CN108791282A - A kind of method, apparatus and equipment of the lateral crash protection of vehicle - Google Patents
A kind of method, apparatus and equipment of the lateral crash protection of vehicle Download PDFInfo
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- CN108791282A CN108791282A CN201710295580.5A CN201710295580A CN108791282A CN 108791282 A CN108791282 A CN 108791282A CN 201710295580 A CN201710295580 A CN 201710295580A CN 108791282 A CN108791282 A CN 108791282A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
- B60R2021/01345—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems using mechanical sensing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Radar, Positioning & Navigation (AREA)
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- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses the method, apparatus and equipment of a kind of lateral crash protection of vehicle, this method includes：Obtain the second distance value between the first distance value between the lateral barrier of the first moment vehicle and vehicle and the lateral barrier of the second moment vehicle and vehicle；By the time difference of first distance value and the range difference of the second distance value and second moment and first moment, speed of the lateral barrier of the vehicle close to vehicle is obtained；According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the estimated collision time of the vehicle and the lateral barrier of the vehicle；If it is expected that collision time is less than preset time threshold, control vehicle body lifting.It can be seen that side collision can be efficiently identified according to the judgement of calculated estimated collision time, and when being effectively reduced side collision by way of being lifted bodywork height vehicle wall penetrability, to protect the personal safety of passenger.
Description
Technical field
The present invention relates to automotive safety and control technology field more particularly to a kind of method of the lateral crash protection of vehicle,
Apparatus and system.
Background technology
With the increase of automobile quantity, the raising of car speed, motor traffic accidents is also more and more, increasingly severe.
It is counted according to traffic data, it is annual to will result in heavy personnel and huge property loss because of Vehicular impact, while may
Cause serious traffic delay.
Vehicle collision is generally divided into positive collision, side collision and backward collision etc., wherein lateral impact Producing reason
Often vehicle drive people fails the vehicle for finding laterally to run in time or the vehicle for laterally running over the vehicle come
Speed estimation mistake.Vehicle safety protection at present focuses primarily upon the collision of vehicle forward direction and the protection collided backward, for front or
Rear impact collision, vehicle body have all been designed prodigious cushion space, however for side collision, in vehicle body design, even if there is foot
Enough good materials make buffering energy-absorbing structure, and the side wall of vehicle body is that the cushion space that side collision provides is also seldom, therefore vehicle
Lateral protection will much be weaker than the forward direction of vehicle and backward protection, injury bigger of the side collision for occupant.
Based on this, the research of automobile side angle crash protection is an important content of the active safety Journal of Sex Research of automobile.
Invention content
The technical problem to be solved by the invention is to provide the method, apparatus and system of a kind of lateral crash protection of vehicle,
It is lifted vehicle body to efficiently identify side collision, the penetrability of vehicle body collision is reduced, to protect the safety of occupant.
In a first aspect, an embodiment of the present invention provides a kind of method, this method includes：
The first distance value and the second moment vehicle obtained between the lateral barrier of the first moment vehicle and vehicle laterally hinders
Hinder the second distance value between object and vehicle；
By first distance value and the range difference of the second distance value and second moment and first moment
Time difference, obtain speed of the lateral barrier of the vehicle close to vehicle；
According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the vehicle and institute
State the estimated collision time of the lateral barrier of vehicle；
If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
Preferably, further include：
According to the basic size of vehicle, the height of vehicle body lifting is obtained according to following formula；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein the H2 is the height of the lifting
Degree, the L are the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default
Constant.
Preferably, first distance value and second distance value are obtained especially by sensor, obtain described first away from
Before value, further include：
The scanning range of the sensor, the scanning range and the vehicle itself speed are determined according to vehicle itself speed
It spends directly proportional.
Preferably, after obtaining the second distance value between the lateral barrier of the second moment vehicle and vehicle, further include：
If the second distance value it is described scanning range in and first distance value and the second distance value difference
No more than preset value, first-order filtering formula Y is utilized2=(1-a) × Y1+a×X2The second distance value is corrected, the second school is obtained
Positive distance value, the speed for participating in obtaining the lateral barrier of vehicle close to vehicle using the second correction distance value, wherein
The Y1For the first correction distance value that first distance value obtains after corrected, the Y2For second correction distance
Value, the X2For the second distance value, a is preset constant.
