CN109334600B - Safety system control device and control method - Google Patents
Safety system control device and control method Download PDFInfo
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- 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
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- 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
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Abstract
The embodiment of the invention discloses a safety system control device and a control method, belongs to the field of automobile collision safety, and can improve the working effectiveness of a vehicle collision safety system. The safety system control device comprises an information acquisition module and a central processing unit, wherein the central processing unit comprises a calculation module and a collision judgment module; the information acquisition module is used for acquiring vehicle state information, and the vehicle state information comprises acceleration information and vehicle load information; the calculation module is used for analyzing and calculating the vehicle state information to obtain an analysis result; and the collision judgment module is used for judging whether the vehicle collides according to the analysis result. The invention is suitable for safety protection when the automobile is collided.
Description
Technical Field
The invention relates to the field of automobile collision safety, in particular to a safety system control device and a control method.
Background
With the high development of society, the application of automobiles in daily life of people is wider and wider, and the number of automobiles is also greatly increased. With the increase in the number of automobiles and the complexity of the use environment of automobiles, the number of traffic accidents has also increased year by year. In order to guarantee the life safety of drivers and passengers of vehicles, the automobiles are provided with collision safety systems at present. The collision safety system mainly comprises a vehicle safety system control module, a safety belt, an air bag and the like. When the vehicle is in collision, the vehicle safety system control module starts the vehicle collision safety system to protect the driver and passengers. At present, a vehicle safety system control module mainly judges whether a vehicle collision safety system is started or not by analyzing an acceleration signal measured by an acceleration sensor.
However, in both passenger vehicles and cargo vehicles, the load changes frequently, which affects the acceleration of the vehicle in case of traffic accidents, and therefore, when the vehicle encounters the same accident, the different loads of the vehicle may affect the opening of the collision safety system, and the collision safety system of the vehicle may not work effectively.
Disclosure of Invention
In view of this, embodiments of the present invention provide a control device and a control method for a safety system, which can improve the effectiveness of the operation of a vehicle collision safety system.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a control device for a safety system, including an information acquisition module and a central processing unit, where the central processing unit includes a calculation module and a collision determination module; the information acquisition module is used for acquiring vehicle state information, and the vehicle state information comprises acceleration information and vehicle load information; the calculation module is used for analyzing and calculating the vehicle state information to obtain an analysis result; and the collision judgment module is used for judging whether the vehicle collides according to the analysis result.
In a specific implementation manner of the embodiment of the invention, the control device further comprises a storage module, which is used for storing the vehicle state information when the vehicle is in collision.
In a specific implementation manner of the embodiment of the present invention, the collision determination module is further configured to determine whether the collision strength of the vehicle exceeds a preset collision strength after determining that the vehicle collides.
In a specific implementation manner of the embodiment of the present invention, the information acquisition module includes a first acquisition submodule, and the first acquisition submodule includes a vehicle load monitoring component and an acceleration detection component, and is configured to acquire vehicle load information and acceleration information.
In a specific implementation manner of the embodiment of the present invention, the information acquisition module includes a second acquisition submodule, which is connected to the vehicle body network through the CAN bus, and is configured to acquire information of the vehicle body network, transmit the information to the central processing unit, and transmit the vehicle state information acquired by the information acquisition module to the CAN bus.
In a specific implementation manner of the embodiment of the present invention, the information acquisition module includes a third acquisition submodule, and the third acquisition submodule includes an occupant detection sensor and a seat belt state detection sensor, and is configured to acquire occupant information and seat belt state information.
In a specific implementation manner of the embodiment of the present invention, the analysis result obtained by the calculation module includes a collision determination value obtained by analyzing and calculating according to the acceleration information and the vehicle load information.
In a specific implementation manner of the embodiment of the present invention, the determining, by the collision determining module, whether the vehicle collides according to the analysis result specifically includes: presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value; if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided; and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
In a specific implementation manner of the embodiment of the present invention, the determining, by the collision determination module, whether the collision strength of the vehicle exceeds the preset collision strength specifically includes presetting a second threshold, and determining a magnitude relationship between the collision determination value and the second threshold; if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength; and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
In a specific implementation manner of the embodiment of the present invention, the storing the vehicle state information by the storage module specifically includes: the vehicle state information stored by the storage module at least comprises data of the first 5s and the later 200ms of the starting point of the collision event; the starting point of the collision event is the moment when the collision judgment module judges that the vehicle collides.
In a specific implementation manner of the embodiment of the present invention, the information stored in the storage module further includes the analysis result.
In a second aspect, an embodiment of the present invention provides a security system control method, including: collecting vehicle state information, wherein the vehicle state information comprises acceleration information and vehicle load information; analyzing and calculating the vehicle state information to obtain an analysis result; and judging whether the vehicle is collided or not according to the analysis result.
In a specific implementation of an embodiment of the present invention, vehicle state information is stored when a vehicle crashes.
