阅读说明：本技术 一种缓冲车辆碰撞的方法、装置及车辆 (Method and device for buffering vehicle collision and vehicle ) 是由 侯殿龙 黄海洋 张建 王宇 刘金波 李春善 周添 于 2020-06-17 设计创作，主要内容包括：本发明实施例公开了一种缓冲车辆碰撞的方法、装置及车辆。该方法包括判断车辆的当前行驶方向上是否存在碰撞障碍物；若是,根据车辆与碰撞障碍物之间的当前距离、碰撞障碍物的运动信息、以及车辆的行驶信息,确定碰撞时间；若碰撞时间小于第一时间阈值,控制安全防护装置向车外弹出。本发明实施例提供的技术方案可以及时控制安全防护装置弹出,以使在车辆和障碍物碰撞时,安全防护装置能够在车辆和障碍物之间产生缓冲作用,降低碰撞伤害。(The embodiment of the invention discloses a method and a device for buffering vehicle collision and a vehicle. The method comprises the steps of judging whether a collision obstacle exists in the current driving direction of the vehicle or not; if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle; and if the collision time is less than the first time threshold value, controlling the safety protection device to pop out of the vehicle. The technical scheme provided by the embodiment of the invention can control the safety protection device to pop up in time, so that the safety protection device can generate a buffer effect between the vehicle and the obstacle when the vehicle collides with the obstacle, and the collision injury is reduced.)

1. A method of cushioning a vehicle collision, the vehicle having a body with a safety shield disposed thereon, the method comprising:

judging whether a collision barrier exists in the current driving direction of the vehicle;

if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle;

and if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle.

2. The method of buffering a vehicle collision according to claim 1, wherein the determining whether there is a collision obstacle in a current traveling direction of the vehicle comprises:

acquiring current attitude information of the vehicle;

acquiring laser point cloud data of obstacles in front of and behind the vehicle;

and judging whether collision obstacles exist in the current driving direction of the vehicle or not according to the current attitude information and the laser point cloud data of the obstacles.

3. The method of cushioning a vehicle collision of claim 2, wherein said safety shield apparatus comprises a plurality of discrete sub-safety shield apparatuses, said plurality of sub-safety shield apparatuses being disposed around said vehicle body; the method further comprises the following steps:

determining a part, closest to the collision obstacle, in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle;

if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle comprises:

and if the collision time is less than a first time threshold value, controlling the sub-safety protection device corresponding to the collision occurrence prediction position to pop out of the vehicle.

4. The method of buffering a vehicle collision according to claim 1, wherein the determining a collision time based on the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle, and the traveling information of the vehicle includes:

judging whether the collision barrier is in a static state or not according to the motion information of the barrier;

and if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the driving information of the vehicle.

5. The method of cushioning a vehicle collision of claim 1, further comprising: and if the collision time is less than a first time threshold value and the collision obstacle is positioned in front of the vehicle, controlling the opening degree of a brake pedal to reach 100%.

6. The method of cushioning a vehicle collision of claim 1, further comprising:

and if the collision time is greater than the first time threshold and less than a second time threshold, controlling an alarm to give an alarm.

7. An apparatus for cushioning a vehicle collision, comprising: the collision obstacle existence judging module, the collision time determining module and the safety protection device ejecting module are arranged on the vehicle body;

the collision obstacle existence judging module is used for judging whether a collision obstacle exists in the current driving direction of the vehicle;

the collision time determination module is used for determining collision time according to the current distance between the vehicle and a collision obstacle, the motion information of the collision obstacle and the running information of the vehicle when the collision obstacle exists in the current running direction of the vehicle;

and the safety protection device ejecting module is used for controlling the safety protection device to eject out of the vehicle when the collision time is less than a first time threshold value.

8. A vehicle is characterized by comprising an attitude information sensor, a driving information sensor, a laser radar, a safety protection device and a controller; the attitude information sensor, the driving information sensor, the laser radar and the safety protection device are all connected with the controller;

the attitude information sensor is used for acquiring attitude information of the vehicle;

the driving information sensor is used for acquiring driving information of the vehicle;

the laser radar is used for detecting obstacles around the vehicle and generating laser point cloud data;

the safety protection device is arranged on the body of the vehicle and used for popping out of the vehicle under the control of the controller;

the controller comprises a memory and a processor, wherein the memory stores a computer program which, when executed by the processor, implements the method of any one of claims 1-6.

9. The vehicle of claim 8, characterized in that the safety shield comprises a plurality of discrete sub-safety shields; the plurality of sub-safety protection devices are respectively arranged around the vehicle body.

10. The vehicle of claim 8, characterized in that the number of lidar is at least two; at least one laser radar is arranged on the vehicle head; at least one laser radar is arranged at the tail of the vehicle.

Technical Field

The embodiment of the invention relates to the technical field of vehicle safety, in particular to a method and a device for buffering vehicle collision and a vehicle.

Background

Currently, to ensure the personal safety of the driver and passengers, vehicles are usually provided with anti-collision systems based on laser radar. The anti-collision system can provide timely sound and visual alarm for the driver before danger occurs, and prompt the driver to take measures in time to avoid road traffic accidents.