Second aspect, an embodiment of the present invention provides a kind of device of the lateral crash protection of vehicle, which includes：
Distance value acquiring unit, for obtain the first distance value between the lateral barrier of the first moment vehicle and vehicle and
Second distance value between the lateral barrier of second moment vehicle and vehicle；
First obtains unit, when for by first distance value and the range difference of the second distance value with described second
The time difference with first moment is carved, speed of the lateral barrier of the vehicle close to vehicle is obtained；
Second obtaining unit is used for the speed according to the lateral barrier of the vehicle close to vehicle and the second distance
Value, obtains the estimated collision time of the vehicle and the lateral barrier of the vehicle；
Vehicle body control unit, if being used for it is expected that collision time is less than preset time threshold, control vehicle body lifting.
Preferably, further include：
Third obtaining unit obtains the height of vehicle body lifting according to following formula for the basic size according to vehicle；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein the H2 is the height of the lifting
Degree, the L are the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default
Constant.
Preferably, further include：
Range determination unit is scanned, the scanning range for determining the sensor according to vehicle itself speed is described to sweep
It is directly proportional to itself speed of the vehicle to retouch range.
Preferably, further include：
4th obtaining unit, if for the second distance value in the scanning range and first distance value and institute
The difference for stating second distance value is no more than preset value, utilizes first-order filtering formula Y2=(1-a) × Y1+a×X2Correct described second away from
From value, the second correction distance value is obtained, it is close to participate in the acquisition lateral barrier of vehicle using the second correction distance value
The speed of vehicle, wherein the Y1For the first correction distance value that first distance value obtains after corrected, the Y2For
The second correction distance value, the X2For the second distance value, a is preset constant.
Second aspect, an embodiment of the present invention provides a kind of equipment of the lateral crash protection of vehicle, which includes：Processing
Device, sensor, controller, bus system；
The bus system, for each hardware component of the equipment to be coupled；
The sensor, for detecting the distance between the lateral barrier of vehicle and vehicle；
The controller is instructed for being lifted according to vehicle body, control vehicle body lifting；
The processor executes following operation for reading the data detected in sensor：
The first distance value and the second moment vehicle obtained between the lateral barrier of the first moment vehicle and vehicle laterally hinders
Hinder the second distance value between object and vehicle；
By first distance value and the range difference of the second distance value and second moment and first moment
Time difference, obtain speed of the lateral barrier of the vehicle close to vehicle；
According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the vehicle and institute
State the estimated collision time of the lateral barrier of vehicle；
If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
Preferably, further include：
Electric pushrod pushes vehicle body lifting for being controlled by controller.
Preferably, further include：
Bus converter is sent to processor for bus signals to be converted to rs 232 serial interface signal.
Compared with prior art, the present invention has at least the following advantages：
Using the technical solution of the embodiment of the present invention, processor obtain in real time between the lateral barrier of vehicle and vehicle away from
From, when the lateral barrier of vehicle moves closer to vehicle, calculate speed of the lateral barrier of vehicle close to vehicle, according to distance and
Speed data calculates the estimated collision time of vehicle and the lateral barrier of vehicle, when estimated collision time is less than preset time threshold
When value, control vehicle body lifting.It can be seen that the embodiment of the present invention can be effective according to the judgement of calculated estimated collision time
Ground identifies side collision, and when being effectively reduced side collision by way of being lifted bodywork height vehicle wall penetrability, from
And protect the personal safety of passenger.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the system framework schematic diagram involved by a kind of application scenarios in the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the method for the lateral crash protection of vehicle provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of the method for the lateral crash protection of another vehicle provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the device of the lateral crash protection of vehicle provided in an embodiment of the present invention.
Fig. 5 is a kind of structural schematic diagram of the equipment of the lateral crash protection of vehicle provided in an embodiment of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Inventor has found that vehicle safety protection at present focuses primarily upon the collision of vehicle forward direction and collides backward
Protection has all been designed prodigious cushion space for front or rear impact collision, vehicle body, however for side collision, in vehicle body
In design, even if having material good enough to make buffering energy-absorbing structure, the side wall of vehicle body is that the buffering that side collision provides is empty
Between also seldom, therefore the lateral protection of vehicle will much be weaker than the forward direction of vehicle and backward protection, and side collision is for occupant
Injury bigger
In order to solve this problem, in embodiments of the present invention, processor obtains the lateral barrier of vehicle and vehicle in real time
Between distance, when the lateral barrier of vehicle moves closer to vehicle, calculate the lateral barrier of vehicle close to vehicle speed, according to
Distance and speed data calculate the estimated collision time of vehicle and the lateral barrier of vehicle, when estimated collision time is less than preset
When time threshold, vehicle body lifting instruction is generated, vehicle is lifted by controller.It can be seen that the embodiment of the present invention is according to calculating
The judgement of the estimated collision time gone out can efficiently identify side collision, and by way of being lifted bodywork height effectively
The penetrability of vehicle wall when reducing side collision, to protect the personal safety of passenger.
