CN104228754A - Control method and control system of engine cover of vehicle - Google Patents
Control method and control system of engine cover of vehicle Download PDFInfo
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- CN104228754A CN104228754A CN201410448351.9A CN201410448351A CN104228754A CN 104228754 A CN104228754 A CN 104228754A CN 201410448351 A CN201410448351 A CN 201410448351A CN 104228754 A CN104228754 A CN 104228754A
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Abstract
The invention provides a control method and a control system of an engine cover of a vehicle. The control method of the engine cover of the vehicle comprises the following steps of detecting a target object in front of the vehicle; confirming whether the target object is a pedestrian or not when the condition that target object exists in front of the vehicle is detected; confirming whether the vehicle can collide the pedestrian or not when the target object is confirmed to be the pedestrian; lifting an rear end of the engine cover of the vehicle before collision under the condition that the vehicle can collide the pedestrian. The control method and the control system of the engine cover of the vehicle effectively solve the problem that in the prior art, after the vehicle collides the pedestrian, the cost required for the technology of lifting the engine cover is high.
Description
Technical field
The present invention relates to technical field of vehicle control, particularly relate to control method and the control system of the car bonnet of vehicle.
Background technology
In prior art; when car bonnet and machinery space internal rigid structure interval no enough row people design protection require; for protecting pedestrian head in an impact; general employing upspring type car bonnet technology; when a vehicle is in a collision; judge to be hit target type by the sensor being arranged on vehicle front bumper; when judged result is pedestrian; carry out car bonnet rear end and lift action; increase car bonnet and machinery space internal rigid structure interval; absorb certain collision impact energy, reduce pedestrian head injury.But, this technology just can only can carry out the firing action judging calculating and jacking device after collision occurs, reserved computing time and opening time very short, require high to actuating unit responsiveness, and need multiple different sensors to carry out detecting collision information, in addition, the requirement of car bonnet is lifted for meeting very short time, prior art can only adopt the ignition type flip flop equipment similar with air bag as jacking device, and this jacking device can not repeated usage, and maintenance cost is high.
Summary of the invention
An object of the present invention is control method and the control system of the car bonnet that a kind of vehicle will be provided, after collision occurs, lift the problem that the cost of the technology needs of car bonnet is high to solve vehicle in prior art.
According to an aspect of the present invention, the invention provides a kind of control method of car bonnet of vehicle, comprise the following steps: the object in detection vehicle front; When the front detecting described vehicle exists object, determine whether described object is pedestrian; When described object is pedestrian, determine described vehicle whether can with described pedestrian collision; When described vehicle can with described pedestrian collision, before the moment that collides, lift the rear end of the described car bonnet of described vehicle.
Further, when described vehicle can with described pedestrian collision, calculate the collision moment of described vehicle and described pedestrian collision; Further, the predetermined instant before described collision moment, lifts the rear end of described car bonnet.
Further, described predetermined instant is selected from the moment in the described collision moment scope of first 1 second to 3 seconds.
Further, described predetermined instant be described collision moment before moment of 3 seconds.
Further, also comprise: after the rear end of lifting described car bonnet, determine whether described vehicle and described pedestrian actual collision accident occurs; And when actual collision accident does not occur for described vehicle and described pedestrian, described car bonnet is resetted.
Further, also comprise: when described vehicle can with described pedestrian collision, emergency braking is carried out to described vehicle.
According to another aspect of the present invention, provide a kind of control system of car bonnet of vehicle, comprising: environmental sensor, for the environmental information in detection vehicle front; Computing controller, be configured to according to described environmental information determine described vehicle whether can with the pedestrian collision in front, and executive signal can be sent with when described pedestrian collision before the moment that collides at described vehicle; Actuating unit, for responding described executive signal lifting the rear end of the described car bonnet of described vehicle.
Further, described computing controller is also configured to the collision moment calculating described vehicle and described pedestrian, and the predetermined instant before described collision moment, send described executive signal.
Further, described predetermined instant is selected from the moment in the described collision moment scope of first 1 second to 3 seconds.
Further, described predetermined instant be described collision moment before moment of 3 seconds.