In a specific implementation manner of the embodiment of the invention, when a vehicle collides, whether the collision strength exceeds a preset collision strength is judged.
In a specific implementation manner of the embodiment of the present invention, the vehicle state information further includes vehicle body network data.
In a specific implementation manner of the embodiment of the present invention, the vehicle status information further includes driver information and seat belt status information.
In a specific implementation manner of the embodiment of the present invention, the analysis result includes a collision judgment value obtained by analyzing and calculating according to the acceleration information and the vehicle load information.
In a specific implementation manner of the embodiment of the present invention, the determining whether the vehicle collides according to the analysis result includes: presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value; if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided; and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
In a specific implementation manner of the embodiment of the present invention, the determining whether the collision strength of the vehicle exceeds the preset collision strength includes: presetting a second threshold value, and judging the magnitude relation between the collision judgment value and the second threshold value; if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength; and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
In a specific implementation manner of the embodiment of the present invention, the storing the vehicle state information includes: the stored vehicle state information includes at least data of the first 5s and the last 200ms of the start point of the collision event; the starting point of the collision event is the time when the vehicle is judged to be collided.
In a specific implementation manner of the embodiment of the invention, the analysis result is stored when the vehicle collides.
The safety system control device and the control method provided by the embodiment of the invention collect the vehicle state information comprising the acceleration information and the vehicle load information, analyze and calculate the vehicle state information to obtain an analysis result, and judge whether the vehicle is collided according to the analysis result. The embodiment can comprehensively analyze the acceleration information and the load information of the vehicle, thereby improving the working effectiveness of the collision safety system of the vehicle under different loads.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a security system control device according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an information acquisition module according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a security system control method according to a second embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1, an embodiment of the present invention provides a control device for a safety system, including an information acquisition module 1 and a central processing unit 2, where the central processing unit 2 includes a calculation module and a collision determination module; the information acquisition module 1 is used for acquiring vehicle state information, wherein the vehicle state information comprises acceleration information and vehicle load information; the calculation module is used for analyzing and calculating the vehicle state information to obtain an analysis result; and the collision judgment module is used for judging whether the vehicle collides according to the analysis result.
In this embodiment, the safety system control device analyzes and calculates the vehicle state information including the acceleration information and the vehicle load information after acquiring the vehicle state information to obtain analysis result information, and determines whether the vehicle has a collision according to the analysis result information. The embodiment comprehensively analyzes the acceleration information and the load information of the vehicle, thereby improving the working effectiveness of the collision safety system of the vehicle under different loads.
As shown in fig. 1, in an implementation manner of the first embodiment of the present invention, the control device further includes a storage module 3 for storing vehicle state information when the vehicle collides.
In the embodiment, the storage module can record accident data when the vehicle collides, so that the accuracy of accident reconstruction is improved.
In an implementation manner of the first embodiment of the present invention, the collision determination module is further configured to determine whether the collision strength of the vehicle exceeds a preset collision strength after determining that the vehicle collides.
In the embodiment, the collision judging module judges the collision strength when the vehicle collides, and when the collision strength exceeds the preset collision strength, the collision judging module can output corresponding signals to the air bag assembly and the pre-tightening safety belt module, so that the air bag assembly releases the safety air bag, and the pre-tightening safety belt module pre-tightens the safety belt, thereby achieving the effect of protecting drivers and passengers.
Optionally, the storage module 3 may store the vehicle state information according to whether the collision strength exceeds a preset collision strength, including:
the central processing unit 2 detects the storage space of the storage module 3;
if the storage space is sufficient, directly storing the vehicle state information;
if the storage space is insufficient, the data when the collision strength does not exceed the preset collision strength before the current data is covered is applied, and the data is executed according to the time sequence strictly, namely the data which is firstly stored in the storage unit 3 is covered firstly; but the data when the previously recorded impact strength exceeds the preset impact strength should not be overwritten by the data of the subsequent impact.
As an alternative, it is set that the storage module 3 can store accident data (i.e. vehicle state information when the vehicle collides) three times or more; when the collision strength of the vehicle does not exceed the preset collision strength, the central processing unit 2 detects the storage space of the storage module 3, if the storage space is sufficient, the storage module 3 directly stores accident data, and if the storage space is insufficient, the current data is used for covering the accident data which is firstly stored in the storage unit 3 and does not exceed the preset collision strength; when the collision strength of the vehicle exceeds the preset collision strength, the central processing unit 2 detects the storage space of the storage module 3, if the storage space is sufficient, the storage module 3 directly stores accident data, and if the storage space is insufficient, the current data is used for covering the accident data which is firstly stored in the storage unit 3 and does not exceed the preset collision strength, and the recording is stopped.
Therefore, after a traffic accident occurs, the accident data is recorded in the storage module 3, so that the accuracy of accident reconstruction can be improved, an accident responsible party cannot easily forge an accident scene, and a powerful auxiliary effect on tracing the traffic accident is achieved.
