CN112977320B - Pedestrian protection method and pedestrian protection system - Google Patents
Pedestrian protection method and pedestrian protection system Download PDFInfo
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- CN112977320B CN112977320B CN202110292452.1A CN202110292452A CN112977320B CN 112977320 B CN112977320 B CN 112977320B CN 202110292452 A CN202110292452 A CN 202110292452A CN 112977320 B CN112977320 B CN 112977320B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
- B60R21/36—Protecting non-occupants of a vehicle, e.g. pedestrians using airbags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
- B60R21/38—Protecting non-occupants of a vehicle, e.g. pedestrians using means for lifting bonnets
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Abstract
The invention discloses a pedestrian protection method and a pedestrian protection system, belonging to the technical field of automobiles, wherein the pedestrian protection method comprises the following steps: s1, determining one of three pre-stored pedestrian perception logics as an executable pedestrian perception logic according to an external change instruction; s2, judging whether a pedestrian exists in front of the vehicle according to the executable pedestrian perception logic; if so, go to step S3; if not, continuously judging whether a pedestrian exists in front of the vehicle at present according to the executable pedestrian perception logic; s3, starting pedestrian protection; s4, judging whether a pedestrian is hit, if so, controlling the cabin cover to bounce or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act. The invention enables the pedestrian protection method to be adjusted according to the vehicle configuration.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a pedestrian protection method and a pedestrian protection system.
Background
Along with the development of society, the quantity of automobile reserves is continuously improved, casualties caused by traffic accidents are continuously increased, the road safety protection is more and more important, and on the basis of protecting passengers in the automobile in the traditional way, the protection of road vulnerable groups is also more and more emphasized by the society.
Pedestrian protection systems in the prior art generally collect pedestrian information in front of a vehicle through a camera and a radar together, and determine whether to send a pedestrian collision signal to a driver according to the pedestrian information.
However, in the prior art, since the pedestrian protection system requires both a camera and a radar. After the performance of a camera or a radar of the vehicle is upgraded, one of the camera and the radar can accurately identify the pedestrian, and the other camera does not need to participate in the identification of the pedestrian. However, at this time, the pedestrian protection method on the vehicle cannot adapt to one component of the camera and the radar to participate in pedestrian recognition, so that the pedestrian protection system needs to be newly developed and designed, and further, the development cost is increased.
Disclosure of Invention
The invention aims to provide a pedestrian protection method and a pedestrian protection system, so that the pedestrian protection method can be adjusted according to vehicle arrangement.
As the conception, the technical scheme adopted by the invention is as follows:
a pedestrian protection method comprising the steps of:
s1, determining one of three pre-stored pedestrian perception logics as an executable pedestrian perception logic according to an external change instruction; the three pedestrian perception logics comprise a first pedestrian perception logic, a second pedestrian perception logic and a third pedestrian perception logic, the first pedestrian perception logic is suitable for vehicles needing a front millimeter wave radar module and a front camera module, the second pedestrian perception logic is suitable for vehicles needing the front millimeter wave radar module and no front camera module, and the third pedestrian perception logic is suitable for vehicles needing the front camera module and no front millimeter wave radar module;
s2, judging whether a pedestrian exists in front of the vehicle according to the executable pedestrian perception logic; if so, go to step S3; if not, continuously judging whether a pedestrian exists in front of the vehicle at present according to the executable pedestrian perception logic;
s3, starting pedestrian protection;
s4, judging whether a pedestrian is hit, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act.
Optionally, a first radar perception setting threshold and a first camera perception setting threshold are stored in the pedestrian protection system, the first radar perception setting threshold is K1, the first camera perception setting threshold is L1, and the pedestrian protection system can acquire the radar perception threshold and the camera perception threshold in real time;
the first pedestrian perception logic comprises:
when the radar perception threshold is larger than K1 and the camera perception threshold is larger than L1, determining that a pedestrian is in front of the vehicle;
when the radar perception threshold is larger than K1, the camera perception threshold is smaller than L1, and the radar perception threshold lasts for a first set time length and is larger than K1, it is determined that a pedestrian exists in front of the vehicle currently;
when the radar perception threshold is less than K1 and the camera perception threshold is less than L1, determining that there is no pedestrian in front of the vehicle;
and when the radar sensing threshold is smaller than K1, the camera sensing threshold is larger than L1, and the duration of the camera lasting for the second set time is larger than L1, it is determined that a pedestrian exists in front of the vehicle.
