CN105342032A - Individual active supplemental restraint system and control method thereof - Google Patents

Abstract

The invention discloses an individual active supplemental restraint system and a control method thereof. The system comprises an environmental acquisition subsystem, a safety prejudgement subsystem and a supplemental restraint subsystem in sequential connection. The method includes steps: 1, acquiring environmental parameters, to be more specific, acquiring signals of various sensors accessing to the system; 2, calculating environmental changes, to be more specific, resolving physical change conditions including motion direction, speed, acceleration or the like relative to the system; 3, judging whether safety is guaranteed or not, to be more specific, judging speed or acceleration conditions of motions in possible collision with the system; 4, deploying an safety air bag, to be more specific, quickly deploying the safety air bag to alleviate damages of collision or secondary collision to pedestrians. By the individual active supplemental restraint system and the control method thereof, individual safety protection can be timely provided to some extent in the event of dangers.

Description

A kind of individual active safety gas-bag system and control method

Technical field

The present invention relates to the research field of air bag, particularly the individual active safety gas-bag system of one and control method.

Background technology

Along with the develop rapidly vehicle of domestic economy enters huge numbers of families gradually, private car makes life more convenient.Due to many reasons such as driveship or vehicle operating safe conditions, the traffic accident amount between current pedestrian and vehicle is also day by day soaring.Safety belt and vehicle airbag energy effective guarantee vehicle driver and crew safety, it is often non-dead namely residual that the rear not guilty pedestrian of many times traffic accident generation is subject to very large injury usually, but the pedestrian self that need work under complicated traffic environment or go on a journey but lacks necessary safety guarantee means.Publication number is that the Chinese patent of CN104908702A proposes one " the active gasbag for pedestrian protecting ", and it is installed on automobile has certain protective effect to vehicle front side pedestrian; Publication number is that the Chinese patent of CN104210489A proposes one " under bus or train route cooperative surroundings vehicle and pedestrian impact bypassing method and system ", and it utilizes vehicle-mounted detection and pedestrian's road conditions to make control of collision avoidance; Publication number is that the Chinese patent of CN104724045A discloses one " pedestrian airbag liner ", proposes air bag to cover windshield, provides buffering when colliding to pedestrian.These functions to a certain extent injury that can effectively alleviate pedestrian causes highly are applied and promote, but in reality, most of vehicle does not possess these functions.Inherently safe is placed hope on vehicle condition or driver's moral level by pedestrian, often faces larger security risk.

Summary of the invention

Main purpose of the present invention is that the shortcoming overcoming prior art is with not enough, provides a kind of individual active safety gas-bag system and control method.

In order to achieve the above object, the present invention is by the following technical solutions:

A kind of individual active safety gas-bag system; the environment initial data comprise the environment acquisition subsystem for gathering the environmental data in individual periphery setting range, sending over for reception environment acquisition subsystem; by calculate surrounding enviroment situations of change judge whether the situation of causing danger safe anticipation subsystem and for colliding time the air bag subsystem of safeguard protection is provided, described environment acquisition subsystem, safe anticipation subsystem and air bag subsystem are linked in sequence.

Preferably, described environment acquisition subsystem comprises camera, ultrasonic transmitting-receiving probe, three-dimensional accelerometer, electric field induction device and magnetic sensors, and described camera, ultrasonic transmitting-receiving probe, three-dimensional accelerometer, electric field induction device and magnetic sensors are all connected with safe anticipation subsystem.

Preferably, described ultrasonic transmitting-receiving probe is for multiple, and described multiple ultrasonic transmitting-receiving probe arranges in multidimensional phase battle array.

Preferably, described safe anticipation subsystem is wearable computer, and described wearable computer is SOC(system on a chip) or other Low Power High Performance computer systems.

Preferably, described air bag subsystem comprises medicament initiator, medicament cartridge, Quick air valve, high pressure gas holder and multiple air bag; Described medicament initiator is connected with medicament cartridge and quick atmosphere respectively, and described high pressure gas holder is connected with Quick air valve, is connected after described multiple air bag is connected in parallel with medicament cartridge and Quick air valve.

Preferably, described air bag is the air bag be made up of polyamide fabric.