As shown in fig. 2, in an implementation manner of the first embodiment of the present invention, the information collecting module 1 includes a first collecting sub-module 11, and the first collecting sub-module 11 includes a vehicle load monitoring component and an acceleration detecting component, and is configured to collect vehicle load information and acceleration information.
In this embodiment, the load monitoring module calculates the load capacity of the vehicle by detecting the pressure applied to the vehicle suspension system or the deformation of the vehicle suspension system after being pressed.
When the load monitoring assembly calculates the magnitude of the vehicle load by detecting the pressure experienced by the vehicle suspension system, the load monitoring assembly comprises a pressure sensor, which may be arranged on a spring or a shock absorber of the vehicle suspension system; in this embodiment, the arrangement position of the pressure sensor is not limited, and the position of the pressure sensor may be reasonably arranged according to the type of the vehicle.
When the load monitoring assembly calculates the load of the vehicle by detecting the deformation of the vehicle suspension system after being pressed, the load monitoring assembly can adopt an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor and the like to measure the deformation of a spring or a shock absorber of the suspension system; in this embodiment, the arrangement position of the distance sensor is not limited, and the position of the distance sensor may be arranged reasonably according to the type of the vehicle.
Optionally, the load monitoring assembly may be powered by a battery, and transmit data to the first acquisition submodule in a wireless communication manner, or may be directly connected to the first acquisition submodule in a wired manner to perform power supply and data transmission.
Optionally, in order to avoid the influence of vibration during the operation of the vehicle on the load measurement result, the load of the vehicle is measured when the vehicle is in a static state.
It should be understood that, in this embodiment, a specific implementation manner of the load monitoring assembly is not limited, and the load monitoring assembly may also use other parts or components to detect the load information of the vehicle.
In an implementation manner of the first embodiment, the acceleration detection component includes an acceleration sensor, and the acceleration sensor is used for measuring acceleration information of the vehicle.
Optionally, the first collecting submodule 11 includes a pressure sensor, and the pressure sensor is used for collecting pressure information of the vehicle, and is used for detecting the direction of a side door of the automobile or the severity of collision on the top of the vehicle.
As shown in fig. 2, in an embodiment of the first embodiment of the present invention, the information collection module 1 includes a second collection submodule 12, where the second collection submodule 12 is connected to a vehicle body network through a CAN bus, collects information of the vehicle body network, transmits the information to the central processing unit 2, and transmits vehicle state information collected by the information collection module 1 to the CAN bus.
In this embodiment, the second acquisition submodule is in communication with the vehicle body network through the CAN bus, acquires state information such as a steering wheel, an accelerator, a brake, an ABS and the like from the vehicle body network, and stores part or all of the information acquired from the vehicle body network into the storage module when a vehicle collides, which is beneficial to reconstructing the state of the vehicle when an accident occurs. In addition, the safety system control device CAN also output part or all of the vehicle state information acquired by the information acquisition module to the vehicle body network through the CAN bus, so that the safety system control device and the vehicle body network share information.
Optionally, the CAN bus is connected with a data reading interface, and CAN read data stored in the storage module 3 through the interface, that is, the central processing unit 2 uploads the data in the storage module 3 to the upper computer software after receiving a data reading instruction, so that the accident data CAN be conveniently read.
In an implementation manner of the first embodiment of the present invention, as shown in fig. 2, the information collection module 1 includes a third collection submodule 13, and the third collection submodule 13 includes an occupant detection sensor and a seat belt state detection sensor, and is configured to collect occupant information and seat belt state information.
In this embodiment, after the vehicle starts, the third acquisition submodule acquires whether a passenger is in the main driving position and the auxiliary driving position, detects whether a corresponding safety belt is fastened in the main driving position and the auxiliary driving position, and transmits driver information and safety belt state information to the central processing unit, the central processing unit judges whether a corresponding safety belt is fastened in a seat with the passenger, if the safety belt is not fastened, the central processing unit outputs a corresponding signal to the instrument desk module, and the instrument desk module displays the state and reminds the passenger to fasten the safety belt.
In an implementation manner of the first embodiment of the present invention, the analysis result obtained by the calculation module includes a collision determination value obtained by analyzing and calculating according to the acceleration information and the vehicle load information.
In this embodiment, the information acquisition module acquires an original acceleration signal a0(t), the actual acceleration of the vehicle;
the analysis result comprises:
(1) original acceleration signal a0(t) a by Butterworth filtering1(t)；
(2) To a1(t) carrying outIntegration of moving windows]，
W is window width, and the size of the window width can be preset;
(3) speed: v (t) ═ a1(t)d(t)；
(4) Specific power: p (t) ═ a1(t)2+ V (t) J (t), J (t) is a pair of1(t) deriving;
(5)a2(t)：
calculating coefficient b by least square method0...bn：a0(t)＝b0+b1*t+b2*t2……..+bn*tn；
Using b obtained above0...bnAnd (3) value calculation: a is2(t)＝b0+b1*t+b2*t2……..+bn*tn。
Where n is a number based on2(t) and acceleration signal a0(t) the degree of curve matching depends on the actual analysis algorithm formula, and the value of n is a specific value set in advance.