For example, one of the scene of the embodiment of the present invention, can be applied in scene as shown in Figure 1.The scene
Middle sensor 101, processor 102 and controller 103, sensor 101 can be interacted with processor 102, processor 102 and control
Device 103 can interact.Processor 102 obtains the first distance value and second between the lateral barrier of the first moment vehicle and vehicle
Second distance value between the lateral barrier of moment vehicle and vehicle；By first distance value and the second distance value away from
The time difference of deviation and second moment and first moment, it is close that processor 102 obtains the lateral barrier of the vehicle
The speed of vehicle；Speed and the second distance value of the processor 102 according to the lateral barrier of the vehicle close to vehicle obtain
The estimated collision time of the vehicle and the lateral barrier of the vehicle；If it is expected that collision time be less than preset time threshold,
Processor 102 controls controller 103 and controls vehicle body lifting.
It is understood that in above application scene, although by the action description of embodiment of the present invention by processor
102 execute.The present invention is unrestricted in terms of executive agent, as long as performing action disclosed in embodiment of the present invention i.e.
It can.
It is understood that above-mentioned scene is only a Sample Scenario provided in an embodiment of the present invention, the embodiment of the present invention
It is not limited to this scene.
Below in conjunction with the accompanying drawings, by embodiment come the method for planning navigation terminal, dress in the present invention will be described in detail embodiment
Set the specific implementation with equipment.
Illustrative methods
Referring to Fig. 2, a kind of flow diagram of the method for the lateral crash protection of vehicle in the embodiment of the present invention is shown.?
In the present embodiment, the method for example may comprise steps of：
Step 201:Obtain the first distance value and the second moment vehicle between the lateral barrier of the first moment vehicle and vehicle
Lateral second distance value between barrier and vehicle.
It is understood that vehicle both sides are mounted with sensor, sensor can implement the lateral barrier of collection vehicle with
The distance between vehicle, if the lateral obstacle distance vehicle of vehicle is remoter, sensor acquires the time of range data needs just
It is longer, thus ensure acquisition range data validity section under the premise of, in order to save sensor acquire range data when
Between, before sensor acquires range data, itself speed for obtaining vehicle from CAN bus is needed, is sentenced according to from vehicle speed
What link sensor needed scans to obtain range.In some embodiments of the present embodiment, first distance value and second distance
Value is obtained especially by sensor, before obtaining first distance value, further includes：According to the determination of vehicle itself speed
The scanning range of sensor, the scanning range are directly proportional to itself speed of the vehicle.For example, ultrasonic sensor is from CAN
Vehicle itself speed is obtained in bus, when vehicle itself speed is less than 60km/h, it is 3m that sensor, which scans range,；Vehicle itself speed
When degree is less than 60-70km/h, it is 3.3m that sensor, which scans range,；When vehicle itself speed is less than 70-80km/h, sensor scanning
Range is 3.6m；When vehicle itself speed is less than 80-90km/h, it is 3.9m that sensor, which scans range,；Vehicle itself speed is less than
When 90-100km/h, it is 4.2m that sensor, which scans range,；When vehicle itself speed is less than 100-110km/h, sensor scanning amount
Journey is 4.5m；When vehicle itself speed is more than 110km/h, it is 4.8m that sensor, which scans range,.