Present invention also offers a kind of control method of individual active safety gas-bag system, the method comprises the steps:

Step 210, beginning: power supply is connected rear system and entered duty, and completion system self-inspection initializes and state verification each functional module or auxiliary device; Self-inspection enters step 220 after passing through;

Step 220, collection ambient parameter: the various kinds of sensors signal of Real-time Collection connecting system, is converted to numerical data by nonnumeric signal; Data are sent to arithmetic element and go to step 230;

Step 230, computing environment change: the physical change situation calculating the direction of motion of its relative system, speed or acceleration,

Step 240, judge whether safety; Judge whether to exist and may to collide the degree of danger of situation and collision with system

Step 250, judge whether shutdown system: power supply conducting circulation enters step 220, otherwise enters step 270;

Step 260, airbag opening: airbag opening rapidly, and sound and light alarm model can be sent simultaneously; Step 270 is entered after air bag is opened completely;

Step 270, end: system stalls; If air bag restores to the original state after being opened and can discharging gas, replacing cartridge case or high pressure gas holder recover useful state; Enter stand-by state.

Preferably, in described step 201, described various kinds of sensors signal comprises video image, ultrasonic, three-dimensional acceleration, electric field or field signal.

Preferably, step 230 is specially:

The collision detection of step 231, view-based access control model and Decoupled, utilize 3 D visual reconstruction technique to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 232, based on ultrasonic collision detection and Decoupled, ultrasonic three-dimensional reconstruction technique is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 233, based on the collision detection of electric field and Decoupled, electric field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 234, based on the collision detection in magnetic field and Decoupled, magnetic field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Wherein computing formula is:

l＝|OP|

I(i,j,k)＝P(x,y,z)-P′(x′,y′,z′)

$v=\frac{\left|{\mathrm{PP}}^{\′}\right|}{t-t_0}$

$a=\frac{|v-v^{\′}|}{t-t_0}$

V ' is t ₀moment speed, just begin to think v '=0.

Preferably, step 240 is specially:

Step 241, judge whether exist collision, judgment formula is:

| P+ Δ tI|≤L, wherein Δ t is security reaction time parameter, and wherein Δ t ∈ [0.1s, 5s], L are safe distance parameter, L ∈ [0.1m, 2m]; If do not satisfy condition, being judged as colliding goes to step 250;

The degree of danger of step 242, calculating collision, adopts approximate judgment formula v≤v _sanda≤a _s, wherein v _sfor safe relative velocity parameters, v _s∈ [0km/s, 20km/s], a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 1.0g]; If judge, the collision having grievous injury is gone to step 260;

Step 243, falling risk degree, adopt approximate judgment formula, a≤a for enabling the situation of falling on the relative ground of safe mode _s, wherein a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 0.5g]; If judge, the collision having grievous injury is gone to step 260.

Compared with prior art, tool has the following advantages and beneficial effect in the present invention:

1, the present invention is based on digital sensor technology, by the distance between various ways Real-time Collection security system and environmental objects such as camera, ultrasonic wave, electric field or electromagnetism and relative motion situation of change, and three-dimensional accelerometer is utilized to gather displacement status information.

1. apply collision detection and the Decoupled of view-based access control model, utilize 3 D visual reconstruction technique system to be considered as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v and acceleration a.

2. apply based on ultrasonic collision detection and Decoupled, utilize ultrasonic three-dimensional reconstruction technique to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; The physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a is calculated in conjunction with t0 moment object history coordinate P ' (x ', y ', z ');

3. apply the collision detection based on electric field and Decoupled, utilize electric field three-dimensional reconstruction to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; The physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a is calculated in conjunction with t0 moment object history coordinate P ' (x ', y ', z ');

4. apply the collision detection based on magnetic field and Decoupled, utilize magnetic field three-dimensional reconstruction to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; The physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a is calculated in conjunction with t0 moment object history coordinate P ' (x ', y ', z ');

Wherein computing formula is:

l＝|OP|

I(i,j,k)＝P(x,y,z)-P′(x′,y′,z′)

$v=\frac{\left|{\mathrm{PP}}^{\′}\right|}{t-t_0}$

$a=\frac{|v-v^{\′}|}{t-t_0}$

V ' is t ₀moment speed, just begin to think v '=0.

2, the present invention can intelligent decision security system containment objective whether safety, can be divided into collision judgment and risk of collision degree calculates:

1. collision judgment: | P+ Δ tI|≤L (colliding), wherein Δ t is security reaction time parameter, and wherein Δ t ∈ [0.1s, 5s], L are safe distance parameter, L ∈ [0.1m, 2m].