(6) Vehicle load factor: and f (m), wherein m is the measured load parameters of the vehicle, and proper values of f (m) are selected according to different load parameters.
The vehicle load factor value f (m) is a specific value preset, and optionally, f (m) is a piecewise function, such as: when m is more than or equal to 0 and less than or equal to 100kg, taking F1 as F (m); when m is more than 100kg and less than or equal to 200kg, taking F2 as F (m); when m is more than 200kg and less than or equal to 300kg, taking F3 as F (m); when m is more than 300kg, taking F4 as F (m); f1, F2, F3 and F4 are all preset specific numerical values.
(7) Collision discrimination value: a ═ k ═ y (t)n1+j*p(t)n2+h*a1(t)n3+d*V(t)n4+b*a2(t)n5+c*f(m)n6Wherein: k is (0 to 100), j is (0 to 1), h is (0 to 100), d is (0 to 10), b is (0 to 1), c is (0 to 100), n1 is (-5 to 5), n2 is (-5 to 5), n3 is (-5 to 5), n4 is (-5 to 5),n5 (-5), n6 (-5). In the algorithm formula, the values of all the coefficients are preset, and different coefficient values can be selected according to the characteristics of different safety system control devices and vehicles provided with the safety system control devices; it is understood that when the calculation of the collision determination value does not need to take the vehicle load into consideration, the value c in the calculation formula of the collision determination value may be taken as 0.
In an implementation manner of the first embodiment of the present invention, the determining, by the collision determining module, whether the vehicle collides according to the analysis result specifically includes: presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value; if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided; and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
In the embodiment, the first threshold most suitable for collision can be set according to experimental verification in advance or according to national laws and regulations and a third-party evaluation system; the vehicle load may also be introduced when determining the first threshold, for example: when a vehicle collision test is carried out to determine the most appropriate first threshold value, the experimental results of vehicles with different loads are comprehensively analyzed to obtain the most appropriate first threshold value. And selects an appropriate coefficient value in the calculation formula of the collision discrimination value a1 according to the characteristics of the safety system control device and the vehicle in which the safety system control device is installed. Therefore, during the running process of the vehicle, the central controller can analyze and calculate the collision judgment value A1 in real time and compare the collision judgment value A1 with a preset first threshold value, if the collision judgment value A1 is smaller than or equal to the first threshold value, the vehicle is not collided, and if the collision judgment value A1 is larger than the first threshold value, the vehicle is collided.
In an implementation manner of the first embodiment of the present invention, the determining, by the collision determination module, whether the collision strength of the vehicle exceeds a preset collision strength specifically includes: presetting a second threshold value, and judging the magnitude relation between the collision judgment value and the second threshold value; if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength; and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
In this embodiment, the second threshold is a piecewise function related to the loading capacity m of the vehicle, such as: when M is more than or equal to 0 and less than or equal to 75kg, taking M1 as the second threshold value; when M is more than 75kg and less than or equal to 150kg, taking M2 as the second threshold value; when M is more than 150kg and less than or equal to 225kg, taking M3 as the second threshold value; when M is more than 225kg, taking M4 as the second threshold value; m1, M2, M3 and M4 are all preset specific numerical values.
It should be understood that the second threshold may also be a predetermined fixed value, such as: introducing the vehicle payload when determining a second threshold, for example: when the vehicle collision test is carried out to determine the most appropriate second threshold value, the experimental results of the vehicles with different loads are comprehensively analyzed to obtain the most appropriate second threshold value. Optionally, the second threshold may also be set according to national laws and regulations and a third-party evaluation system.
In the present embodiment, in the calculation formula of the collision determination value a2, an appropriate coefficient value is selected according to the characteristics of the safety system control device and the vehicle in which the safety system control device is installed. It should be understood that the selection values of the coefficients in the calculation formula of the collision determination value a2 may be different from the selection values of the coefficients used for determining whether a collision occurs.
Therefore, during the running process of the vehicle, the collision judgment value A2 can be analyzed and calculated in real time, the collision judgment value A2 is compared with the second threshold value, if the collision judgment value A2 is smaller than or equal to the second threshold value, the collision strength of the vehicle does not exceed the preset collision strength, and if the collision judgment value A2 is larger than the second threshold value, the collision strength of the vehicle exceeds the preset collision strength.
In an implementation manner of the first embodiment of the present invention, the storing the vehicle state information by the storage module specifically includes: the vehicle state information stored by the storage module at least comprises data of the first 5s and the later 200ms of the starting point of the collision event; the starting point of the collision event is the moment when the collision judgment module judges that the vehicle collides.
