with the obstacle is less than an alarm threshold, the integrated safety zone control unit outputs an alarm signal, thereby increasing the likelihood that the driver will notice a collision with the obstacle. [Form 5] 4. The safety system according to claim 3, wherein the in-vehicle monitoring module comprises a camera and / or an in-vehicle radar. [Form 6] 6. A safety system according to claim 5, wherein the mental state data includes one or a combination of health state data and facial data of the driver in the vehicle. [Form 7] 10. The safety system of claim 1, wherein the monitoring system further comprises an Internet of Vehicles module, and the Internet of Vehicles module, together with the vehicle external information monitoring module, provides information about the obstacles around the vehicle. [Form 8] In the safety system described in aspect 1, the vehicle external information monitoring module is characterized by comprising one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera. [Form 9] In the safety system according to the first aspect, the vehicle body attitude monitoring module includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor; The velocity sensor is configured to monitor the vehicle body motion, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the vehicle body attitude. A safety system characterized by: [Form 10] In the safety system described in form 1, the integrated safety area control unit obtains a monitoring area through calculation based on data acquired by the vehicle body posture monitoring module, and the vehicle external information monitoring module monitors only obstacles within the monitoring area. [Form 11] In the safety system described in form 1, the integrated safety area control unit is further configured to model an obstacle based on monitoring information from the vehicle external information monitoring module, model the vehicle body based on monitoring information from the vehicle body attitude monitoring module, and calculate the collision conditions based on the modeling information. [Form 12] A safety system as described in aspect 11, further comprising a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of collisions between obstacles and the vehicle, the simulation database is configured to provide simulation data of collisions between obstacles and the vehicle based on the modeling information, and the integrated safety area control unit calculates the collision conditions based on the historical data and the simulation data. [Form 13] A vehicle safety device comprising an external airbag and the safety system according to any one of aspects 1 to 12. [Form 14] 1. A method for improving roadworthiness of a vehicle, the vehicle comprising an external airbag, the method comprising: monitoring obstacles around the vehicle and acquiring data about the obstacles around the vehicle; monitoring vehicle body motion and vehicle body attitude to obtain vehicle body attitude data and vehicle body motion data; calculating a collision condition between the vehicle and the obstacle based on the data of the obstacle around the vehicle, the vehicle body motion data, and the vehicle body posture data, wherein the collision condition includes a collision relative velocity and a collision overlap rate; determining whether to deploy the external airbag based on the collision relative velocity and the collision multiple rate, wherein a determination condition for controlling triggering of deployment of the external airbag includes controlling the external airbag to remain contained instead of triggering deployment of the external airbag when the collision relative velocity is less than a first velocity threshold and / or the collision multiple rate is less than a first multiple rate threshold; A method comprising: [Form 15] 15. The method for improving road compatibility of the vehicle as described in claim 14, wherein the determination condition for controlling the triggering of deployment of the external airbag further comprises determining whether deployment of the external airbag in the crash condition would reduce an injury value to the vehicle, and controlling the external airbag to remain contained if deployment of the external airbag in the crash condition would not reduce the injury value to the vehicle. [Form 16] 15. The method for improving road compatibility of the vehicle according to claim 14, wherein the step of monitoring obstacles around the vehicle includes the steps of monitoring whether the obstacles are present around the vehicle, identifying the type of the obstacles, and predicting movement of the obstacles. [Form 17] A method for improving road compatibility of a vehicle as described in claim 14, further comprising the steps of: monitoring the mental state of a driver in the vehicle and acquiring mental state data of the driver in the vehicle; and calculating a probability that the driver will notice a collision with the obstacle based on the state data, the data of the obstacle around the vehicle, the vehicle body motion data, and the vehicle body posture data; and calculating the collision condition based on the probability. [Form 18] 15. The method for improving roadworthiness of the vehicle as recited in claim 14, further comprising the step of recording the crash