Further, described computing controller comprises: object detecting unit, for detecting the object of described vehicle front according to described environmental information; Pedestrian determination unit, for judging whether described object is pedestrian; Collision judgment unit, for judge when described object is pedestrian described vehicle whether can with described pedestrian collision; Collision moment calculating unit, for when described vehicle can with calculate the collision moment that described collision occurs when described pedestrian collision; Signal transmitting unit, sends described executive signal for the described predetermined instant before described collision moment.
Further, described actuating unit is non-ignition formula jacking device.
Further, described actuating unit comprises fluid pressure type, vapour-pressure type, spring loaded or driven type jacking device.
Further, described computing controller is also configured to send reset signal; And described actuating unit responds described reset signal to be resetted the described car bonnet of described vehicle.
When ensureing to lift car bonnet before pedestrian head contacts with car bonnet, can in conjunction with the method step in pedestrian's automatic emergency brake technology, judge in advance to be hit targets of type and collision moment, before collision occurs, lift car bonnet rear end on one's own initiative.Therefore, do not need extra increase standpipe sensor or acceleration pick-up as prior art, do not need to judge the rigidity of knocked object and quality yet, need not consider whether erroneous judgement problem to occur, the test of a large amount of system calibrating need not be performed set, so effectively reduce time cost and hardware cost; And, the action of lifting car bonnet is carried out before collision occurs, sufficient car bonnet is had to lift the action executing time, requirement opening time of actuating unit can be reduced, not high to time requirement jacking device can be selected so, and do not adopt ignition type flip flop equipment, reduce execution architecture cost, can also reuse, reduce maintenance cost.
According to hereafter by reference to the accompanying drawings to the detailed description of the specific embodiment of the invention, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present invention more.
Accompanying drawing explanation
Hereinafter describe specific embodiments more of the present invention with reference to the accompanying drawings by way of example, and not by way of limitation in detail.Reference numeral identical in accompanying drawing denotes same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not be drawn in proportion.In accompanying drawing:
Fig. 1 is the schematic diagram of the control method of the car bonnet of vehicle according to an embodiment of the invention;
Fig. 2 is the schematic diagram of the control method of the car bonnet of vehicle in accordance with another embodiment of the present invention;
Fig. 3 is the schematic diagram of the control system of the car bonnet of vehicle according to an embodiment of the invention.
Detailed description of the invention
The invention provides a kind of embodiment of control method of car bonnet of vehicle, Fig. 1 is the schematic diagram of the control method of the car bonnet of vehicle according to an embodiment of the invention, the present embodiment is used in particular for C-class, concrete, and control method comprises the following steps:
S11: the object in detection vehicle front;
S13: when the front detecting vehicle exists object, determines whether object is pedestrian;
S15: when object is pedestrian, determine vehicle whether can with pedestrian collision;
S17: when vehicle can with pedestrian collision, before the moment that collides, lift the rear end of the car bonnet of vehicle.
Step S11, S13 and S15 are for judging whether vehicle exists the risk with pedestrian collision.Technology existing similar in prior art, such as pedestrian's emergency braking technology.Therefore, these steps can adopt and the same or analogous detection of these technology and determining step.Such as, in step s 11, can by being arranged on the environmental sensor (as camera, radar sensor and infradred sensor etc.) at vehicle place, the object in detection vehicle front, as various obstacle.In step s 13, whether the information recorded by environmental sensor is pedestrian by computing resolution target thing, and such calculation processes can adopt the existing knowledge of prior art, repeats no more herein.Need to determine in step S15 vehicle whether can with pedestrian collision, and need to determine the collision moment in the situation of colliding in step S17.This such as can calculate according to the distance of the moving velocity of vehicle, pedestrian and vehicle and out of Memory, obtain the collision probability of vehicle and pedestrian, if calculate the probability threshold value preset more than in collision probability, then judge vehicle will with pedestrian collision.When judge vehicle can with pedestrian collision, can also calculate according to aforesaid speed and range information the collision moment collided.The concrete computation process of this collision probability and collision moment is also that those skilled in the art can be known according to prior art, no longer specifically describes herein.
The method of the present embodiment is when ensureing to lift car bonnet before pedestrian head contacts with car bonnet, can in conjunction with the method step in pedestrian's automatic emergency brake technology, judge in advance to be hit targets of type and collision moment, before collision occurs, lift car bonnet rear end on one's own initiative.Therefore, after method by use the present embodiment, then do not need extra increase standpipe sensor or acceleration pick-up as prior art, do not need to judge the rigidity of knocked object and quality yet, need not consider whether erroneous judgement problem to occur, the test of a large amount of system calibrating need not be performed set, so effectively reduce time cost and hardware cost; And, the action of lifting car bonnet is carried out before collision occurs, sufficient car bonnet is had to lift the action executing time, requirement opening time of actuating unit can be reduced, not high to time requirement jacking device can be selected so, and do not adopt ignition type flip flop equipment, reduce execution architecture cost, can also reuse, reduce maintenance cost.