2. risk of collision degree calculates, and adopts approximate formula v≤v _sanda≤a _s(harmless collision), wherein v _sfor safe relative velocity parameters, v _s∈ [0km/s, 20km/s], a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 1.0g].

3, the present invention has falling risk degree arbitration functions, adopts approximate judgment formula, a≤a for enabling the situation of falling on the relative ground of safe mode _s, wherein a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 0.5g].

4, present system is different from other technologies, be in collapsed state under normal circumstances little on the impact of the freedom of action of wearer, when cause danger event time system rapid airbag opening provide crusherbull zone to avoid to greatest extent or reduce the unexpected direct or indirect injury that individual is caused.

5, control system of the present invention adopts high-performance wearable computer to realize completing complicated evaluation work, and has the practical application request that power consumption low energy meets long-time stand-by operation.

Accompanying drawing explanation

Fig. 1 is the present invention individual active safety gas-bag system block diagram;

Fig. 2 is the present invention individual active safety gas-bag system workflow diagram.

Detailed description of the invention

Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.

Embodiment

As shown in Figure 1; present embodiment discloses a kind of individual active safety gas-bag system; the environment initial data that this system comprising environment acquisition subsystem 100 for gathering the environmental data in individual periphery setting range, sending over for reception environment acquisition subsystem; by calculate surrounding enviroment situations of change judge whether the situation of causing danger safe anticipation subsystem 110 and for colliding time the air bag subsystem 120 of safeguard protection is provided, described environment acquisition subsystem, safe anticipation subsystem and air bag subsystem are linked in sequence.

Described environment acquisition subsystem comprises camera 101, ultrasonic transmitting-receiving probe 102, three-dimensional accelerometer 103, electric field induction device 104 and magnetic sensors 105, and described camera, ultrasonic transmitting-receiving probe, three-dimensional accelerometer, electric field induction device and magnetic sensors are all connected with safe anticipation subsystem.

Described camera 101: for gathering particular range (being generally vision dead zone) environment real-time condition, and there is The Cloud Terrace can expand supervision scope; Binocular vision data three-dimensional is utilized to rebuild environment facies to motion conditions;

Described ultrasonic transmitting-receiving probe 102: utilize n (n >=2) ultrasonic probe to form multidimensional phase battle array control probe field and can make up camera defect, can be used as the redundancy backup of environmental objects relative motion detecting function;

Described three-dimensional accelerometer 103: for detection system self (wearer), three-dimensional acceleration situation;

Described electric field induction device 104: utilize space electric capacity monitoring closer object near and motion conditions, can be used as the redundancy backup of environmental objects relative motion detecting function;

Described magnetic sensors 105: utilize space magnetic field monitor closer object near and motion conditions, can be used as the redundancy backup of environmental objects relative motion detecting function.

Described ultrasonic transmitting-receiving probe is for multiple, and described multiple ultrasonic transmitting-receiving probe arranges in multidimensional phase battle array.

Described safe anticipation subsystem is wearable computer 111, and described wearable computer is SOC(system on a chip) or other Low Power High Performance computer systems.Wearable computer 111: can be SOC(system on a chip) (SOC) or other Low Power High Performances are special or general-purpose computing system; Wearable computer accepts the input parameters such as the video collected, ultrasonic, three-dimensional acceleration, electric field or magnetic field, three-dimensionalreconstruction environmental objects relative system motion conditions; Judge whether that dangerous motion is (when judgment rule is for colliding: system relatively areal acceleration >=0.2g (can arrange) under speed >=15km/h (can arrange), acceleration >=0.5g (can arrange) or protected mode), when being judged as that dangerous situation then sends a control signal to air bag and rapid airbag opening.

Described air bag subsystem 120 comprises medicament initiator 121, medicament cartridge 122, Quick air valve 124, high pressure gas holder 125 and multiple air bag 123; Described medicament initiator is connected with medicament cartridge and quick atmosphere respectively, and described high pressure gas holder is connected with Quick air valve, is connected after described multiple air bag is connected in parallel with medicament cartridge and Quick air valve.