Step 202：By first distance value and the range difference of the second distance value and second moment and described
The time difference at the first moment obtains speed of the lateral barrier of the vehicle close to vehicle.It is understood that supersonic sensing
During device acquires range data, due to the influence of beam wave angle, ultrasonic wave may collect the lateral barrier of vehicle and vehicle it
Between distance other than distance, and then real-time collected data analysis is caused to show that fluctuating range is larger, in order to reduce beam wave angle
Influence, avoid such case interferes with follow-up step, needs the data got from ultrasonic sensor to processor
It is filtered.The first step filters out the range data that range is scanned beyond ultrasonic sensor first, then filter with it is preceding primary
The excessive range data of the difference of the distance value of acquisition；Second step, using first-order filtering method correction data.In some of the present embodiment
In embodiment, after obtaining the second distance value between the lateral barrier of the second moment vehicle and vehicle, further include：If institute
Second distance value is stated in the scanning range and the difference of first distance value and the second distance value is no more than preset value,
Utilize first-order filtering formula Y2=(1-a) × Y1+a×X2The second distance value is corrected, the second correction distance value is obtained, is utilized
The second correction distance value participates in the speed for obtaining the lateral barrier of vehicle close to vehicle, wherein the Y1 is described
The the first correction distance value obtained after first distance value is corrected, the Y2 are the second correction distance value, and the X2 is
The second distance value, a are preset constant.For example, a is taken 0.132 according to practical experience, then first-order filtering formula Y2=
(1-a)×Y1+a×X2Can be：Y2=0.868 × Y1+0.132×X2。
Step 203：The speed close to vehicle and the second distance value according to the lateral barrier of the vehicle, described in acquisition
The estimated collision time of vehicle and the lateral barrier of the vehicle.
It is understood that vehicle is by vehicle wall when being lifted vehicle body when lateral impact just and can be effectively reduced side collision
Penetrability, to protect the personal safety of passenger, but if vehicle body lifting is too low, cannot effectively play protection occupant's
Effect；If vehicle body lifting is excessively high, it is possible to that vehicle body is caused to be turned on one's side when vehicle is by lateral impact, it is therefore desirable to determine and close
The rising height of suitable vehicle body, rising height should be related with vehicle itself.In some embodiments of the present embodiment, controlling
Before vehicle body lifting processed, further include：According to the basic size of vehicle, the height of vehicle body lifting is obtained according to following formula；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein the H2 is the height of the lifting
Degree, the L are the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default
Constant.For example, user inputs the basic size of the vehicle by the touch display screen on device, the data such as including length, width and height.Place
Reason device can pass through formula H according to the basic size of the vehicle of input2=0.0005 × L+0.00025 × (L+H1) calculate and answer
The height of the lifting, wherein the H2 is the height of the lifting, and the L is the length of wagon, and the W is the vehicle body
Width, the HI are the bodywork height.
Step 204：If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
It is possible that there is the estimated collision time this time obtained less than preset time threshold, and secondary acquisition several times below
Estimated collision time the case where being not less than preset time threshold, i.e., the lateral barrier of vehicle and vehicle can't touch
Hit, if only this time the case where just control vehicle body lifting, just belong to false triggering vehicle body lifting operation, therefore in order to avoid
The possibility of false triggering, the estimated collision time repeatedly obtained are less than preset time threshold, just control vehicle body and are lifted, in this way can be with
The lateral impact of effective identification vehicle.For example, when the estimated collision time of 5 acquisitions is less than 0.5s, control vehicle body lifting.
If it is expected that collision time is less than preset time threshold, processor should control control voice warning device to user
Voice reminder is carried out, so that user enhances your vigilance.
After completing vehicle lifting, the operation of return button is clicked in response to user, processor obtains vehicle body return and refers to
It enables, then controls vehicle body return.
The various embodiments provided through this embodiment, processor are obtained in real time between the lateral barrier of vehicle and vehicle
Distance is filtered the range data, when the lateral barrier of vehicle moves closer to vehicle, calculates the lateral barrier of vehicle
Close to the speed of vehicle, the estimated collision time of vehicle and the lateral barrier of vehicle is calculated according to distance and speed data, when more
When the secondary estimated collision time being calculated is less than preset time threshold, the suitable height of control vehicle body lifting.It can be seen that
The range data obtained in the embodiment of the present invention can pass through filtering, improve the accuracy of data；According to repeatedly calculated estimated
The judgement of collision time can efficiently identify side collision, and effectively be dropped by way of being lifted suitable bodywork height
The penetrability of vehicle wall when low side collision, to protect the personal safety of passenger.
Referring to Fig. 3, the flow diagram of the method for the lateral crash protection of another vehicle in the embodiment of the present invention is shown.
In the present embodiment, the method for example may comprise steps of：
Step 301：According to the basic size of vehicle, according to H2=m × L+n × (W+H1) formula obtain vehicle body lifting height
Degree；The basic size includes length of wagon, body width and bodywork height, wherein the H2 is the height of the lifting, institute
It is the length of wagon to state L, and the W is the body width, and the HI is the bodywork height, and described m, n are preset constant.