Present invention also offers a kind of embodiment of control method of car bonnet of vehicle, see Fig. 2, the method for the present embodiment comprises the following steps:
S21: whether detection vehicle front exists object, as various obstacle.If detect object, then enter step S23, if do not detect object to continue detection at repetition step S21.
S23: determine whether detected object is pedestrian.If this object is pedestrian, then enter step S25, otherwise return step S21 continuation detection.
S25: determine vehicle whether can with pedestrian collision.If can collide, then can enter step S271, otherwise return step S21 continuation detection.
S271: the collision moment calculating vehicle and pedestrian collision; Further, the predetermined instant before collision moment, lifts the rear end of car bonnet.
S29: after the rear end of lifting car bonnet, can determine whether vehicle and pedestrian actual collision accident occurs; If crashed, then send accident rescue signal.When actual collision accident does not occur for vehicle and pedestrian, car bonnet can be made to reset with closed, and return step S21 continuation detection.
Before step S21, after chaufeur starts automobile, the System self-test of automobile self is opened, if find the system failure, gives the alarm to chaufeur.If self-inspection does not have fault, automotive system then enters readiness for action.Meanwhile, the closure state of Real-Time Monitoring car bonnet.If it is not closed to monitor out car bonnet, then system gives the alarm to chaufeur, and prompting chaufeur kills engine cover.In S29 step, the sensor that can arrange according to vehicle head judges whether to there occurs collision, if do not collided, and can by controlling hood loop to its initial condition closure state in other words by jacking device, to make car bonnet reset, ensure that car bonnet does not affect pilot's line of vision.Certainly, also can be judged whether actual collision occurs by chaufeur oneself, and special reset key and reset attachment are set, manually carry out controlling whether car bonnet to be resetted.In some cases, when actual collision does not occur, also manpower can be adopted to be resetted by car bonnet by chaufeur.
As previously mentioned, according to the present invention, be start the action of carrying out lifting car bonnet before collision occurs, what this made car bonnet lifts the work-hours of actuating unit by abundance to lift car bonnet, thus can reduce requirement opening time of actuating unit.Therefore, some can be selected in the present invention to execution time less demanding jacking device, as fluid pressure type, vapour-pressure type, spring loaded or driven type jacking device.Consider that above-mentioned several jacking devices have certain preloading procedure, generally, need certain execution time, in order to ensure that above-mentioned jacking device has the sufficient execution time to carry out lifting hood, so the predetermined instant in the method for the present embodiment is selected from the moment in the collision moment scope of first 1 second to 3 seconds.Effectively can reduce requirement opening time to jacking device like this, thus can alternative costs low and the jacking device of actual requirement can be met.In some embodiments preferably, predetermined instant be collision moment before moment of 3 seconds.And the ignition type flip flop equipment similar with air bag adopted in prior art comprises disposable chemical reactant usually, after once performing, this chemical reactant is exhausted substantially, and makes jacking device can not repeated usage at short notice.Jacking device in the present invention then can not select such ignition type flip flop equipment, and can adopt aforesaid reusable fluid pressure type, vapour-pressure type, spring loaded or driven type jacking device.
Infringement to pedestrian during in order to reduce vehicle and pedestrian impact further, preferably, the present embodiment control method is further comprising the steps of:
S273: when vehicle can with pedestrian collision, emergency braking is carried out to vehicle.
Chaufeur emergency deceleration can be effectively avoided to deal with the situation causing the speed of a motor vehicle to reduce improperly by step S273, the time that vehicle and pedestrian or target collide can be extended, to pedestrian or vehicle driver's more reaction time, and the relative velocity that can effectively reduce when actual collision occurs for vehicle and pedestrian, to reduce the infringement to pedestrian.