In the embodiment, the data of 5s before the starting point of the collision event is recorded in order to record the running state of the vehicle before the collision event occurs and judge whether the vehicle runs in violation; the data of 200ms after the start of the crash event is recorded in order to record the running state of the vehicle after the crash.
It is understood that the recording time period of the vehicle state information may be adaptively adjusted according to actual needs or laws and regulations.
In an implementation manner of the first embodiment of the present invention, the information stored in the storage module 3 further includes the analysis result.
In this embodiment, the analysis result obtained by the analysis and calculation of the calculation module is stored in the storage module, which is beneficial to reconstructing the state of the vehicle when an accident occurs.
Alternatively, the cpu 2 may output a corresponding signal to an engine management module or a BMS (battery control system) according to whether the vehicle has collided and whether the collision strength exceeds a preset collision strength.
In the embodiment, the corresponding signals are output to the corresponding management modules according to the states of the vehicles, so that the dangers that the engine or the motor of the vehicle is not controlled to work or the power circuit of the vehicle per se is short-circuited and the like when the vehicle is in an accident are reduced.
Optionally, the safety system control device further outputs a signal to the pre-tightening safety belt module, and when a passenger does not move forward greatly in the collision moment of the vehicle, the central processing unit outputs a corresponding signal to the pre-tightening safety belt module, and the pre-tightening safety belt module tensions a safety belt in advance, so that the forward movement amount of the passenger in the collision process is effectively reduced, and the collision between the passenger and an interior trim is reduced.
Example two
Fig. 3 is a flowchart of a security system control method according to an embodiment of the present invention, where the method according to the embodiment includes:
step 101, collecting vehicle state information, wherein the vehicle state information comprises acceleration information and vehicle load information;
in an optional implementation of the embodiment of the invention, the vehicle status information further comprises driver information and seat belt status information. In this embodiment, after the vehicle starts, whether passengers are in the main driving seat and the assistant driving seat or not is acquired, whether the corresponding safety belts in the main driving seat and the assistant driving seat are fastened or not is detected, whether the corresponding safety belts in the seats with the passengers are fastened or not is judged according to the information of the drivers and passengers and the state information of the safety belts, if the safety belts are not fastened, corresponding signals are output to the instrument desk module, and the instrument desk module displays the state and reminds the passengers of fastening the safety belts.
In an optional implementation manner of the embodiment of the present invention, the vehicle state information further includes vehicle body network data. In this embodiment, the CAN bus communicates with the vehicle body network, the state information of the steering wheel, the accelerator, the brake, the ABS and the like is acquired from the vehicle body network, and part or all of the information acquired from the vehicle body network is stored when the vehicle collides, which is beneficial to reconstructing the state of the vehicle when an accident occurs. In addition, partial or all vehicle state information CAN be output to the vehicle body network through the CAN bus, so that information sharing with the vehicle body network is realized.
In this embodiment, to avoid the influence of vibration during the operation of the vehicle on the load measurement result, the load of the vehicle is measured when the vehicle is in a stationary state.
102, analyzing and calculating the vehicle state information to obtain an analysis result;
in this embodiment, after the vehicle state information is collected, the vehicle state information including the acceleration information and the vehicle load information is analyzed and calculated to obtain analysis result information. The embodiment comprehensively analyzes the acceleration information and the load information of the vehicle, thereby improving the working effectiveness of the collision safety system of the vehicle under different loads.
In an optional implementation manner of the embodiment of the present invention, the analysis result includes a collision determination value obtained by analyzing and calculating according to the acceleration information and the vehicle load information.
In this embodiment, the collected original acceleration signal a0(t), the actual acceleration of the vehicle;
the analysis result comprises:
(1) original acceleration signal a0(t) a by Butterworth filtering1(t)；
(2) To a1(t) y [ t ] by moving window integration]，
W is window width, and the size of the window width can be preset;
(3) speed: v (t) ═ a1(t)d(t)；
(4) Specific power: p (t) ═ a1(t)2+ V (t) J (t), J (t) is a pair of1(t) deriving;
(5)a2(t)：
calculating coefficient b by least square method0...bn：a0(t)＝b0+b1*t+b2*t2……..+bn*tn；
Using b obtained above0...bnAnd (3) value calculation: a is2(t)＝b0+b1*t+b2*t2……..+bn*tn。
Where n is a number based on2(t) and acceleration signal a0(t) the degree of curve matching depends on the actual analysis algorithm formula, and the value of n is a specific value set in advance.
(6) Vehicle load factor: and f (m), wherein m is the measured load parameters of the vehicle, and proper values of f (m) are selected according to different load parameters.
The vehicle load factor value f (m) is a specific value preset, and optionally, f (m) is a piecewise function, such as: when m is more than or equal to 0 and less than or equal to 100kg, taking F1 as F (m); when m is more than 100kg and less than or equal to 200kg, taking F2 as F (m); when m is more than 200kg and less than or equal to 300kg, taking F3 as F (m); when m is more than 300kg, taking F4 as F (m); f1, F2, F3 and F4 are all preset specific numerical values.