Described medicament initiator 121: being generally used for the medicament triggered in medicament cartridge can start chemical reaction instantaneously;

Described medicament cartridge 122: appropriate Solid-state Chemistry medicament is generally equipped with in medicament cartridge inside, and after igniter fire, a large amount of gas of abrupt release, makes air bag undergoes rapid expansion and reach operating air pressure;

Described Quick air valve 123: for quick, Compressed Gas in high pressure gas holder is discharged in air bag, makes air bag undergoes rapid expansion and reach operating air pressure;

Described high pressure gas holder 124: for storage safe gases at high pressure;

Described air bag 125: the polyamide fabric good by anti crack performance is made, for the protection of user's safety.

As shown in Figure 2, the control method of the individual active safety gas-bag system of the present embodiment, comprises the steps:

Step 210, beginning: power supply is connected rear system and entered duty, and completion system self-inspection initializes and state verification each functional module or auxiliary device; Self-inspection enters step 220 after passing through;

Step 220, gather ambient parameter: the various kinds of sensors signal of Real-time Collection connecting system signals such as (as:) video image, ultrasonic, three-dimensional acceleration, electric field or magnetic fields, is converted to numerical data by nonnumeric signal; Data are sent to arithmetic element and go to step 230;

Step 230, computing environment change: calculate the physical change situations such as the direction of motion of its relative system, speed or acceleration, comprise the following steps:

The collision detection of step 231, view-based access control model and Decoupled, utilize 3 D visual reconstruction technique to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 232, based on ultrasonic collision detection and Decoupled, ultrasonic three-dimensional reconstruction technique is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 233, based on the collision detection of electric field and Decoupled, electric field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 234, based on the collision detection in magnetic field and Decoupled, magnetic field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Wherein computing formula is:

l＝|OP|

I(i,j,k)＝P(x,y,z)＝P′(x′,y′,z′)

$v=\frac{\left|{\mathrm{PP}}^{\′}\right|}{t-t_0}$

$a=\frac{|v-v^{\′}|}{t-t_0}$

V ' is t ₀moment speed, just begin to think v '=0.

Step 240, judge whether safety; Judge whether to exist and may to collide the degree of danger of situation and collision with system, comprise the following steps:

Step 241, judge whether exist collision, judgment formula is:

| P+ Δ tI|≤L, wherein Δ t is security reaction time parameter, and wherein Δ t ∈ [0.1s, 5s], L are safe distance parameter, L ∈ [0.1m, 2m]; If do not satisfy condition, being judged as colliding goes to step 250;

The degree of danger of step 242, calculating collision, adopts approximate judgment formula v≤v _sanda≤a _s, wherein v _sfor safe relative velocity parameters, v _s∈ [0km/s, 20km/s], a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 1.0g]; If judge, the collision having grievous injury is gone to step 260;

Step 243, falling risk degree, adopt approximate judgment formula, a≤a for enabling the situation of falling on the relative ground of safe mode _s, wherein a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 0.5g]; If judge, the collision having grievous injury is gone to step 260.

Step 250, judge whether shutdown system: power supply conducting circulation enters step 220, otherwise enters step 270;

Step 260, airbag opening: airbag opening rapidly, and sound and light alarm model can be sent simultaneously; Step 270 is entered after air bag is opened completely;

Step 270, end: system stalls; If air bag restores to the original state after being opened and can discharging gas, replacing cartridge case or high pressure gas holder recover useful state; Enter stand-by state.

Utilize individual active safety gas-bag system of the present invention and control method thereof, can apply it on Related product, example is in being made into air bag clothing, electric motor car driving Anti-tumbling clothes etc.

Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (10)

1. an individual active safety gas-bag system; it is characterized in that; the environment initial data comprise the environment acquisition subsystem for gathering the environmental data in individual periphery setting range, sending over for reception environment acquisition subsystem; by calculate surrounding enviroment situations of change judge whether the situation of causing danger safe anticipation subsystem and for colliding time the air bag subsystem of safeguard protection is provided, described environment acquisition subsystem, safe anticipation subsystem and air bag subsystem are linked in sequence.

2. individual active safety gas-bag system according to claim 1, it is characterized in that, described environment acquisition subsystem comprises camera, ultrasonic transmitting-receiving probe, three-dimensional accelerometer, electric field induction device and magnetic sensors, and described camera, ultrasonic transmitting-receiving probe, three-dimensional accelerometer, electric field induction device and magnetic sensors are all connected with safe anticipation subsystem.