Step 302：The scanning range of the sensor, the scanning range and the vehicle are determined according to vehicle itself speed
Itself speed is directly proportional.
Step 303：Obtain the first distance value and the second moment vehicle between the lateral barrier of the first moment vehicle and vehicle
Lateral second distance value between barrier and vehicle.
Step 304：If the second distance value in the scanning range and first distance value and described second away from
Difference from value is no more than preset value, utilizes first-order filtering formula Y2=(1-a) × Y1+a×X2The second distance value is corrected, is obtained
Obtain the second correction distance value, wherein the Y1For the first correction distance value that first distance value obtains after corrected, institute
State Y2For the second correction distance value, the X2For the second distance value, a is preset constant.
Step 305：When by the range difference of the first correction distance value and the second correction distance value with described second
The time difference with first moment is carved, speed of the lateral barrier of the vehicle close to vehicle is obtained.
Step 306：The speed close to vehicle and the second distance value according to the lateral barrier of the vehicle, described in acquisition
The estimated collision time of vehicle and the lateral barrier of the vehicle.
Step 307：If it is expected that collision time is less than preset time threshold, control alarm is lifted with vehicle body.
Step 308：According to the instruction of vehicle sound return, vehicle sound return is controlled.
The various embodiments provided through this embodiment, processor are obtained in real time between the lateral barrier of vehicle and vehicle
Distance is filtered the range data, when the lateral barrier of vehicle moves closer to vehicle, calculates the lateral barrier of vehicle
Close to the speed of vehicle, the estimated collision time of vehicle and the lateral barrier of vehicle is calculated according to distance and speed data, when more
When the secondary estimated collision time being calculated is less than preset time threshold, the suitable height of control vehicle body lifting.It can be seen that
The range data obtained in the embodiment of the present invention can pass through filtering, improve the accuracy of data；According to repeatedly calculated estimated
The judgement of collision time can efficiently identify side collision, and effectively be dropped by way of being lifted suitable bodywork height
The penetrability of vehicle wall when low side collision, to protect the personal safety of passenger.
Example devices
Referring to Fig. 4, a kind of structural schematic diagram of the device of the lateral crash protection of vehicle in the embodiment of the present invention is shown.?
In the present embodiment, described device for example can specifically include：
Distance value acquiring unit 401, for obtaining the first distance between the lateral barrier of the first moment vehicle and vehicle
Value and the second distance value between the lateral barrier of the second moment vehicle and vehicle；
First obtains unit 402, for by first distance value and the range difference of the second distance value and described the
The time difference at two moment and first moment obtains speed of the lateral barrier of the vehicle close to vehicle；
Second obtaining unit 403, for according to the lateral barrier of the vehicle close to vehicle speed and described second away from
From value, the estimated collision time of the vehicle and the lateral barrier of the vehicle is obtained；
Vehicle body control unit 404, if being used for it is expected that collision time is less than preset time threshold, control vehicle body lifting.
Optionally, described device, such as can also include：
Third obtaining unit obtains the height of vehicle body lifting according to following formula for the basic size according to vehicle；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein the H2 is the height of the lifting
Degree, the L are the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default
Constant.
Optionally, described device, such as can also include：
Range determination unit is scanned, the scanning range for determining the sensor according to vehicle itself speed is described to sweep
It is directly proportional to itself speed of the vehicle to retouch range.
Optionally, described device, such as can also include：
4th obtaining unit, if for the second distance value in the scanning range and first distance value and institute
The difference for stating second distance value is no more than preset value, utilizes first-order filtering formula Y2=(1-a) × Y1+a×X2Correct described second away from
From value, the second correction distance value is obtained, it is close to participate in the acquisition lateral barrier of vehicle using the second correction distance value
The speed of vehicle, wherein the Y1For the first correction distance value that first distance value obtains after corrected, the Y2For
The second correction distance value, the X2For the second distance value, a is preset constant.
