CN-121989972-A - Method and system for vehicle rollover identification and safety control and vehicle

CN121989972ACN 121989972 ACN121989972 ACN 121989972ACN-121989972-A

Abstract

The invention belongs to the technical field of intelligent automobiles, and particularly relates to a method and a system for identifying and safely controlling vehicle rollover and a vehicle. The method aims to solve the problems of high false alarm rate and false alarm rate caused by dependence on a single sensor, an instantaneous threshold value or single judgment logic in the traditional rollover detection. The method comprises the steps of collecting motion signals such as triaxial acceleration, triaxial angular velocity, vehicle speed and wheel speed of a vehicle in real time, and continuously confirming abnormal states of the acceleration signals to generate a reliable continuous confirmation mark; the parallel multi-mode judging framework ensures that the system can cover the whole area and rapidly distinguish different types of rollover conditions, thereby triggering safety protection measures in time after accurately identifying dangers and reducing false alarms and guaranteeing the safety of passengers.

Inventors

HOU CONGWEN
CHEN JINSHAN
XU KAIXUAN
TIAN YONGJIA
Mao Hongcong
LIU HANG

Assignees

清智汽车科技(苏州)有限公司

Dates

Publication Date: 20260508
Application Date: 20260209

Claims (10)

1. A method for vehicle rollover identification and safety control, comprising: the method comprises the steps of collecting dynamic motion signals of a vehicle in real time, wherein the dynamic motion signals comprise a triaxial acceleration signal, a triaxial yaw rate signal, a vehicle speed signal and a wheel speed signal; continuously confirming the abnormal state of the triaxial acceleration signals to generate corresponding continuous confirmation marks; based on the dynamic motion signals and the continuous confirmation marks of all axial directions, judging whether the vehicle simultaneously meets the preset multiple rollover mode conditions in parallel; When any rollover mode condition is judged to be met, a control instruction is generated to trigger the safety protection of the vehicle.
2. The method according to claim 1, wherein the abnormal state persistence confirmation step includes: Acquiring the absolute value of a current sampling value of the triaxial acceleration signal in each fixed sampling period, and judging whether the absolute value of the current sampling value is larger than a corresponding axial judgment threshold value or not, wherein the axial judgment threshold value is set according to critical acceleration required by the vehicle to roll over in the axial direction of a target; If yes, judging whether the absolute values of all the current sampling values are larger than the corresponding axial judgment threshold values in the continuous K sampling periods, if yes, marking the absolute values as target axial signals, and judging that the abnormal state of the acceleration signals of the target axial signals meets the persistence condition, wherein K is a positive integer larger than 1, and the product of K and the duration of each sampling period is larger than the duration of the acceleration abnormal signals which can be generated by the non-accident dynamic disturbance of the vehicle; When the corresponding acceleration signal is judged to satisfy the persistence condition, the persistence confirmation flag corresponding thereto is set to an active state, and the active state is maintained for the current execution period of the persistence confirmation step.
3. The method of claim 2, wherein the abnormal state persistence confirming step further comprises: If the absolute value of any current sampling value in the absolute values of all current sampling values is smaller than or equal to the corresponding axial judgment threshold value in the continuous K sampling periods, judging that the abnormal state of the acceleration signal does not meet the persistence condition; When the corresponding acceleration signal is determined not to satisfy the persistence condition, the persistence check flag corresponding thereto is set to an invalid state, and the invalid state is maintained for the current execution period of the persistence check step.
4. The method of claim 2, wherein the three-axis yaw-rate signal comprises a longitudinal yaw-rate, a lateral yaw-rate, and a gravitational yaw-rate; the preset car dumper mode at least comprises a longitudinal car dumper mode, a lateral car dumper mode and a gravity direction car dumper mode; In the step of judging whether the vehicle simultaneously meets the preset multiple rollover mode conditions in parallel, the judging logic of any rollover mode condition is required to be simultaneously coupled with the corresponding dynamic motion signal and the effective state of the continuous confirmation mark corresponding to the axial direction.