In fact, aforesaid step S21, S23, S25 and S273 can form the main execution step of pedestrian's emergency brake system of existing vehicle.It is to be appreciated that when step S271 and S273 performs simultaneously, when calculating collision moment in step S271, need to consider the impact due to the emergency braking of step S273.Obviously, the emergency braking performed in step S273 can delay the collision moment of vehicle and pedestrian collision significantly.
Present invention also offers a kind of embodiment of control system of car bonnet of vehicle, as shown in Figure 3, control system comprises environmental sensor 10, computing controller 20 and actuating unit 30.Environmental sensor 10 is for the environmental information in detection vehicle front, and can be such as the camera, the radar sensor and infradred sensor etc. that are arranged on vehicle place, this be well-known to those skilled in the art.Computing controller 20 be configured to environmentally information determination vehicle whether can with the pedestrian collision in front, and executive signal can be sent with when pedestrian collision before the moment that collides at vehicle.Actuating unit 30 is for responding executive signal lifting the rear end of the car bonnet of vehicle.Actuating unit 30 in the present embodiment can be non-ignition formula jacking device.
The control system of the present embodiment is when ensureing to lift car bonnet before pedestrian head contacts with car bonnet, environmental sensor 10 and computing controller 20 judge to be hit targets of type and collision moment in advance, before collision occurs, lift car bonnet rear end on one's own initiative by actuating unit 30.Therefore, do not need extra increase standpipe sensor or acceleration pick-up as prior art, do not need to judge the rigidity of knocked object and quality yet, do not worry whether erroneous judgement problem occurring, the test of a large amount of system calibrating need not be performed set, so effectively reduce time cost and hardware cost; And, the action of lifting car bonnet is carried out before collision occurs, sufficient car bonnet is had to lift the action executing time, requirement opening time of actuating unit can be reduced, not high to time requirement jacking device can be selected so, and do not adopt ignition type flip flop equipment, reduce execution architecture cost, can also reuse, reduce maintenance cost.
Due to less demanding to the opening time of actuating unit, so above-mentioned actuating unit 30 can select fluid pressure type, vapour-pressure type, spring loaded or driven type jacking device one wherein.Consider that above-mentioned several jacking devices have certain preloading procedure, generally, need certain execution time, in order to ensure that above-mentioned jacking device has the sufficient execution time to carry out lifting hood, computing controller 20 is also configured to the collision moment calculating vehicle and pedestrian, and the predetermined instant before collision moment, send executive signal, this predetermined instant is selected from the moment in the collision moment scope of first 1 second to 3 seconds.In some embodiments preferably, moment of 3 seconds before predetermined instant is set as collision moment.
Further preferably, computing controller 20 can be provided with object detecting unit 21, pedestrian determination unit 22, collision judgment unit 23, collision moment calculating unit 24 and signal transmitting unit 25.Object detecting unit 21 is for the object of environmentally infomation detection vehicle front, pedestrian determination unit 22 is for judging whether object is pedestrian, collision judgment unit 23 for judge when object is pedestrian vehicle whether can with pedestrian collision, collision moment calculating unit 24 for when vehicle can with calculate the collision moment collided when pedestrian collision, signal transmitting unit 25 for before collision moment predetermined instant send executive signal.
The environmental information detected from environmental sensor 10 is carried out process and is calculated by object detecting unit 21, detects the object of vehicle front, and information is sent to pedestrian determination unit 22 to carry out computing.Pedestrian determination unit 22 judges whether this object is pedestrian.If, then collision judgment unit 23 can comprehensive vehicle moving velocity, with the distance of pedestrian and out of Memory, calculate the collision probability of vehicle and pedestrian collision, if calculate the probability threshold value preset more than in collision probability, then judge vehicle will with pedestrian collision.Collision moment calculating unit 24 when vehicle can with calculate the collision moment collided when pedestrian collision.The predetermined instant of signal transmitting unit 25 before collision moment sends executive signal.The rear end of car bonnet, after receiving above-mentioned executive signal, is lifted by actuating unit 30.
Computing controller 20 is also configured to send reset signal, and actuating unit 30 responds reset signal is resetted by the car bonnet of vehicle.Also be provided with sensor at vehicle head, to judge whether vehicle and pedestrian there occurs actual collision.If do not collided, above-mentioned reset signal can be sent to actuating unit 30 (i.e. jacking device) by computing controller 20, control car bonnet by jacking device and reset, ensure that car bonnet does not affect pilot's line of vision.