conditions and uploading them to a cloud database. [Form 19] A computer-readable storage medium storing a computer program, the computer program being executed by a processor, a step of calculating a collision condition between the vehicle and the obstacle based on input data of the obstacle around the vehicle, vehicle body motion data, and vehicle body posture data, the collision condition including a collision relative velocity and a collision overlap rate; determining whether to trigger deployment of an external airbag based on the collision relative velocity and the collision multiple rate, wherein a determination condition therefor includes controlling the external airbag to remain contained instead of triggering deployment of the external airbag when the collision relative velocity is less than a first velocity threshold and / or the collision multiple rate is less than a first multiple rate threshold; A readable storage medium having the above-described program implemented thereon. [Form 20] A vehicle safety system configured to reduce damage to vulnerable road users in a front collision with a vehicle body, capable of controlling a front airbag of a vehicle, a vulnerable road user information monitoring module configured to monitor the vulnerable road users around the vehicle; a body attitude monitoring module configured to monitor body motion and the attitude of the front of the body; a monitoring system comprising: an integrated safety zone control unit configured to: calculate a collision condition between the vehicle and the vulnerable road user based on data acquired by the vulnerable road user information monitoring module and the vehicle body posture monitoring module, the collision condition including a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and a front part of the vehicle body at the time of the collision; and calculate a first damage value and a second damage value to the vulnerable road user in the collision condition based on the collision condition, and determine whether to deploy the front airbag before the collision moment, wherein the first damage value is a damage value to the vulnerable road user for the front airbag being stored in the collision condition, the second damage value is a damage value to the vulnerable road user for the front airbag being deployed in the collision condition, and when the first damage value is greater than the second damage value, the front airbag is controlled to trigger deployment, and when the first damage value is less than the second damage value, the front airbag is controlled to keep stored; A vehicle safety system comprising: [Form 21] In the vehicle safety system described in form 20, the first damage value includes a third damage value caused by a first impact position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a stowed state at the time of the collision, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a deployed state at the moment of the collision and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road occupant caused by the impact energy absorbed for the deployment of the front airbag. [Form 22] A vehicle safety system as described in claim 20, wherein the monitoring system further comprises an in-vehicle monitoring module configured to acquire mental state data of a driver in the vehicle, and the integrated safety area control unit calculates the likelihood that the driver will notice a collision with the vulnerable road user based on the mental state data and the data acquired by the vulnerable road user information monitoring module and the vehicle body posture monitoring module, and calculates the collision conditions based on the likelihood. [Form 23] 23. The vehicle safety system of claim 22, wherein the integrated safety zone control unit is further configured to provide an alarm prompt, and when the probability is less than an alarm threshold, the integrated safety zone control unit outputs an alarm signal, thereby increasing the likelihood that the driver will notice a collision with the vulnerable road user. [Form 24] 23. A vehicle safety system according to claim 22, wherein the in-vehicle monitoring module comprises a camera and / or an in-vehicle radar. [Form 25] 25. A vehicle safety system according to claim 24, wherein the mental state data includes one or a combination of health state data and facial data of the driver in the vehicle. [Form 26] 20. A vehicle safety system according to claim 20, wherein the monitoring system further comprises an Internet of Vehicles module, and the Internet of Vehicles module, together with the vulnerable road users information monitoring module, provides information about the vulnerable road users around the vehicle. [Form 27] A vehicle safety system as described in claim 20, characterized in that the vulnerable road user information monitoring module is equipped with one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera. [Form 28] 21. The vehicle safety system according to claim 20, wherein the vehicle body attitude monitoring module includes a speed sensor, a yaw rate sensor, and a steering wheel angle sensor; The velocity sensor is configured to monitor the vehicle body motion, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the attitude of the front of the vehicle body. A