5. The method of claim 4, wherein the determination condition of the longitudinal rollover mode is satisfied simultaneously: the current vehicle speed is less than a first vehicle speed threshold; the absolute value of the longitudinal acceleration of the vehicle is greater than the longitudinal acceleration threshold; A continuous confirmation flag corresponding to the longitudinal acceleration is in an active state; the lateral yaw rate of the vehicle is greater than the lateral yaw rate threshold; the wheel speed of the at least one non-driven wheel is less than a wheel speed threshold; Wherein the first wheel speed threshold is set to 18 to 22km/h, the longitudinal acceleration threshold is set to 9 to 9.4 m/s2, the lateral yaw rate threshold is set to 48 to 52 °/s, and the wheel speed threshold is set to 1.8 to 2.2km/h.
6. The method of claim 4, wherein the determination condition of the side-tipping mode is satisfied simultaneously: the current vehicle speed is less than a first vehicle speed threshold; the lateral acceleration of the vehicle is greater than the lateral acceleration threshold; a continuous confirmation flag corresponding to the lateral acceleration is in an active state; the gravity direction yaw rate of the vehicle is greater than the gravity direction yaw rate threshold; the wheel speed of the at least one non-driven wheel is less than a wheel speed threshold; wherein the lateral acceleration threshold is determined based on the ratio of the height of the center of mass of the vehicle to the track and the product of the lateral acceleration and the gravitational acceleration, and the gravitational yaw rate threshold is set to 48-52 DEG/s.
7. The method of claim 4, wherein the determination condition of the gravity direction rollover mode is satisfied simultaneously: the current vehicle speed is less than a second vehicle speed threshold; the gravitational acceleration of the vehicle is less than a gravitational acceleration threshold; the continuous confirmation mark corresponding to the acceleration in the gravity direction is in an effective state; the longitudinal yaw rate of the vehicle is greater than the longitudinal yaw rate threshold; Wherein the second vehicle speed threshold is set to 28 to 32km/h, the gravitational acceleration threshold is set to 4.3 to 4.7m/s2, and the longitudinal yaw rate threshold is set to 58 to 62 °/s.
8. The method of claim 5, wherein the step of determining the position of the probe is performed, The step of triggering the safety protection of the vehicle comprises actively controlling one or more safety actuators of the vehicle to enter a preset passive safety protection state, and/or The step of triggering the safety protection of the vehicle further comprises the step of sending alarm information containing the position and the accident state of the vehicle to an external rescue system or a cloud service platform through a vehicle-mounted communication module; The safety executing mechanism comprises a power system controller, the step of entering the passive safety protection state comprises the steps of sending an instruction to the power system controller to cut off ignition and oil injection of an engine or cut off a power supply of a high-voltage system, and/or the safety executing mechanism further comprises a vehicle body control module, and the step of entering the passive safety protection state further comprises the step of sending an instruction to the vehicle body control module to release all or part of door lock states of vehicle doors and/or activate emergency hazard warning lamps and/or activate emergency lighting in the vehicle.
9. A system for vehicle rollover identification and safety control, characterized in that it is capable of performing the method for vehicle rollover identification and safety control according to any one of claims 1 to 8, said system comprising: the signal acquisition module is used for acquiring dynamic motion signals of the vehicle; the control module is connected with the signal acquisition module, and the control module comprises: The acceleration abnormity continuous confirmation unit is used for continuously confirming abnormal states of the triaxial acceleration signals and generating corresponding continuous confirmation marks; The vehicle-turning mode judging unit is used for judging whether the vehicle simultaneously meets the preset multiple vehicle-turning mode conditions or not based on the dynamic motion signals and the continuous confirmation marks of all axial directions; And the safety protection unit is used for generating a control instruction to trigger the safety protection of the vehicle when any rollover mode condition is judged to be met.
10. A vehicle comprising the system for vehicle rollover identification and safety control of claim 9.