It will be appreciated that, aforesaid environmental sensor 10, object detecting unit 21, pedestrian determination unit 22 and collision judgment unit 23 are in fact also the component part of pedestrian's emergency brake system of existing vehicle usually, therefore, system of the present invention is easy to combine with this emergency brake system realize, and is realizing the emergency braking implementing vehicle while car bonnet lifts.
So far, those skilled in the art will recognize that, although multiple exemplary embodiment of the present invention is illustrate and described herein detailed, but, without departing from the spirit and scope of the present invention, still can directly determine or derive other modification many or amendment of meeting the principle of the invention according to content disclosed by the invention.Therefore, scope of the present invention should be understood and regard as and cover all these other modification or amendments.
Claims (10)
1. a control method for the car bonnet of vehicle, comprises the following steps:
The object in detection vehicle front;
When the front detecting described vehicle exists object, determine whether described object is pedestrian;
When described object is pedestrian, determine described vehicle whether can with described pedestrian collision;
When described vehicle can with described pedestrian collision, before the moment that collides, lift the rear end of the described car bonnet of described vehicle.
2. control method according to claim 1, is characterized in that,
When described vehicle can with described pedestrian collision, calculate the collision moment of described vehicle and described pedestrian collision; Further, the predetermined instant before described collision moment, lifts the rear end of described car bonnet.
3. control method according to claim 2, is characterized in that, described predetermined instant is selected from the moment in the described collision moment scope of first 1 second to 3 seconds;
Preferably, described predetermined instant be described collision moment before moment of 3 seconds.
4. the control method according to any one of claim 1-3, is characterized in that, also comprises: after the rear end of lifting described car bonnet, determines whether described vehicle and described pedestrian actual collision accident occurs; And
When actual collision accident does not occur for described vehicle and described pedestrian, described car bonnet is resetted.
5. the control method according to any one of claim 1-4, is characterized in that, also comprises:
When described vehicle can with described pedestrian collision, emergency braking is carried out to described vehicle.
6. a control system for the car bonnet of vehicle, is characterized in that, comprising:
Environmental sensor, for the environmental information in detection vehicle front;
Computing controller, be configured to according to described environmental information determine described vehicle whether can with the pedestrian collision in front, and executive signal can be sent with when described pedestrian collision before the moment that collides at described vehicle;
Actuating unit, for responding described executive signal lifting the rear end of the described car bonnet of described vehicle.
7. control system according to claim 6, is characterized in that, described computing controller is also configured to the collision moment calculating described vehicle and described pedestrian, and the predetermined instant before described collision moment, send described executive signal;
Preferably, described predetermined instant is selected from the moment in the described collision moment scope of first 1 second to 3 seconds;
More preferably, described predetermined instant be described collision moment before moment of 3 seconds.
8. control system according to claim 7, is characterized in that, described computing controller comprises:
Object detecting unit, for detecting the object of described vehicle front according to described environmental information;
Pedestrian determination unit, for judging whether described object is pedestrian;
Collision judgment unit, for judge when described object is pedestrian described vehicle whether can with described pedestrian collision;
Collision moment calculating unit, for when described vehicle can with calculate the collision moment that described collision occurs when described pedestrian collision;
Signal transmitting unit, sends described executive signal for the described predetermined instant before described collision moment.
9. the control system according to any one of claim 6-8, is characterized in that, described actuating unit is non-ignition formula jacking device;
Alternatively, described actuating unit comprises fluid pressure type, vapour-pressure type, spring loaded or driven type jacking device.
10. the control system according to any one of claim 6-9, is characterized in that, described computing controller is also configured to send reset signal; And described actuating unit responds described reset signal to be resetted the described car bonnet of described vehicle.