vehicle safety system comprising: [Form 29] In the vehicle safety system described in form 20, the integrated safety area control unit obtains a monitoring area through calculation based on data acquired by the vehicle body posture monitoring module, and the vulnerable road users information monitoring module monitors only the vulnerable road users within the monitoring area. [Form 30] In the vehicle safety system described in form 20, the integrated safety area control unit is further configured to model a vulnerable road user based on monitoring information from the vulnerable road user information monitoring module, model the vehicle body based on monitoring information from the vehicle body posture monitoring module, and calculate the collision conditions based on the modeling information. [Form 31] A vehicle safety system as described in form 30, further comprising a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of collisions between vulnerable road users and the front of the vehicle body, and the simulation database is configured to provide simulation data of collisions between vulnerable road users and the front of the vehicle body based on the modeling information, and the integrated safety area control unit calculates the collision conditions based on the historical data and the simulation data. [Form 32] A vehicle safety device comprising a front airbag and the vehicle safety system according to any one of aspects 20 to 31. [Form 33] 1. A method for enhancing vehicle safety used to reduce injury to vulnerable road users in a frontal collision with a vehicle body, the vehicle being equipped with a front airbag, the method comprising: monitoring the vulnerable road users around the vehicle; monitoring vehicle body motion and the attitude of the front of the vehicle body; calculating collision conditions between the vehicle and the vulnerable road user based on the monitored vulnerable road users around the vehicle, vehicle body motion, and the posture of the front of the vehicle body, wherein the collision conditions include a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of the collision; a step of calculating a first damage value and a second damage value to the vulnerable road occupant under the collision condition, and determining whether to deploy the front airbag before the moment of the collision, wherein the first damage value is a damage value to the vulnerable road occupant for the front airbag housed under the collision condition, and the second damage value is a damage value to the vulnerable road occupant for the front airbag deployed under the collision condition; When the first damage value is greater than the second damage value, the front airbag is deployed, and when the first damage value is less than the second damage value, the front airbag is controlled to remain in a stored state. A method comprising: [Form 34] A method for enhancing the safety of the vehicle as described in claim 33, wherein the first damage value includes a third damage value caused by a first impact position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a stowed state at the time of the collision, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a deployed state at the moment of the collision and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road occupant caused by the impact energy absorbed for the deployment of the front airbag. [Form 35] A method for improving the safety of the vehicle as described in claim 34, characterized in that the step of monitoring the vulnerable road users around the vehicle includes the steps of monitoring whether the vulnerable road users are present around the vehicle, identifying the type of the vulnerable road users, tracking the trajectory of the vulnerable road users, and predicting the movement route of the vulnerable road users. [Form 36] 34. The method for increasing the safety of the vehicle as described in claim 33, further comprising the step of recording the crash conditions and uploading them to a cloud database. [Form 37] A computer-readable storage medium storing a computer program, the computer program being executed by a processor, a step of calculating collision conditions between the vehicle and the vulnerable road user based on input data of the vulnerable road user around the vehicle, vehicle body motion data, and posture data of the front of the vehicle body, the collision conditions including a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of the collision; a step of calculating a first damage value and a second damage value for the vulnerable road user in the crash condition, wherein the first damage value is a damage value for the vulnerable road user caused by the front airbag being stored in the crash condition, and the second damage value is a damage value for the vulnerable road user caused by the front airbag being deployed in the crash condition; determining whether to deploy the front airbag before the moment of the collision, and controlling the front airbag to deploy when the first damage value is greater than the second damage value, and controlling the front airbag to remain in a stowed state when the first damage value is less than the second damage value; A readable storage medium having the above-described program implemented thereon.