3. individual active safety gas-bag system according to claim 2, is characterized in that, described ultrasonic transmitting-receiving probe is for multiple, and described multiple ultrasonic transmitting-receiving probe arranges in multidimensional phase battle array.

4. individual active safety gas-bag system according to claim 1, is characterized in that, described safe anticipation subsystem is wearable computer, and described wearable computer is SOC(system on a chip) or other Low Power High Performance computer systems.

5. individual active safety gas-bag system according to claim 1, is characterized in that, described air bag subsystem comprises medicament initiator, medicament cartridge, Quick air valve, high pressure gas holder and multiple air bag; Described medicament initiator is connected with medicament cartridge and quick atmosphere respectively, and described high pressure gas holder is connected with Quick air valve, is connected after described multiple air bag is connected in parallel with medicament cartridge and Quick air valve.

6. individual active safety gas-bag system according to claim 5, is characterized in that, described air bag is the air bag be made up of polyamide fabric.

7. the control method of the individual active safety gas-bag system according to any one of claim 1-6, is characterized in that, comprise the steps:

Step 210, beginning: power supply is connected rear system and entered duty, and completion system self-inspection initializes and state verification each functional module or auxiliary device; Self-inspection enters step 220 after passing through;

Step 220, collection ambient parameter: the various kinds of sensors signal of Real-time Collection connecting system, is converted to numerical data by nonnumeric signal; Data are sent to arithmetic element and go to step 230;

Step 230, computing environment change: the physical change situation calculating the direction of motion of its relative system, speed or acceleration,

Step 240, judge whether safety; Judge whether to exist and may to collide the degree of danger of situation and collision with system

Step 250, judge whether shutdown system: power supply conducting circulation enters step 220, otherwise enters step 270;

Step 260, airbag opening: airbag opening rapidly, and sound and light alarm model can be sent simultaneously; Step 270 is entered after air bag is opened completely;

Step 270, end: system stalls; If air bag restores to the original state after being opened and can discharging gas, replacing cartridge case or high pressure gas holder recover useful state; Enter stand-by state.

8. the control method of individual active safety gas-bag system according to claim 7, is characterized in that, in described step 201, described various kinds of sensors signal comprises video image, ultrasonic, three-dimensional acceleration, electric field or field signal.

9. the control method of individual active safety gas-bag system according to claim 7, it is characterized in that, step 230 is specially:

The collision detection of step 231, view-based access control model and Decoupled, utilize 3 D visual reconstruction technique to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 232, based on ultrasonic collision detection and Decoupled, ultrasonic three-dimensional reconstruction technique is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 233, based on the collision detection of electric field and Decoupled, electric field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Step 234, based on the collision detection in magnetic field and Decoupled, magnetic field three-dimensional reconstruction is utilized to set system as three-dimensional P (x, y, the z) coordinate position of O (0,0,0) origin reconstruction of objects under t virtual environment; In conjunction with t ₀moment object history coordinate P ' (x ', y ', z ') calculates the physical change situation of distance l, the direction of motion I (i, j, k) of its relative system, speed v or acceleration a;

Wherein computing formula is:

l＝|OP|

I(i,j,k)＝P(x,y,z)-P′(x′,y′,z′)

$v=\frac{\left|{\mathrm{PP}}^{\′}\right|}{t-t_0}$

$\mathrm{\α}=\frac{|v-v^{\′}|}{t-t_0}$

V ' is t ₀moment speed, just begin to think v '=0.

10. the control method of individual active safety gas-bag system according to claim 7, it is characterized in that, step 240 is specially:

Step 241, judge whether exist collision, judgment formula is:

| P+ Δ tI|≤L, wherein Δ t is security reaction time parameter, and wherein Δ t ∈ [0.1s, 5s], L are safe distance parameter, L ∈ [0.1m, 2m]; If do not satisfy condition, being judged as colliding goes to step 250;

The degree of danger of step 242, calculating collision, adopts approximate judgment formula v≤v _sanda≤a _s, wherein v _sfor safe relative velocity parameters, v _s∈ [0km/s, 20km/s], a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 1.0g]; If judge, the collision having grievous injury is gone to step 260;

Step 243, falling risk degree, adopt approximate judgment formula, a≤a for enabling the situation of falling on the relative ground of safe mode _s, wherein a _sfor safe relative acceleration parameter, a _s∈ [0.1g, 0.5g]; If judge, the collision having grievous injury is gone to step 260.