However, most of the current anti-collision systems on the market are in the trajectory planning stage, so as to avoid collision between vehicles. Then, when the vehicle starts the maximum braking force, the collision has become inevitable due to the inertia of the vehicle speed, and how to reduce the collision damage has become the most urgent matter of the working condition at that time.

Disclosure of Invention

The invention provides a method and a device for buffering vehicle collision and a vehicle, and aims to reduce collision injury by generating a buffering effect between the vehicle and an obstacle through a popup safety protection device when the vehicle collides with the obstacle.

In a first aspect, an embodiment of the present invention provides a method for buffering a vehicle collision, where a body of the vehicle is provided with a safety protection device, and the method includes:

judging whether a collision barrier exists in the current driving direction of the vehicle;

if so, determining collision time according to the current distance between the vehicle and the collision obstacle, the motion information of the collision obstacle and the driving information of the vehicle;

and if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle.

Optionally, the determining whether there is a collision obstacle in the current driving direction of the vehicle includes:

acquiring current attitude information of the vehicle;

acquiring laser point cloud data of obstacles in front of and behind the vehicle;

and judging whether collision obstacles exist in the current driving direction of the vehicle or not according to the current attitude information and the laser point cloud data of the obstacles.

Optionally, the safety protection device includes a plurality of discrete sub-safety protection devices, and the plurality of sub-safety protection devices are respectively disposed around the vehicle body; the method further comprises the following steps:

determining a part, closest to the collision obstacle, in the vehicle body as collision occurrence prediction position according to the current attitude information and the laser point cloud data of the collision obstacle;

if the collision time is less than a first time threshold value, controlling the safety protection device to pop out of the vehicle comprises:

and if the collision time is less than a first time threshold value, controlling the sub-safety protection device corresponding to the collision occurrence prediction position to pop out of the vehicle.

Optionally, the determining the collision time according to the current distance between the vehicle and the collision obstacle, the movement information of the collision obstacle, and the driving information of the vehicle includes:

judging whether the collision barrier is in a static state or not according to the motion information of the barrier;

and if so, determining the collision time according to the current distance between the vehicle and the collision obstacle and the driving information of the vehicle.

Optionally, the method further includes: and if the collision time is less than a first time threshold value and the collision obstacle is positioned in front of the vehicle, controlling the opening degree of a brake pedal to reach 100%.

Optionally, the method further includes: and if the collision time is greater than the first time threshold and less than a second time threshold, controlling an alarm to give an alarm.

In a second aspect, an embodiment of the present invention further provides an apparatus for buffering a vehicle collision, including:

the collision obstacle existence judging module, the collision time determining module and the safety protection device ejecting module are arranged on the vehicle body;

the collision obstacle existence judging module is used for judging whether a collision obstacle exists in the current driving direction of the vehicle;

the collision time determination module is used for determining collision time according to the current distance between the vehicle and a collision obstacle, the motion information of the collision obstacle and the running information of the vehicle when the collision obstacle exists in the current running direction of the vehicle;

and the safety protection device ejecting module is used for controlling the safety protection device to eject out of the vehicle when the collision time is less than a first time threshold value.

In a third aspect, an embodiment of the present invention further provides a vehicle, including: the system comprises an attitude information sensor, a driving information sensor, a laser radar, a safety protection device and a controller; the attitude information sensor, the driving information sensor, the laser radar and the safety protection device are all connected with the controller;

the attitude information sensor is used for acquiring attitude information of the vehicle;

the driving information sensor is used for acquiring driving information of the vehicle;

the laser radar is used for detecting obstacles around the vehicle and generating laser point cloud data;

the safety protection device is arranged on the body of the vehicle and used for popping out of the vehicle under the control of the controller;

the controller comprises a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, implements any of the methods of buffering a vehicle collision as set forth in the first aspect.

Optionally, the safety shield apparatus comprises a plurality of discrete sub-safety shield apparatuses; the plurality of sub-safety protection devices are respectively arranged around the vehicle body.

Optionally, the number of the laser radars is at least two; at least one laser radar is arranged on the vehicle head; at least one laser radar is arranged at the tail of the vehicle.

According to the method for buffering the vehicle collision provided by the embodiment of the invention, when the collision obstacle exists in the current driving direction of the vehicle, the collision time of the vehicle and the collision obstacle is predicted, and the safety protection device is controlled to pop out of the vehicle when the collision time is smaller than the first time threshold value, so that when the vehicle collides with the obstacle, the safety protection device positioned between the vehicle and the obstacle can buffer the collision between the vehicle and the obstacle, the collision energy received by the vehicle body is reduced, the problem that an anti-collision system in the prior art cannot generate protection during collision is solved, and the effect of reducing collision injury is realized.

Drawings

FIG. 1 is a schematic flow chart illustrating a method for buffering a vehicle collision according to an embodiment of the present invention;

FIG. 2 is a schematic view of an impact barrier and a non-impact barrier according to an embodiment of the present invention;

FIG. 3 is a schematic view of a safety shield apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic flow chart illustrating a method for buffering a vehicle collision according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a device for buffering a vehicle collision according to a third embodiment of the present invention;

fig. 6 is a schematic structural diagram of a vehicle according to a fourth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.