CN-121989974-A - Vehicle road collision event identification method and equipment and vehicle

CN121989974ACN 121989974 ACN121989974 ACN 121989974ACN-121989974-A

Abstract

The embodiment of the invention relates to the technical field of road identification, and discloses a method and equipment for identifying a vehicle road collision event and a vehicle, wherein the method comprises the steps of determining whether the vehicle is in a vehicle stressed head-up state according to the compression amount and the pitch angle rate of a suspension; when the vehicle is in a vehicle stressed head-up state, determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated pitch angle rate, and when the vehicle is in the vehicle falling state within the first preset time window, determining that a vehicle road collision event occurs to the vehicle. By applying the technical scheme of the invention, the collision event of the vehicle road can be accurately identified, and the false alarm rate is reduced.

Inventors

CAI HUALIN
LI QI
LV HAIYAN
WANG QI

Assignees

阿维塔科技(重庆)股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260330

Claims (12)

1. A method for identifying a vehicle road collision event, the method comprising: determining whether the vehicle is in a state that the vehicle is stressed and lifted according to the compression amount and the pitch angle rate of the suspension; When the vehicle is in a vehicle stressed head-up state, determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated pitch angle rate; and when the vehicle is in a vehicle falling state within the first preset time window, determining that the vehicle has a vehicle road collision event.
2. The method of claim 1, wherein determining whether the vehicle is in a force-on-head state based on the amount of suspension compression and the pitch rate comprises: Acquiring a suspension compression amount, a pitch angle rate, a rate negative threshold value and a wheel compression amount threshold value; And when the pitch angle rate is smaller than the rate negative threshold, determining whether the vehicle is in a vehicle stressed head-up state according to the suspension compression amount and the wheel compression amount threshold.
3. The method of claim 2, wherein determining whether the vehicle is in a vehicle-stressed head-up condition based on the suspension compression amount and the wheel compression amount threshold when the pitch rate is less than the rate-negative threshold comprises: acquiring a front wheel suspension compression amount and a rear wheel suspension compression amount from the suspension compression amount; Acquiring a front wheel compression amount negative threshold and a rear wheel compression amount positive threshold from the wheel compression amount threshold; Determining whether the front wheel suspension compression amount is smaller than the front wheel compression amount negative threshold value or not and whether the rear wheel suspension compression amount is larger than the rear wheel compression amount positive threshold value or not in a second preset time window, and obtaining a wheel compression amount judgment result; and determining whether the vehicle is in a state that the vehicle is stressed and lifted according to the wheel compression amount judgment result.
4. The method of claim 1, wherein determining whether the vehicle is in a vehicle rollback condition within a first predetermined time window based on the updated amount of suspension compression and the updated pitch rate comprises: Acquiring an updated suspension compression amount, an updated pitch angle rate, a rate forward threshold and an updated wheel compression amount threshold; And when the updated pitch angle rate is greater than the rate forward threshold, determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated wheel compression amount threshold.
5. The method of claim 4, wherein said determining whether the vehicle is in a vehicle rollback condition within a first predetermined time window based on said updated amount of suspension compression and said updated amount of wheel compression threshold when said updated pitch rate is greater than said rate forward threshold comprises: Acquiring an updated front wheel suspension compression amount from the updated suspension compression amount; acquiring a front wheel compression amount forward threshold value from the updated wheel compression amount threshold value; When the updated pitch angle rate is greater than a rate forward threshold, determining whether the updated front wheel suspension compression amount is greater than a front wheel compression amount forward threshold in a third preset time window, and obtaining a front wheel compression amount judgment result; And determining whether the vehicle is in a vehicle falling state within the first preset time window according to the front wheel compression amount judgment result.
6. The method of claim 5, wherein the third predetermined time window is less than the first predetermined time window.
7. The method of claim 1, wherein the determining that the vehicle has a vehicle road bump event after the vehicle is in a vehicle rollback state within the first preset time window further comprises: And determining the collision degree grade of the vehicle road collision event according to the updated suspension compression amount and the updated pitch angle rate.
8. The method of claim 1, wherein determining whether the vehicle is in a vehicle force-up state based on the amount of suspension compression and the pitch rate further comprises: Obtaining the height of the vehicle body and the transmission ratio of the suspension; And determining the suspension compression amount according to the height of the vehicle body and the suspension transmission ratio.
9. The method according to claim 1, wherein the method further comprises: acquiring a vehicle speed, a driving mode and a load; And determining a speed negative threshold value, a speed positive threshold value and a wheel compression threshold value from a multidimensional lookup table according to the vehicle speed, the driving mode and the load.
10. The method of claim 1, wherein the determining that the vehicle has a vehicle road bump event after the vehicle is in a vehicle rollback state within the first preset time window further comprises: Acquiring event record data of preset time lengths before and after the occurrence time of the vehicle road collision event; Uploading the event record data to a cloud end so that the cloud end can construct a road early warning map based on the event record data.
11. A vehicle road collision event recognition apparatus, characterized by comprising: the state identification module is used for determining whether the vehicle is in a vehicle stressed head-up state according to the suspension compression amount and the pitch angle rate; the state identification module is further used for determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated pitch angle rate when the vehicle is in a vehicle stressed head-up state; the event identification module is used for determining that the vehicle generates a vehicle road collision event when the vehicle is in a vehicle falling state within the first preset time window.
12. A vehicle comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus, and wherein the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the battery thermal runaway detection method of any one of claims 1-10.