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| CN201410448351.9A CN104228754B (en) | 2014-09-04 | 2014-09-04 | The control method and control system of the hood of vehicle |
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| CN201410448351.9A CN104228754B (en) | 2014-09-04 | 2014-09-04 | The control method and control system of the hood of vehicle |
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| CN104228754A true CN104228754A (en) | 2014-12-24 |
| CN104228754B CN104228754B (en) | 2019-10-29 |
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| CN109760621A (en) * | 2019-03-04 | 2019-05-17 | 长沙理工大学 | A kind of hood and its working method for intelligent automobile protection pedestrian |
| CN110077356A (en) * | 2019-04-30 | 2019-08-02 | 浙江吉利控股集团有限公司 | A kind of method, apparatus that actively protecting pedestrian, system, memory and terminal |
| CN110775011A (en) * | 2019-07-31 | 2020-02-11 | 中国第一汽车股份有限公司 | Control method and system of vehicle engine hood, vehicle and storage medium |
| CN111137235A (en) * | 2018-11-01 | 2020-05-12 | 现代自动车株式会社 | Active hood device capable of acting at any time and connected with ADAS |
| CN111516631A (en) * | 2020-04-24 | 2020-08-11 | 东风汽车集团有限公司 | Passive pedestrian protection and collision buffering protection system based on ADAS sensor |
| CN111572491A (en) * | 2020-05-01 | 2020-08-25 | 东风汽车集团有限公司 | Active hood system based on scene control |
| CN111959429A (en) * | 2020-07-21 | 2020-11-20 | 恒大新能源汽车投资控股集团有限公司 | Front cover control method and system and vehicle |
| CN112277869A (en) * | 2019-07-26 | 2021-01-29 | 浙江吉利汽车研究院有限公司 | Pedestrian protection system and method and vehicle |
| CN112606833A (en) * | 2020-12-21 | 2021-04-06 | 长沙理工大学 | Model prediction control-based intelligent vehicle motion control method for protecting human-ground collision damage |
| CN113479164A (en) * | 2021-08-11 | 2021-10-08 | 安徽江淮汽车集团股份有限公司 | Multidimensional intelligent vehicle driving safety protection method |
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| CN116714544A (en) * | 2023-06-08 | 2023-09-08 | 中国汽车工程研究院股份有限公司 | Pedestrian protection control system, method and storage medium based on prediction model |
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| CN111137235A (en) * | 2018-11-01 | 2020-05-12 | 现代自动车株式会社 | Active hood device capable of acting at any time and connected with ADAS |
| CN109591754A (en) * | 2019-01-07 | 2019-04-09 | 长沙理工大学 | A method of people ground collsion damage in protection vehicle people collision accident |
| CN109760621A (en) * | 2019-03-04 | 2019-05-17 | 长沙理工大学 | A kind of hood and its working method for intelligent automobile protection pedestrian |
| CN109760621B (en) * | 2019-03-04 | 2021-03-19 | 长沙理工大学 | Working method of engine hood for protecting pedestrians of intelligent automobile |
| CN110077356A (en) * | 2019-04-30 | 2019-08-02 | 浙江吉利控股集团有限公司 | A kind of method, apparatus that actively protecting pedestrian, system, memory and terminal |
| CN112277869A (en) * | 2019-07-26 | 2021-01-29 | 浙江吉利汽车研究院有限公司 | Pedestrian protection system and method and vehicle |
| CN110775011A (en) * | 2019-07-31 | 2020-02-11 | 中国第一汽车股份有限公司 | Control method and system of vehicle engine hood, vehicle and storage medium |
| CN111516631A (en) * | 2020-04-24 | 2020-08-11 | 东风汽车集团有限公司 | Passive pedestrian protection and collision buffering protection system based on ADAS sensor |
| CN111572491A (en) * | 2020-05-01 | 2020-08-25 | 东风汽车集团有限公司 | Active hood system based on scene control |
| US11590927B2 (en) * | 2020-05-12 | 2023-02-28 | Hyundai Mobis Co., Ltd. | System and method for protecting pedestrian upon a collision with a vehicle |
| CN111959429A (en) * | 2020-07-21 | 2020-11-20 | 恒大新能源汽车投资控股集团有限公司 | Front cover control method and system and vehicle |
| CN112606833A (en) * | 2020-12-21 | 2021-04-06 | 长沙理工大学 | Model prediction control-based intelligent vehicle motion control method for protecting human-ground collision damage |
| CN113479164A (en) * | 2021-08-11 | 2021-10-08 | 安徽江淮汽车集团股份有限公司 | Multidimensional intelligent vehicle driving safety protection method |
| CN113479164B (en) * | 2021-08-11 | 2022-05-03 | 安徽江淮汽车集团股份有限公司 | Multidimensional intelligent vehicle driving safety protection method |
| CN116714544A (en) * | 2023-06-08 | 2023-09-08 | 中国汽车工程研究院股份有限公司 | Pedestrian protection control system, method and storage medium based on prediction model |
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