Description

Method and system for vehicle rollover identification and safety control and vehicle Technical Field The invention belongs to the technical field of intelligent automobiles, and particularly relates to a method and a system for identifying and safely controlling vehicle rollover and a vehicle. Background With the continuous development of the technology of the automobile industry and the improvement of the safety consciousness of consumers, an automobile electronic safety system has become a core configuration of modern vehicles. Active safety devices such as electronic stability systems (ESPs) and Antilock Brake Systems (ABS) play an important role in preventing runaway of vehicles. However, when extreme accidents such as rollover and rolling of the vehicle occur, secondary damage cannot be effectively avoided only by the conventional braking and stabilizing control system. After the vehicle turns over, if the engine runs continuously and the fuel system is not cut off in time, the fuel leakage is easily caused, the engine sucks foreign matters to cause serious mechanical damage, and even fire disaster is caused by short circuit or high temperature of the exhaust pipe, so that the safety of drivers and passengers is seriously threatened. Therefore, when a vehicle is in a rollover accident, how to quickly and accurately identify a dangerous state and automatically trigger passive safety measures such as power cut-off, fuel oil isolation and the like becomes a key problem for improving the safety of the vehicle after the accident. At present, a part of high-end vehicle types are equipped with simple rollover detection functions, but the prior art has the defects that firstly, the detection means is single, a simple inclination sensor or a low-precision accelerometer is relied on, the vehicle is easy to interfere with working conditions such as normal jolt and violent driving, the false alarm rate is high, secondly, the vehicle is lack of a continuous confirmation mechanism and sensitive to instantaneous impact signals, the vehicle is possibly mistakenly triggered when passing through a deceleration strip or encountering road impact, driving safety and experience are affected, thirdly, the system response is incomplete, and most schemes only carry out alarm prompt and do not carry out deep integration with a vehicle power system, a fuel system and a vehicle body control system, and a complete set of passive safety protection actions such as automatic flameout, fuel cutting, unlocking a vehicle door, emergency call starting and the like cannot be executed. In view of this, the present invention has been made. Disclosure of Invention The invention aims to solve the problems of high false alarm rate and false alarm rate caused by dependence on a single sensor, an instantaneous threshold value or single judgment logic in the traditional rollover detection. To achieve the above object, the present invention provides a method for vehicle rollover identification and safety control, comprising: the method comprises the steps of collecting dynamic motion signals of a vehicle in real time, wherein the dynamic motion signals comprise a triaxial acceleration signal, a triaxial yaw rate signal, a vehicle speed signal and a wheel speed signal; continuously confirming the abnormal state of the triaxial acceleration signals to generate corresponding continuous confirmation marks; based on the dynamic motion signals and the continuous confirmation marks of all axial directions, judging whether the vehicle simultaneously meets the preset multiple rollover mode conditions in parallel; When any rollover mode condition is judged to be met, a control instruction is generated to trigger the safety protection of the vehicle. The abnormal state persistence confirming step comprises the steps of obtaining the absolute value of a current sampling value of the triaxial acceleration signal in each fixed sampling period, judging whether the absolute value of the current sampling value is larger than a corresponding axial judging threshold value or not, setting the axial judging threshold value according to critical acceleration required by the vehicle to roll over in the target axial direction, judging whether the absolute value of all the current sampling values is larger than the corresponding axial judging threshold value in the continuous K sampling periods or not, if so, marking the absolute value as a target axial signal, judging that the abnormal state of the acceleration signal of the target axial signal meets the persistence condition, wherein K is a positive integer larger than 1, the product of K and the duration of the acceleration signal of each sampling period is larger than the duration of the acceleration abnormal signal which can be generated by the vehicle non-accident dynamic disturbance, setting a persistence confirming mark corresponding to the corresponding acceleration signal to be in an effective state when the cor