Description

Vehicle road collision event identification method and equipment and vehicle Technical Field The embodiment of the invention relates to the technical field of road identification, in particular to a vehicle road collision event identification method and device and a vehicle. Background When a vehicle passes through a ramp or collides with a low obstacle, the lower part of the chassis is in collision with the road surface and the convex objects (commonly called as a 'collision chassis'). Such events are light and cause the scratch of chassis components, and heavy and cause the damage of key components, thereby causing safety accidents. The prior art lacks an effective identification method for chassis collision, mainly relies on drivers to judge after the collision sound and the body feeling, cannot obtain system early warning when or before an event occurs, has few schemes based on vertical acceleration of a vehicle body, is easy to be confused with common jolt and other working conditions, and has poor practicability, so that the vehicle road collision event is difficult to accurately identify. Disclosure of Invention In view of the above problems, the embodiments of the present invention provide a method and an apparatus for identifying a vehicle road collision event, and a vehicle, which are used for solving the problem in the prior art that it is difficult to accurately identify a vehicle road collision event. According to an aspect of the embodiment of the invention, there is provided a vehicle road collision event identification method, including: determining whether the vehicle is in a state that the vehicle is stressed and lifted according to the compression amount and the pitch angle rate of the suspension; When the vehicle is in a vehicle stressed head-up state, determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated pitch angle rate; and when the vehicle is in a vehicle falling state within the first preset time window, determining that the vehicle has a vehicle road collision event. According to another aspect of the embodiment of the present invention, there is provided a vehicle road collision event recognition apparatus, including: the state identification module is used for determining whether the vehicle is in a vehicle stressed head-up state according to the suspension compression amount and the pitch angle rate; the state identification module is further used for determining whether the vehicle is in a vehicle falling state within a first preset time window according to the updated suspension compression amount and the updated pitch angle rate when the vehicle is in a vehicle stressed head-up state; the event identification module is used for determining that the vehicle generates a vehicle road collision event when the vehicle is in a vehicle falling state within the first preset time window. According to another aspect of an embodiment of the present invention, there is provided a vehicle including a processor, a memory, a communication interface, and a communication bus through which the processor, the memory, and the communication interface complete communication with each other; the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the vehicle road bump event recognition method as described above. According to yet another aspect of an embodiment of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction for causing a vehicle/apparatus to perform the operations of the vehicle road bump event recognition method described above. According to the embodiment of the invention, the vehicle road collision event is deconstructed into two physical states with time sequence and causality by the collision force head-up and the vehicle fall-back, the state judgment and the event identification are carried out by fusing the dynamic changes of the suspension compression quantity and the pitch angle rate, the unique motion characteristics of the vehicle road collision event can be accurately captured, the interference of the non-collision chassis working conditions such as common jolt and the like can be effectively eliminated, the false identification rate is reduced, and meanwhile, the active and accurate identification of the vehicle road collision event can be realized by controlling the relevance of the two states through a time sequence window. The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding. Draw