(7) Collision discrimination value: a ═ k ═ y (t)n1+j*p(t)n2+h*a1(t)n3+d*V(t)n4+b*a2(t)n5+c*f(m)n6Wherein: k is (0 to 100), j is (0 to 1), h is (0 to 100), d is (0 to 10), b is (0 to 1), c is (0 to 100), n1 is (-5 to 5), n2 is (-5 to 5), n3 is (-5 to 5), n4 is (-5 to 5), n5 is (-5 to 5), and n6 is (-5 to 5). In the algorithm formula, the values of all the coefficients are preset, and different coefficient values can be selected according to the characteristics of different safety system control devices and vehicles provided with the safety system control devices; it is understood that when the calculation of the collision determination value does not need to take the vehicle load into consideration, the value c in the calculation formula of the collision determination value may be taken as 0.
And 103, judging whether the vehicle is collided according to the analysis result.
In an optional implementation manner of the embodiment of the present invention, the determining whether the vehicle collides according to the analysis result includes: presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value; if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided; and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
In the embodiment, the first threshold most suitable for collision can be set according to experimental verification in advance or according to national laws and regulations and a third-party evaluation system; the vehicle load may also be introduced when determining the first threshold, for example: when a vehicle collision test is carried out to determine the most appropriate first threshold value, the experimental results of vehicles with different loads are comprehensively analyzed to obtain the most appropriate first threshold value. And selects an appropriate coefficient value in the calculation formula of the collision discrimination value a1 according to the characteristics of the safety system control device and the vehicle in which the safety system control device is installed. Therefore, during the running process of the vehicle, the central controller can analyze and calculate the collision judgment value A1 in real time and compare the collision judgment value A1 with a preset first threshold value, if the collision judgment value A1 is smaller than or equal to the first threshold value, the vehicle is not collided, and if the collision judgment value A1 is larger than the first threshold value, the vehicle is collided.
In an optional implementation of the embodiment of the invention, when the vehicle collides, whether the collision strength exceeds a preset collision strength is determined.
In an optional implementation manner of the embodiment of the present invention, the determining whether the collision strength of the vehicle exceeds a preset collision strength includes: presetting a second threshold value, and judging the magnitude relation between the collision judgment value and the second threshold value; if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength; and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
In this embodiment, the second threshold is a piecewise function related to the loading capacity m of the vehicle, such as: when M is more than or equal to 0 and less than or equal to 75kg, taking M1 as the second threshold value; when M is more than 75kg and less than or equal to 150kg, taking M2 as the second threshold value; when M is more than 150kg and less than or equal to 225kg, taking M3 as the second threshold value; when M is more than 225kg, taking M4 as the second threshold value; m1, M2, M3 and M4 are all preset specific numerical values.
It should be understood that the second threshold may also be a predetermined fixed value, such as: introducing the vehicle payload when determining a second threshold, for example: when the vehicle collision test is carried out to determine the most appropriate second threshold value, the experimental results of the vehicles with different loads are comprehensively analyzed to obtain the most appropriate second threshold value. Optionally, the second threshold may also be set according to national laws and regulations and a third-party evaluation system.
In this embodiment, during the operation of the vehicle, the collision determination value a2 may be analyzed and calculated in real time, and the collision determination value a2 is compared with the second threshold, if the collision determination value a2 is less than or equal to the second threshold, the collision strength of the vehicle does not exceed the preset collision strength, and if the collision determination value a2 is greater than the second threshold, the collision strength of the vehicle exceeds the preset collision strength.
In the embodiment, the collision strength is judged when the vehicle collides, and when the collision strength exceeds the preset collision strength, a corresponding signal can be output to the air bag assembly and the pre-tightening safety belt module, so that the air bag assembly releases the safety air bag, and the pre-tightening safety belt module pre-tightens the safety belt, thereby achieving the effect of protecting drivers and passengers.
In an optional implementation manner of the embodiment of the present invention, the control method further includes:
and step 104, storing the vehicle state information when the vehicle collides.
In the embodiment, accident data can be recorded when the vehicle is collided, and the accuracy of accident reconstruction is improved.
Optionally, the vehicle state information may be stored in a classification according to whether the collision strength exceeds a preset collision strength, including:
detecting a storage space;
if the storage space is sufficient, directly storing the vehicle state information;
if the storage space is insufficient, the data when the collision strength does not exceed the preset collision strength before the current data is covered is applied, and the data is executed strictly according to the time sequence, namely the data stored firstly is covered firstly; but the data when the previously recorded impact strength exceeds the preset impact strength should not be overwritten by the data of the subsequent impact.