Claims

1. 1. A safety system for improving roadability of a vehicle, the system being configured to improve the roadability of the vehicle and capable of controlling an external airbag of the vehicle; a vehicle external information monitoring module configured to monitor obstacles around the vehicle body; a body attitude monitoring module configured to monitor body motion and body attitude; a monitoring system comprising: an integrated safety area control unit configured to calculate a collision condition between the vehicle and the obstacle, the collision condition including a collision relative speed and a collision overlap rate, based on data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, and to determine whether to deploy the external airbag based on the collision relative speed and the collision overlap rate, wherein the determination condition for controlling the trigger of deployment of the external airbag satisfies at least one of the collision relative speed being less than a first speed threshold and the collision overlap rate being less than a first overlap rate threshold, and to control the external airbag to remain in a stowed state instead of triggering the deployment of the external airbag; A safety system comprising:

2. 2. The safety system of claim 1, wherein the determination conditions for controlling the triggering of deployment of the external airbag further include determining whether deployment of the external airbag in the crash condition will reduce damage to the vehicle, and if deployment of the external airbag in the crash condition does not reduce damage to the vehicle, the integrated safety zone control unit controls the external airbag to remain contained.

3. 2. The safety system according to claim 1, wherein the monitoring system further comprises an in-vehicle monitoring module configured to acquire mental state data of a driver in the vehicle, and the integrated safety area control unit calculates a probability that the driver will notice a collision with the obstacle based on the mental state data and the data acquired by the vehicle external information monitoring module and the vehicle body posture monitoring module, and calculates the collision condition based on the probability.

4. 4. The safety system of claim 3, wherein the integrated safety zone control unit is further configured to provide an alarm prompt, and when the likelihood that the driver will notice a collision with the obstacle is less than an alarm threshold, the integrated safety zone control unit outputs an alarm signal to increase the likelihood that the driver will notice a collision with the obstacle.

5. 4. The safety system of claim 3, wherein the in-vehicle monitoring module comprises a camera and / or an in-vehicle radar.

6. 6. The safety system of claim 5, wherein the mental state data includes one or a combination of physical state data and facial data of the driver in the vehicle.

7. 2. The safety system of claim 1, wherein the monitoring system further comprises an Internet of Vehicles module, the Internet of Vehicles module working in conjunction with the vehicle external information monitoring module to provide information about the obstacles around the vehicle.

8. 2. The safety system of claim 1, wherein the vehicle external information monitoring module comprises one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera.

9. 2. The safety system of claim 1, wherein the vehicle attitude monitoring module comprises a speed sensor, a yaw rate sensor, and a steering wheel angle sensor; The velocity sensor is configured to monitor the vehicle body motion, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the vehicle body attitude. A safety system characterized by:

10. 2. The safety system according to claim 1, wherein the integrated safety area control unit obtains a monitoring area based on data acquired by the vehicle body posture monitoring module through calculation, and the vehicle external information monitoring module monitors only obstacles within the monitoring area.

11. 2. The safety system according to claim 1, wherein the integrated safety area control unit is further configured to model an obstacle based on monitoring information from the vehicle external information monitoring module, model the vehicle body based on monitoring information from the vehicle body attitude monitoring module, and calculate the collision condition based on the modeling information.

12. 12. The safety system of claim 11, further comprising a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of a collision between an obstacle and the vehicle, and the simulation database is configured to provide simulation data of a collision between an obstacle and the vehicle based on the modeling information, and the integrated safety zone control unit calculates the collision conditions based on the historical data and the simulation data.

13. A vehicle safety device comprising an external airbag and a safety system according to any one of claims 1 to 12.

14. 1. A method for improving roadworthiness of a vehicle, the vehicle comprising an external airbag, the method comprising: monitoring obstacles around the vehicle and acquiring data about the obstacles around the vehicle; monitoring vehicle body motion and vehicle body attitude to obtain vehicle body attitude data and vehicle body motion data; calculating a collision condition between the vehicle and the obstacle based on the data of the obstacle around the vehicle, the vehicle body motion data, and the vehicle body posture data, wherein the collision condition includes a collision relative velocity and a collision overlap rate; determining whether to deploy the external airbag based on the collision relative speed and the collision multiple rate, wherein a determination condition for controlling a trigger of deployment of the external airbag includes controlling the external airbag to remain contained instead of triggering deployment of the external airbag when the collision relative speed is less than a first speed threshold and / or the collision multiple rate is less than a first multiple rate threshold; A method comprising:

15. 15. The method for improving roadworthiness of the vehicle as recited in claim 14, wherein the determination condition for controlling the triggering of deployment of the external airbag further comprises determining whether deployment of the external airbag in the crash condition would reduce an injury value to the vehicle, and controlling the external airbag to remain contained if the deployment of the external airbag in the crash condition would not reduce the injury value to the vehicle.

16. 15. The method for improving road compatibility of the vehicle as recited in claim 14, wherein said step of monitoring obstacles around the vehicle includes the steps of monitoring whether the obstacles are present around the vehicle, identifying the type of the obstacle, and predicting movement of the obstacle.

17. 15. The method for improving road compatibility of the vehicle according to claim 14, further comprising the steps of: monitoring the mental state of a driver in the vehicle; acquiring mental state data of the driver in the vehicle; calculating a probability that the driver will notice a collision with the obstacle based on the mental state data, the data of the obstacle around the vehicle, the vehicle body motion data, and the vehicle body attitude data; and calculating the collision condition based on the probability.