The various embodiments provided through this embodiment, processor are obtained in real time between the lateral barrier of vehicle and vehicle
Distance is filtered the range data, when the lateral barrier of vehicle moves closer to vehicle, calculates the lateral barrier of vehicle
Close to the speed of vehicle, the estimated collision time of vehicle and the lateral barrier of vehicle is calculated according to distance and speed data, when more
When the secondary estimated collision time being calculated is less than preset time threshold, the suitable height of control vehicle body lifting.It can be seen that
The range data obtained in the embodiment of the present invention can pass through filtering, improve the accuracy of data；According to repeatedly calculated estimated
The judgement of collision time can efficiently identify side collision, and effectively be dropped by way of being lifted suitable bodywork height
The penetrability of vehicle wall when low side collision, to protect the personal safety of passenger.
Referring to Fig. 5, a kind of structural schematic diagram of the equipment of the lateral crash protection of vehicle in the embodiment of the present invention is shown.?
In the present embodiment, the equipment for example can specifically include：Processor 501, controller 502, sensor 503, bus system
504；
The bus system 504, for each hardware component of the equipment to be coupled；
The sensor 503, for detecting the distance between the lateral barrier of vehicle and vehicle；
The controller 502 is instructed for being lifted according to vehicle body, control vehicle body lifting；
The processor 501 for reading the data detected in sensor, such as can execute following operation：
The first distance value and the second moment vehicle obtained between the lateral barrier of the first moment vehicle and vehicle laterally hinders
Hinder the second distance value between object and vehicle；
By first distance value and the range difference of the second distance value and second moment and first moment
Time difference, obtain speed of the lateral barrier of the vehicle close to vehicle；
According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the vehicle and institute
State the estimated collision time of the lateral barrier of vehicle；
If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
Optionally, the equipment, such as can also include：
Electric pushrod pushes vehicle body lifting for being controlled by controller 502.
Optionally, the equipment, such as can also include：
Bus converter is sent to processor 501 for bus signals to be converted to rs 232 serial interface signal.
Sensor is separately mounted to vehicle both sides, for the distance between the lateral barrier in collection vehicle both sides and vehicle；
Controller is mounted between processor and electric pushrod, for controlling electric pushrod；Processor one end is connected super by CAN bus
Sonic sensor, intelligent CAN converter, the other end connect controller and phonetic alarm device by CAN bus；Electric pushrod is pacified
Between chassis and damper, bodywork height is raised when by side collision for vehicle；Bus converter is mounted on CAN
Beside bus at the free time, for CAN signal to be converted into rs 232 serial interface signal, it is transmitted to processor；Phonetic alarm device is mounted on vehicle
Near on instrument board at the free time, the signal that processor transmits can be received in real time, and the loudspeaker for driving the device to install are sent out
Voice reminder.
The various embodiments provided through this embodiment, processor are obtained in real time between the lateral barrier of vehicle and vehicle
Distance is filtered the range data, when the lateral barrier of vehicle moves closer to vehicle, calculates the lateral barrier of vehicle
Close to the speed of vehicle, the estimated collision time of vehicle and the lateral barrier of vehicle is calculated according to distance and speed data, when more
When the secondary estimated collision time being calculated is less than preset time threshold, the suitable height of control vehicle body lifting.It can be seen that
The range data obtained in the embodiment of the present invention can pass through filtering, improve the accuracy of data；According to repeatedly calculated estimated
The judgement of collision time can efficiently identify side collision, and effectively be dropped by way of being lifted suitable bodywork height
The penetrability of vehicle wall when low side collision, to protect the personal safety of passenger.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment including a series of elements includes not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications, or is revised as the equivalent embodiment of equivalent variations.Therefore, it is every without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, still fall within technical solution of the present invention protection in the range of.
Claims (11)
1. a kind of method of the lateral crash protection of vehicle, which is characterized in that including：
Obtain the first distance value and the second lateral barrier of moment vehicle between the lateral barrier of the first moment vehicle and vehicle
Second distance value between vehicle；
By first distance value and the range difference of the second distance value and second moment and first moment when
Between it is poor, obtain speed of the lateral barrier of the vehicle close to vehicle；
According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the vehicle and the vehicle
The estimated collision time of lateral barrier；
If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
2. according to the method described in claim 1, it is characterized in that, before control vehicle body lifting, further include：
According to the basic size of vehicle, the height of vehicle body lifting is obtained according to following formula；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein and the H2 is the height of the lifting,
The L is the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default normal
Number.
3. according to the method described in claim 1, it is characterized in that, first distance value and second distance value are especially by biography
Sensor obtains, and before obtaining first distance value, further includes：
Determine the scanning range of the sensor according to vehicle itself speed, the scanning range and itself speed of the vehicle at
Direct ratio.