As an alternative, it is set that accident data (i.e., vehicle state information when the vehicle collides) may be stored three or more times; when the collision strength of the vehicle does not exceed the preset collision strength, detecting the storage space of the storage module, if the storage space is sufficient, directly storing accident data, and if the storage space is insufficient, covering the accident data which is stored firstly and does not exceed the preset collision strength with the current data; and when the collision strength of the vehicle exceeds the preset collision strength, detecting the storage space of the storage module, directly storing accident data if the storage space is sufficient, covering the accident data which is stored firstly and does not exceed the preset collision strength with the current data if the storage space is insufficient, and stopping recording.
Therefore, after a traffic accident occurs, the accident data is recorded, so that the accuracy of accident reconstruction can be improved, an accident responsible party cannot easily forge an accident site, and a powerful auxiliary effect is played for tracing the traffic accident.
In one embodiment of the second embodiment of the present invention, the storing the vehicle state information includes: the stored vehicle state information includes at least data of the first 5s and the last 200ms of the start point of the collision event; the starting point of the collision event is the time when the vehicle is judged to be collided.
In the embodiment, the data of 5s before the starting point of the collision event is recorded in order to record the running state of the vehicle before the collision event occurs and judge whether the vehicle runs in violation; the data of 200ms after the start of the crash event is recorded in order to record the running state of the vehicle after the crash.
It is understood that the recording time period of the vehicle state information may be adaptively adjusted according to actual needs or laws and regulations.
In one embodiment of the second embodiment of the present invention, the analysis result is stored when the vehicle collides.
In this embodiment, the analysis result obtained by calculation is stored, which is beneficial to reconstructing the state of the vehicle when an accident occurs.
Alternatively, a corresponding signal may be output to an engine management module or a BMS (battery control system) according to whether the vehicle has collided and whether the intensity of the collision exceeds a preset collision intensity.
In the embodiment, the corresponding signals are output to the corresponding management modules according to the states of the vehicles, so that the dangers that the engine or the motor of the vehicle is not controlled to work or the power circuit of the vehicle per se is short-circuited and the like when the vehicle is in an accident are reduced.
Optionally, a signal is output to the pre-tightening safety belt module, and when a passenger does not move forward greatly in the moment of collision of the vehicle, a corresponding signal is output to the pre-tightening safety belt module, and the pre-tightening safety belt module tensions a safety belt in advance, so that the forward movement amount of the passenger in the collision process is effectively reduced, and the collision between the passenger and the interior trim is reduced.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
1. A security system control apparatus, comprising: the collision judgment system comprises an information acquisition module and a central processing unit, wherein the central processing unit comprises a calculation module and a collision judgment module; wherein,
the information acquisition module is used for acquiring vehicle state information, and the vehicle state information comprises acceleration information and vehicle load information; the information acquisition module comprises a second acquisition submodule which is connected with a vehicle body network through a CAN bus, acquires information of the vehicle body network, transmits the information to the central processing unit and transmits vehicle state information acquired by the information acquisition module to the CAN bus;
the calculation module is used for analyzing and calculating the vehicle state information to obtain an analysis result; the analysis result obtained by the calculation module comprises a collision judgment value obtained by analyzing and calculating according to the acceleration information and the vehicle load information; the analysis result comprises a collision judgment value; the collision discrimination value is determined according to the following steps: (1) original acceleration signal a0(t) a by Butterworth filtering1(t); wherein a is0(t) the actual acceleration of the vehicle collected by the information collection module; (2) to a1(t) y [ t ] by moving window integration]，
w is the window width, and the size of the window width can be preset; (3) speed: v (t) ═ a1(t) d (t); (4) specific power: p (t) ═ a1(t)2+ V (t) J (t), J (t) is a pair of1(t) deriving; (5) a is2(t): calculating coefficient b by least square method0...bn：a0(t)＝b0+b1*t+b2*t2……..+bn*tn(ii) a Using b obtained above0...bnAnd (3) value calculation: a is2(t)＝b0+b1*t+b2*t2……..+bn*tnWhere n is a number based on a2(t) and acceleration signal a0(t) the curve matching degree is determined, and the value of n in the actual analysis algorithm formula is a preset specific value; (6) vehicle load factor: m is a vehicle load parameter obtained by measurement, and a proper value f (m) is selected according to different load parameters; the vehicle load factor value f (m) is a specific value which is preset; (7) collision discrimination value: a ═ k ═ y (t)n1+j*p(t)n2+h*a1(t)n3+d*V(t)n4+b*a2(t)n5+c*f(m)n6Wherein: k is (0 to 100), j is (0 to 1), h is (0 to 100), d is (0 to 10), b is (0 to 1), c is (0 to 100), n1 is (-5 to 5), n2 is (-5 to 5), n3 is (-5 to 5), n4 is (-5 to 5), n5 is (-5 to 5), n6 is (-5 to 5);
the collision judgment module is used for judging whether the vehicle collides according to the analysis result; the collision judging module is used for judging whether the collision strength of the vehicle exceeds the preset collision strength after judging that the vehicle collides.