18. 15. The method for improving roadworthiness of the vehicle of claim 14, further comprising recording and uploading the crash conditions to a cloud database.

19. A readable storage medium storing a computer program, the computer program being executed by a processor, a step of calculating a collision condition between the vehicle and the obstacle based on input data of the obstacle around the vehicle, vehicle body motion data, and vehicle body posture data, the collision condition including a collision relative velocity and a collision overlap rate; determining whether to trigger deployment of an external airbag based on the collision relative velocity and the collision multiple rate, wherein when a determination condition for this determination is satisfied that at least one of the collision relative velocity is less than a first velocity threshold and the collision multiple rate is less than a first multiple rate threshold, controlling the external airbag to remain contained instead of triggering deployment of the external airbag; A readable storage medium having the above-described program implemented thereon.

20. A vehicle safety system configured to reduce damage to vulnerable road users in a front collision with a vehicle body, capable of controlling a front airbag of a vehicle, a vulnerable road user information monitoring module configured to monitor the vulnerable road users around the vehicle; a body attitude monitoring module configured to monitor body motion and the attitude of the front of the body; a monitoring system comprising: an integrated safety zone control unit configured to: calculate a collision condition between the vehicle and the vulnerable road user based on data acquired by the vulnerable road user information monitoring module and the vehicle body posture monitoring module, the collision condition including a collision probability, a collision moment, a relative speed at the time of the collision, and a collision position between the head of the vulnerable road user and a front part of the vehicle body at the time of the collision; and calculate a first damage value and a second damage value to the vulnerable road user in the collision condition based on the collision condition, and determine whether to deploy the front airbag before the collision moment, wherein the first damage value is a damage value to the vulnerable road user for the front airbag being stored in the collision condition, the second damage value is a damage value to the vulnerable road user for the front airbag being deployed in the collision condition, and when the first damage value is greater than the second damage value, the front airbag is controlled to trigger deployment, and when the first damage value is less than the second damage value, the front airbag is controlled to maintain a stored state; A vehicle safety system comprising:

21. 21. The vehicle safety system of claim 20, wherein the first damage value includes a third damage value caused by a first collision position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a stored state at the time of the collision, and the second damage value includes the sum of a fourth damage value caused by a second collision position between the head of the vulnerable road occupant and the front of the vehicle body when the front airbag is in a deployed state at the moment of the collision and a fifth damage value caused by the impact energy to the vulnerable road occupant when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road occupant caused by the impact energy absorbed for the deployment of the front airbag.

22. 21. The vehicle safety system of claim 20, wherein the monitoring system further comprises an in-vehicle monitoring module configured to acquire mental state data of a driver in the vehicle, and the integrated safety area control unit calculates a probability that the driver will notice a collision with the vulnerable road user based on the mental state data and the data acquired by the vulnerable road user information monitoring module and the vehicle body posture monitoring module, and calculates the collision conditions based on the probability.

23. 23. The vehicle safety system of claim 22, wherein the integrated safety zone control unit is further configured to provide an alarm prompt, and when the likelihood is less than an alarm threshold, the integrated safety zone control unit outputs an alarm signal to increase the likelihood that the driver will be aware of a collision with the vulnerable road user.

24. 23. The vehicle safety system of claim 22, wherein the interior monitoring module comprises a camera and / or an interior radar.

25. 25. The vehicle safety system of claim 24, wherein the mental state data includes one or a combination of physical state data and facial data of the driver in the vehicle.

26. 21. The vehicle safety system of claim 20, wherein the monitoring system further comprises an Internet of Vehicles module, and the Internet of Vehicles module, in conjunction with the vulnerable road users information monitoring module, provides information about the vulnerable road users around the vehicle.

27. 21. The vehicle safety system of claim 20, wherein the vulnerable road user information monitoring module comprises one or a combination of millimeter wave radar, ultrasonic radar, laser radar, and an external camera.

28. 21. The vehicle safety system of claim 20, wherein the body attitude monitoring module comprises a speed sensor, a yaw rate sensor, and a steering wheel angle sensor; The velocity sensor is configured to monitor the vehicle body motion, and the yaw rate sensor and the steering wheel angle sensor are configured to monitor the vehicle body attitude. A vehicle safety system comprising:

29. 21. The vehicle safety system according to claim 20, wherein the integrated safety area control unit obtains a monitoring area through calculation based on data acquired by the vehicle body posture monitoring module, and the vulnerable road users information monitoring module monitors only the vulnerable road users within the monitoring area.