Optionally, a second radar perception setting threshold is stored in the pedestrian protection system, the second radar perception setting threshold is K2, and K2 is greater than K1;
the second pedestrian perception logic comprises: and when the radar perception threshold is larger than K2, determining that a pedestrian exists in front of the vehicle.
Optionally, a second camera perception setting threshold L2 is stored in the pedestrian protection system, L2 is greater than L1, and the third pedestrian perception logic includes: and when the camera perception threshold value is larger than L2, determining that a pedestrian exists in front of the vehicle.
Optionally, early warning time and braking time are stored in the pedestrian protection system, the early warning time is T1, the braking time is T2, T1 is greater than T2, the pedestrian protection system calculates collision time, and the collision time is TTC;
the step S3 includes:
s31, judging whether the TTC is larger than T1, if so, the pedestrian protection system does not act; if not, go to step S32;
s32, judging whether TTC is smaller than T2, if yes, the pedestrian protection system sends a deceleration instruction to the vehicle body stability control system module, sends an alarm signal to the AEB alarm system module and sends a pedestrian collision signal to the airbag control unit module; and if not, only sending an alarm signal to the AEB alarm system module.
Optionally, the step S4 includes:
s41, determining one of three pre-stored impact sensing logics as an executable impact sensing logic according to an external change instruction; the three impact sensing logics comprise a first impact sensing logic, a second impact sensing logic and a third impact sensing logic, wherein the first impact sensing logic needs to judge pressure sensor information and acceleration sensor information, the second impact sensing logic needs to judge the pressure sensor information and does not need to judge the acceleration sensor information, and the third impact sensing logic needs to judge the acceleration sensor information and does not need to judge the pressure sensor information;
s42, judging whether a pedestrian is impacted according to the executable impact sensing logic, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act.
Optionally, a pedestrian protection system stores a first acceleration sensor perception setting threshold, a second acceleration sensor perception setting threshold, a first pressure sensor perception setting threshold and a second pressure sensor perception setting threshold, the first acceleration sensor perception setting threshold is P1, the second acceleration sensor perception setting threshold is P2, P2 is greater than P1, the first pressure sensor perception setting threshold is Q1, the second pressure sensor perception setting threshold is Q2, and Q2 is greater than Q1, and the pedestrian protection system can acquire the acceleration perception threshold and the pressure perception threshold in real time;
the first impact sensing logic comprises:
when the acceleration sensing threshold is greater than P1 and the pressure sensing threshold is greater than Q1, determining that the vehicle has impacted a pedestrian;
when the acceleration sensing threshold is larger than P1 and the pressure sensing threshold is smaller than Q1, if the acceleration sensing threshold is larger than P2, determining that the vehicle impacts a pedestrian;
determining that the vehicle does not impact a pedestrian when the acceleration perception threshold is less than P1 and the pressure perception threshold is less than Q1;
when the acceleration sensing threshold is less than P1 and the pressure sensing threshold is greater than Q1, if the pressure sensing threshold is greater than Q2, it is determined that the vehicle has collided with a pedestrian.
Optionally, a third acceleration sensor perception setting threshold is stored in the pedestrian protection system, and the third acceleration sensor perception setting threshold is P3;
the second impact sensing logic comprises: when the acceleration sensing threshold is greater than P3, it is determined that the vehicle has hit a pedestrian.
Optionally, a third pressure sensor sensing set threshold is stored in the pedestrian protection system, and the third pressure sensor sensing set threshold is Q3;
the third impact sensing logic comprises: and when the pressure sensing threshold value is larger than Q3, judging that the vehicle impacts the pedestrian.