2. The safety system control device according to claim 1, wherein the control device further comprises a storage module for storing vehicle state information when the vehicle is involved in a collision.
3. The safety system control device of claim 1, wherein the information collection module comprises a first collection submodule including a vehicle load monitoring component and an acceleration detection component for collecting vehicle load information and acceleration information.
4. The security system control of claim 1, wherein the information acquisition module includes a third acquisition sub-module including an occupant detection sensor and a seat belt status detection sensor for acquiring occupant information and seat belt status information.
5. The safety system control device according to claim 1, wherein the collision determination module determining whether the vehicle has collided according to the analysis result specifically includes:
presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value;
if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided;
and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
6. A safety system control as claimed in claim 1, wherein: the collision judgment module is used for judging whether the collision strength of the vehicle exceeds the preset collision strength and specifically comprises the following steps:
presetting a second threshold value, and judging the magnitude relation between the collision judgment value and the second threshold value;
if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength;
and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
7. A safety system control as claimed in claim 2, wherein: the storage module stores the vehicle state information and specifically comprises:
the vehicle state information stored by the storage module at least comprises data of the first 5s and the later 200ms of the starting point of the collision event;
the starting point of the collision event is the moment when the collision judgment module judges that the vehicle collides.
8. A safety system control as claimed in claim 2, wherein: the information stored by the storage module also includes the analysis result.
9. A security system control method characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
collecting vehicle state information, wherein the vehicle state information comprises acceleration information and vehicle load information; the vehicle state information further includes body network data;
analyzing and calculating the vehicle state information to obtain an analysis result; the analysis result comprises a collision judgment value obtained by analyzing and calculating according to the acceleration information and the vehicle load information; the analysis result comprises a collision judgment value; the collision discrimination value is determined according to the following steps: (1) original acceleration signal a0(t) a by Butterworth filtering1(t); wherein a is0(t) the actual acceleration of the vehicle collected by the information collection module; (2) to a1(t) y [ t ] by moving window integration]，
w is the window width, and the size of the window width can be preset; (3) speed: v (t) ═ a1(t) d (t); (4) specific power: p (t) ═ a1(t)2+ V (t) J (t), J (t) is a pair of1(t) deriving; (5) a is2(t): calculating coefficient b by least square method0...bn：a0(t)＝b0+b1*t+b2*t2……..+bn*tn(ii) a Using b obtained above0...bnAnd (3) value calculation: a is2(t)＝b0+b1*t+b2*t2……..+bn*tnWhere n is a number based on a2(t) and acceleration signal a0(t) the curve matching degree is determined, and the value of n in the actual analysis algorithm formula is a preset specific value; (6) vehicle load factor: m is a vehicle load parameter obtained by measurement, and a proper value f (m) is selected according to different load parameters; the vehicle load factor value f (m) is a specific value which is preset; (7) collision discrimination value: a ═ k ═ y (t)n1+j*p(t)n2+h*a1(t)n3+d*V(t)n4+b*a2(t)n5+c*f(m)n6Wherein: k is (0 to 100), j is (0 to 1), h is (0 to 100), d is (0 to 10), b is (0 to 1), c is (0 to 100), n1 is (-5 to 5), n2 is (-5 to 5), n3 is (-5 to 5), n4＝(-5～5)，n5＝(-5～5)，n6＝(-5～5)；
Judging whether the vehicle is collided or not according to the analysis result;
and when the vehicle collides, judging whether the collision strength exceeds the preset collision strength.
10. A security system control method as claimed in claim 9, wherein: when the vehicle collides, the vehicle state information is stored.
11. A security system control method as claimed in claim 9, wherein: the vehicle status information also includes occupant information and seat belt status information.
12. A security system control method as claimed in claim 9, wherein: the judging whether the vehicle collides according to the analysis result includes:
presetting a first threshold value, and judging the magnitude relation between a collision judgment value and the first threshold value;
if the collision judgment value is smaller than or equal to the first threshold value, judging that the vehicle is not collided;
and if the collision judgment value is larger than the first threshold value, judging that the vehicle collides.
13. A security system control method as claimed in claim 9, wherein: the judging whether the collision strength of the vehicle exceeds a preset collision strength includes:
presetting a second threshold value, and judging the magnitude relation between the collision judgment value and the second threshold value;
if the collision judgment value is smaller than or equal to the second threshold value, judging that the vehicle collision strength does not exceed the preset collision strength;
and if the collision judgment value is larger than the second threshold value, judging that the vehicle collision strength exceeds the preset collision strength.
14. A security system control method as claimed in claim 10, wherein: the storing of the vehicle state information includes:
the stored vehicle state information includes at least data of the first 5s and the last 200ms of the start point of the collision event;
the starting point of the collision event is the time when the vehicle is judged to be collided.
15. A security system control method as claimed in claim 10, wherein: and when the vehicle is collided, storing the analysis result.
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