4. according to the method described in claim 1, it is characterized in that, obtain the second lateral barrier of moment vehicle and vehicle it
Between second distance value after, further include：
If the second distance value is in the scanning range and the difference of first distance value and the second distance value does not surpass
Preset value is crossed, first-order filtering formula Y is utilized2=(1-a) × Y1+a×X2Correct the second distance value, obtain the second correction away from
From value, the speed for participating in obtaining the lateral barrier of vehicle close to vehicle using the second correction distance value, wherein described
Y1For the first correction distance value that first distance value obtains after corrected, the Y2For the second correction distance value, institute
State X2For the second distance value, a is preset constant.
5. a kind of device of the lateral crash protection of vehicle, which is characterized in that including：
Distance value acquiring unit, for obtaining the first distance value and second between the lateral barrier of the first moment vehicle and vehicle
Second distance value between the lateral barrier of moment vehicle and vehicle；
First obtains unit, for by first distance value and the range difference of the second distance value and second moment and
The time difference at first moment obtains speed of the lateral barrier of the vehicle close to vehicle；
Second obtaining unit is used for the speed according to the lateral barrier of the vehicle close to vehicle and the second distance value, obtains
Obtain the estimated collision time of the vehicle and the lateral barrier of the vehicle；
Vehicle body control unit, if being used for it is expected that collision time is less than preset time threshold, control vehicle body lifting.
6. device according to claim 5, which is characterized in that further include：
Third obtaining unit obtains the height of vehicle body lifting according to following formula for the basic size according to vehicle；
H2=m × L+n × (W+H1)；
The basic size includes length of wagon, body width and bodywork height, wherein and the H2 is the height of the lifting,
The L is the length of wagon, and the W is the body width, and the HI is the bodywork height, and described m, n are default normal
Number.
7. device according to claim 5, which is characterized in that further include：
Scan range determination unit, the scanning range for determining the sensor according to vehicle itself speed, the scanning amount
Journey is directly proportional to itself speed of the vehicle.
8. device according to claim 5, which is characterized in that further include：
4th obtaining unit, if for the second distance value in the scanning range and first distance value and described the
The difference of two distance values is no more than preset value, utilizes first-order filtering formula Y2=(1-a) × Y1+a×X2Correct the second distance
Value obtains the second correction distance value, participates in obtaining the lateral barrier of vehicle close to vehicle using the second correction distance value
Speed, wherein the Y1For the first correction distance value that first distance value obtains after corrected, the Y2For institute
State the second correction distance value, the X2For the second distance value, a is preset constant.
9. a kind of equipment of the lateral crash protection of vehicle, which is characterized in that including：Processor, sensor, controller, total linear system
System；
The bus system, for each hardware component of the equipment to be coupled；
The sensor, for detecting the distance between the lateral barrier of vehicle and vehicle；
The controller is instructed for being lifted according to vehicle body, control vehicle body lifting；
The processor executes following operation for reading the data detected in sensor：
Obtain the first distance value and the second lateral barrier of moment vehicle between the lateral barrier of the first moment vehicle and vehicle
Second distance value between vehicle；
By first distance value and the range difference of the second distance value and second moment and first moment when
Between it is poor, obtain speed of the lateral barrier of the vehicle close to vehicle；
According to the lateral barrier of the vehicle, the speed close to vehicle and the second distance value, obtain the vehicle and the vehicle
The estimated collision time of lateral barrier；
If it is expected that collision time is less than preset time threshold, control vehicle body lifting.
10. equipment according to claim 9, which is characterized in that further include：
Electric pushrod pushes vehicle body lifting for being controlled by controller.
11. equipment according to claim 9, which is characterized in that further include：
Bus converter is sent to processor for bus signals to be converted to rs 232 serial interface signal.
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| CN201710295580.5A CN108791282B (en) | 2017-04-28 | 2017-04-28 | Method, device and equipment for protecting vehicle side collision |
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| CN201710295580.5A CN108791282B (en) | 2017-04-28 | 2017-04-28 | Method, device and equipment for protecting vehicle side collision |
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| CN112677912A (en) * | 2021-01-06 | 2021-04-20 | 恒大新能源汽车投资控股集团有限公司 | Automobile, anti-rolling device and anti-rolling method |
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| CN108791282B (en) | 2020-06-05 |
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