A pedestrian protection system uses the pedestrian protection method.
According to the pedestrian protection method, the corresponding pedestrian perception logic can be selected through the external change instruction, so that a driver can select the corresponding pedestrian perception logic according to the configuration of the vehicle, the situation that a pedestrian protection system needs to be re-developed and designed after the configuration of a camera and a radar on the vehicle is changed is avoided, and the development cost is controlled.
According to the pedestrian protection system provided by the invention, the corresponding pedestrian perception logic can be selected through the external change instruction, so that a driver can select the corresponding pedestrian perception logic according to the configuration of the vehicle, the situation that the pedestrian protection system needs to be re-developed and designed after the configuration of a camera and a radar on the vehicle is changed is avoided, and the development cost is controlled.
Drawings
FIG. 1 is a flow chart of a pedestrian protection method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of the components of a pedestrian protection system provided by an embodiment of the present invention;
fig. 3 is a flowchart of a configuration change of a pedestrian protection method performed by an external diagnostic device according to an embodiment of the present invention.
In the figure:
1. an AEB controller module;
11. a diagnostic unit; 12. a parameter unit; 13. a logical storage unit; 14. a new logic;
2. a front millimeter wave radar module; 3. a front-view camera module; 4. a vehicle speed sensing module; 5. a vehicle body stability control system module; 51. a brake actuator module; 6. an airbag control unit module; 7. an AEB alarm system module; 8. a collision pressure sensing module; 9. a pedestrian protection execution module; 10. a collision acceleration sensing module;
20. an external diagnostic device.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings. 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 but not all of the elements associated with the present invention are shown in the drawings.
The present embodiment provides a pedestrian protection method capable of selecting a corresponding pedestrian sensing logic according to the configuration of a camera and a radar on a vehicle to control a pedestrian protection system.
Referring to fig. 1, in the present embodiment, the pedestrian protection method includes the steps of:
s1, determining one of three pre-stored pedestrian perception logics as an executable pedestrian perception logic according to an external change instruction; wherein, three kinds of pedestrian perception logics include first pedestrian perception logic, second kind pedestrian perception logic and third kind pedestrian perception logic, millimeter wave radar module 2 and the vehicle that needs preceding camera module 3 before the first kind pedestrian perception logic is applicable to needs, millimeter wave radar module 2 and the vehicle that need not preceding camera module 3 before the second kind pedestrian perception logic is applicable to needs, millimeter wave radar module 3 just need not preceding vehicle of millimeter wave radar module 2 before the third kind pedestrian perception logic is applicable to needs preceding camera module 3 and need not preceding vehicle of millimeter wave radar module 2.
In step S1, the corresponding pedestrian sensing logic can be selected by the external change instruction, so that the driver can select the corresponding pedestrian sensing logic according to the own vehicle configuration, thereby avoiding the need to redevelop and design the pedestrian protection system after the configuration of the camera and the radar on the vehicle is changed, and controlling the development cost.
S2, judging whether a pedestrian exists in front of the vehicle according to the executable pedestrian perception logic; if so, go to step S3; if not, continuously judging whether a pedestrian exists in front of the vehicle at present according to the executable pedestrian perception logic;
s3, starting pedestrian protection;
s4, judging whether a pedestrian is hit, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act.
Specifically, in this embodiment, a first radar perception setting threshold and a first camera perception setting threshold are stored in the pedestrian protection system, the first radar perception setting threshold is K1, the first camera perception setting threshold is L1, and the pedestrian protection system can acquire the radar perception threshold and the camera perception threshold in real time;
the first pedestrian perception logic comprises:
when the radar perception threshold value is larger than K1 and the camera perception threshold value is larger than L1, it is determined that a pedestrian exists in front of the vehicle;
when the radar sensing threshold is larger than K1, the camera sensing threshold is smaller than L1, and the radar sensing threshold lasts for the first set time length and is larger than K1, it is determined that a pedestrian exists in front of the vehicle currently;
when the radar perception threshold is smaller than K1 and the camera perception threshold is smaller than L1, determining that no pedestrian is in front of the vehicle currently;
when the radar sensing threshold is smaller than K1, the camera sensing threshold is larger than L1, and the duration of the camera is larger than L1 for the second set time, it is determined that a pedestrian exists in front of the vehicle.
