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CN-122009160-A - Method for controlling a vehicle in a side collision scenario and driver assistance system

CN122009160ACN 122009160 ACN122009160 ACN 122009160ACN-122009160-A

Abstract

The application relates to a method for controlling a vehicle in a side collision scenario, comprising evaluating the side collision risk of two side bodies of the vehicle (1) with an object in the driving environment based on driving environment information detected by the vehicle (1), and in the event that the side collision risk of a first side body of the vehicle (1) is greater than or equal to a first predetermined risk threshold and the side collision risk of a second side body of the vehicle (1) is less than or equal to a second predetermined risk threshold, calculating the collision parameters of the vehicle (1) with the object based on the driving state information of the object and the driving state information of the vehicle (1) and determining a lateral movement distance of the vehicle (1) for optimizing the collision parameters, and controlling at least the front wheel steering angle and the rear wheel steering angle of the vehicle (1) based on the determined lateral movement distance, such that the first side body of the vehicle (1) collides with the object with the optimized collision parameters.

Inventors

  • WOLTERMANN BERND

Assignees

  • 梅赛德斯-奔驰集团股份公司

Dates

Publication Date
20260512
Application Date
20260408

Claims (10)

  1. 1. A method for controlling a vehicle in a side impact scenario, the method comprising: Evaluating side collision risks of two side bodies of the vehicle (1) and objects in the driving environment based on driving environment information detected by the vehicle (1); Calculating an impact parameter of the vehicle (1) with the object based on the driving state information of the object and the driving state information of the vehicle (1) and determining a lateral movement distance of the vehicle (1) for optimizing the impact parameter, in case a side collision risk of a first side body of the vehicle (1) is greater than or equal to a predetermined first risk threshold and a side collision risk of a second side body of the vehicle (1) is less than or equal to a predetermined second risk threshold; At least the front wheel steering angle and the rear wheel steering angle of the vehicle (1) are controlled on the basis of the determined lateral movement distance such that a first lateral body of the vehicle (1) collides with the object at an optimized collision parameter.
  2. 2. The method according to claim 1, wherein the impact parameters comprise one or more of an impact point position and an impact area of the first lateral body of the vehicle (1) with the object, an impact speed and an impact angle between the vehicle (1) and the object.
  3. 3. Method according to any of the preceding claims, wherein at least the front wheel steering angle and the rear wheel steering angle of the vehicle (1) are controlled based on the determined lateral movement distance such that a first lateral body of the vehicle (1) collides with the object at an optimized point of impact position, in particular at an optimized angle of impact and/or a reduced speed of impact.
  4. 4. Method according to any of the preceding claims, wherein the front and rear steering angles of the vehicle (1) and the acceleration/deceleration of the vehicle (1) are controlled based on the determined lateral movement distance such that a first lateral body of the vehicle (1) collides laterally with the object at an optimized point of impact position.
  5. 5. The method according to any of the preceding claims, wherein the optimized impact point locations comprise one or more of a-pillar, B-pillar and C-pillar of the first side body of the vehicle (1).
  6. 6. Method according to any one of the preceding claims, wherein the predetermined second risk threshold is smaller than or equal to the predetermined first risk threshold, wherein the predetermined second risk threshold is in particular equal to zero.
  7. 7. A driving assistance system (10), the driving assistance system (10) comprising: an environment sensing unit (11) configured to detect driving environment information of the vehicle (1); Control unit (12) for performing the method according to any one of claims 1 to 6.
  8. 8. The driving assistance system (10) according to claim 7, wherein the control unit (12) is integrated in the environment-aware unit (11), and an end-to-end model is deployed in the control unit (12), by means of which at least the method according to any one of claims 1 to 6 is performed assisted, wherein the end-to-end model comprises, for example, a vision-language-action model, wherein the environment-aware unit (11) comprises, for example, one or more of an onboard camera, millimeter wave radar, lidar and ultrasound radar.
  9. 9. A vehicle (1), the vehicle (1) comprising a driving assistance system (10) according to claim 7 or 8.
  10. 10. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions which, when executed by a processor, at least assist in carrying out the steps of the method according to any one of claims 1 to 6.

Description

Method for controlling a vehicle in a side collision scenario and driver assistance system Technical Field The present application relates to the field of assisted driving, in particular to a method for controlling a vehicle in a side collision scenario, an assisted driving system, a vehicle comprising an assisted driving system according to the present application, and a computer program product. Background Side collision accidents, such as unavoidable collisions of the sides of the vehicle with other vehicles in the lateral lanes, motorcycles, electric vehicles, etc., may occur when the vehicle is traveling through an intersection. In particular, when the object collides with the door of the vehicle, a serious accident is often caused because the door structure cannot withstand a large collision force, resulting in serious deformation of the door and serious injury to occupants in the vehicle. Therefore, how to reduce damage to a vehicle and occupants in the vehicle when a side collision accident occurs becomes a technical problem that needs to be solved at present. Disclosure of Invention It is an object of the present application to provide a method for controlling a vehicle in a side collision scenario, a driving assistance system, a vehicle comprising a driving assistance system according to the present application, and a computer program product to at least partly solve the problems of the prior art. According to a first aspect of the present application, there is provided a method for controlling a vehicle in a side collision scenario, the method may comprise: -the risk of a side collision of the two side bodies of the vehicle with an object in the driving environment can be estimated based on the driving environment information detected by the vehicle; -in case the risk of a side collision of a first side body of the vehicle is greater than or equal to a pre-given first risk threshold and the risk of a side collision of a second side body of the vehicle is less than or equal to a pre-given second risk threshold, calculating a collision parameter of the vehicle with the object based on the driving state information of the object and the driving state information of the vehicle and determining a lateral movement distance of the vehicle for optimizing the collision parameter; At least the front wheel steering angle and the rear wheel steering angle of the vehicle can be controlled on the basis of the determined lateral movement distance such that the first lateral body of the vehicle collides with the object in a lateral collision with optimized collision parameters. The application has the core concept that under the condition that the side collision risk of the first side vehicle body of the vehicle is higher and the side collision risk of the second side vehicle body of the vehicle is lower, the front wheel steering angle and the rear wheel steering angle of the vehicle are controlled to enable the vehicle to transversely move towards one side of the second side vehicle body, so that the first side vehicle body of the vehicle collides with the side with optimized collision parameters, the damage of the side collision accident to the vehicle and passengers in the vehicle is reduced as much as possible, and the running safety of the vehicle is effectively improved. According to one embodiment of the application, the impact parameters may include one or more of an impact point position and an impact area of the first side body of the vehicle with the object, an impact speed and an impact angle between the vehicle and the object, and the like. According to a further embodiment of the application, at least the front wheel steering angle and the rear wheel steering angle of the vehicle may be controlled on the basis of the determined lateral movement distance such that the first lateral body of the vehicle collides with the object at the optimized point of impact position, in particular at the optimized angle of impact and/or the reduced speed of impact. According to another embodiment of the application, the front and rear wheel steering angles of the vehicle and the acceleration/deceleration of the vehicle may be controlled based on the determined lateral movement distance such that the first lateral body of the vehicle collides with the object at the optimized point of impact position. According to another embodiment of the application, the optimized impact point locations may include one or more of the following locations a-pillar, B-pillar, C-pillar, etc. of the first side body of the vehicle. According to a further embodiment of the application, the predefined second risk threshold is smaller than or equal to the predefined first risk threshold, wherein the predefined second risk threshold is in particular equal to zero. According to a second aspect of the present application, there is provided a driving assistance system that may include: -an environment sensing unit configured for detecting drivi