30. 21. The vehicle safety system of claim 20, wherein the integrated safety area control unit is further configured to model a vulnerable road user based on monitoring information from the vulnerable road user information monitoring module, model the vehicle body based on monitoring information from the vehicle body posture monitoring module, and calculate the collision conditions based on modeling information.

31. 31. The vehicle safety system of claim 30, further comprising a cloud database and a simulation database, wherein the cloud database is configured to provide historical data of collisions between vulnerable road users and the front of the vehicle body, and the simulation database is configured to provide simulation data of collisions between vulnerable road users and the front of the vehicle body based on the modeling information, and the integrated safety area control unit calculates the collision conditions based on the historical data and the simulation data.

32. A vehicle safety device comprising a front airbag and a vehicle safety system according to any one of claims 20 to 31.

33. 1. A method for enhancing vehicle safety used to reduce injury to vulnerable road users in a frontal collision with a vehicle body, the vehicle being equipped with a front airbag, the method comprising: monitoring the vulnerable road users around the vehicle; monitoring vehicle body motion and the attitude of the front of the vehicle body; calculating collision conditions between the vehicle and the vulnerable road user based on the monitored vulnerable road users around the vehicle, vehicle body motion, and the posture of the front of the vehicle body, wherein the collision conditions include a collision probability, a collision moment, a relative speed at the time of collision, and a collision position between the head of the vulnerable road user and the front of the vehicle body at the time of collision; a step of calculating a first damage value and a second damage value for the vulnerable road occupant under the collision condition to determine whether to deploy the front airbag before the moment of the collision, wherein the first damage value is a damage value for the vulnerable road occupant for the front airbag housed under the collision condition, and the second damage value is a damage value for the vulnerable road occupant for the front airbag deployed under the collision condition; When the first damage value is greater than the second damage value, the front airbag is deployed, and when the first damage value is less than the second damage value, the front airbag is controlled to remain in a stowed state. A method comprising:

34. 34. The method for increasing the safety of the vehicle of claim 33, wherein the first damage value includes a third damage value caused by a first impact position between the head of the vulnerable road user and the front of the vehicle body when the front airbag is in a stored state at the time of the collision, and the second damage value includes the sum of a fourth damage value caused by a second impact position between the head of the vulnerable road user and the front of the vehicle body when the front airbag is in a deployed state at the moment of the collision and a fifth damage value caused by the impact energy to the vulnerable road user when the front airbag is triggered to deploy, minus an injury reduction value to the vulnerable road user caused by the impact energy absorbed for the deployment of the front airbag.

35. 35. The method for increasing the safety of the vehicle as described in claim 34, wherein the step of monitoring the vulnerable road users around the vehicle includes the steps of monitoring whether the vulnerable road users are present around the vehicle, identifying the type of the vulnerable road users, tracking the trajectory of the vulnerable road users, and predicting the movement route of the vulnerable road users.

36. 34. The method for increasing the safety of the vehicle of claim 33, further comprising recording and uploading the crash conditions to a cloud database.

37. A readable storage medium storing a computer program, the computer program being executed by a processor, a step of calculating collision conditions between the vehicle and the vulnerable road users based on input data of vulnerable road users around the vehicle, vehicle body motion data, and posture data of the front of the vehicle body, the collision conditions including a collision probability, a collision moment, a relative speed at the time of collision, and a collision position between the head of the vulnerable road users and the front of the vehicle body at the time of collision; a step of calculating a first damage value and a second damage value for the vulnerable road user in the crash condition, wherein the first damage value is a damage value for the vulnerable road user caused by a front airbag that is housed in the crash condition, and the second damage value is a damage value for the vulnerable road user caused by the front airbag that is deployed in the crash condition; determining whether to deploy the front airbag before the moment of the collision, and controlling the front airbag to deploy when the first damage value is greater than the second damage value, and controlling the front airbag to remain in a stowed state when the first damage value is less than the second damage value; A readable storage medium having the above-described program implemented thereon.

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