Specifically, the first set time period is M1 set time periods; the second set time period is N1 set time periods. Specifically, the set time period is decided by a designer. Specifically, in this embodiment, a second radar perception setting threshold is stored in the pedestrian protection system, where the second radar perception setting threshold is K2, and K2 is greater than K1;
the second pedestrian perception logic comprises: when the radar sensing threshold is greater than K2, it is determined that there is a pedestrian in front of the vehicle at present.
Specifically, in this embodiment, the pedestrian protection system stores a second camera perception setting threshold L2, L2 is greater than L1, and the third pedestrian perception logic includes: when the camera perception threshold is greater than L2, it is determined that there is a pedestrian in front of the vehicle at present.
Further, in this embodiment, the pedestrian protection system stores an early warning time and a braking time, the early warning time is T1, the braking time is T2, T1 is greater than T2, the pedestrian protection system calculates a collision time, and the collision time is TTC.
Step S3 includes:
s31, judging whether the TTC is larger than T1, if so, the pedestrian protection system does not act; if not, go to step S32;
specifically, in step S31, the pedestrian protection system inaction includes: the AEB controller module 1 does not send a danger signal to the airbag control unit module 6 to impact a pedestrian.
S32, judging whether TTC is smaller than T2, if yes, the pedestrian protection system sends a deceleration instruction to the vehicle body stability control system module 5, sends an alarm signal to the AEB alarm system module 7 and sends a pedestrian collision signal to the airbag control unit module 6; if not, only an alarm signal is sent to the AEB alarm system module 7.
Further, since the configurations of the collision pressure sensing module 8 and the collision acceleration sensing module 10 are different on different vehicles, some vehicles require both the collision pressure sensing module 8 and the collision acceleration sensing module 10 to participate in the pedestrian protection system, and other vehicles require only one of the two to participate in the pedestrian protection system. The crash pressure sensing module 8 can provide pressure sensor information and the crash acceleration sensing module 10 can provide acceleration sensor information.
In order to accommodate different vehicles, in the present embodiment, step S4 includes:
s41, determining one of three pre-stored impact sensing logics as an executable impact sensing logic according to an external change instruction; the three impact sensing logics comprise a first impact sensing logic, a second impact sensing logic and a third impact sensing logic, wherein the first impact sensing logic needs to judge the information of the pressure sensor and the information of the acceleration sensor, the second impact sensing logic needs to judge the information of the pressure sensor and does not need to judge the information of the acceleration sensor, and the third impact sensing logic needs to judge the information of the acceleration sensor and does not need to judge the information of the pressure sensor;
s42, judging whether a pedestrian is impacted according to the executable impact sensing logic, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act.
In step S4, it adds further protection to the pedestrian by contact sensing, making up for the missing or false alarm of the non-contact sensing manner in step S2.
Specifically, in this embodiment, a first acceleration sensor sensing setting threshold, a second acceleration sensor sensing setting threshold, a first pressure sensor sensing setting threshold, and a second pressure sensor sensing setting threshold are stored in the pedestrian protection system, where the first acceleration sensor sensing setting threshold is P1, the second acceleration sensor sensing setting threshold is P2, P2 is greater than P1, the first pressure sensor sensing setting threshold is Q1, the second pressure sensor sensing setting threshold is Q2, and Q2 is greater than Q1, and the pedestrian protection system can acquire the acceleration sensing threshold and the pressure sensing threshold in real time;
the first impact sensing logic comprises:
when the acceleration sensing threshold is greater than P1 and the pressure sensing threshold is greater than Q1, determining that the vehicle has impacted the pedestrian;
when the acceleration sensing threshold is larger than P1 and the pressure sensing threshold is smaller than Q1, if the acceleration sensing threshold is larger than P2, the vehicle is judged to impact the pedestrian;
when the acceleration sensing threshold is less than P1 and the pressure sensing threshold is less than Q1, determining that the vehicle does not impact a pedestrian;
when the acceleration sensing threshold is less than P1 and the pressure sensing threshold is greater than Q1, if the pressure sensing threshold is greater than Q2, it is determined that the vehicle has impacted the pedestrian.
Specifically, in this embodiment, a third acceleration sensor sensing setting threshold is stored in the pedestrian protection system, and the third acceleration sensor sensing setting threshold is P3;
the second impact sensing logic comprises: when the acceleration sensing threshold value is greater than P3, it is determined that the vehicle has hit a pedestrian.
Specifically, in this embodiment, a third pressure sensor sensing set threshold is stored in the pedestrian protection system, and the third pressure sensor sensing set threshold is Q3;
the third impact sensing logic includes: when the pressure sensing threshold is greater than Q3, it is determined that the vehicle has hit a pedestrian.
Further, in the present embodiment, in step S3, the detonation threshold line of the pedestrian protection detonation algorithm is adjusted low.
Specifically, when a danger signal of a pedestrian is received in front of the vehicle, the detonation threshold line of the pedestrian protection detonation algorithm is adjusted to be low. And if the danger signal of the pedestrian in front of the vehicle is not received, the detonation threshold line of the pedestrian protection detonation algorithm is increased.
Referring to fig. 2, in the present embodiment, the pedestrian protection system includes a front millimeter wave radar module 2, a front view camera module 3, a vehicle speed sensing module 4, an AEB controller module 1, an airbag control unit module 6, a pedestrian protection execution module 9, an AEB alarm system module 7, a vehicle body stability control system module 5, and a brake execution mechanism module 51, where the airbag control unit module 6 is in communication connection with a collision pressure sensing module 8 and a collision acceleration sensing module 10.
The front millimeter wave radar module 2 and the front-view camera module 3 are responsible for sensing front road information and identifying conditions of front vehicles and pedestrians, including the traveling direction, speed and distance from the front pedestrians to the vehicle. The front millimeter wave radar module 2 and the front-view camera module 3 respectively transmit the recognized external environment information to the AEB controller module 1 through the private CAN.
The AEB controller module 1 receives the speed information of the vehicle transmitted by the vehicle speed sensing module 4, performs comprehensive judgment by combining external environment information, sends a corresponding pedestrian collision signal to the airbag control unit module 6 when recognizing that there is a collision risk, and gives a danger prompt to the AEB alarm system module 7, specifically, the AEB alarm system module 7 is generally an instrument or a central control screen, and the vehicle stability control system module 5 controls the brake actuating mechanism module 51 to decelerate the vehicle. After receiving the danger signal instruction, the airbag control unit module 6 rapidly lowers the threshold line of the pedestrian protection detonation algorithm, and then the airbag control unit module 6 simultaneously detects the collision pressure sensing module 8 and the collision acceleration sensing module 10, and sends a detonation instruction to the pedestrian protection execution module 9 when the threshold line is reached.
Specifically, the front millimeter wave radar module 2 and the front view camera module 3 are non-contact sensing systems, and the collision pressure sensing module 8 and the collision acceleration sensing module 10 are contact sensing systems. By means of the simultaneous cooperation of the non-contact sensing system and the contact sensing system, the condition that the danger signal is sensed by the non-contact sensing system independently and the condition that the danger signal is missed or misinformed is avoided.
Specifically, in the present embodiment, the AEB controller module 1 includes an AEB controller module diagnosis unit, an AEB controller module parameter unit, an AEB controller module environment perception processing unit, an AEB controller module decision control unit, and an AEB controller module logic storage unit.
The environment perception processing unit is used for fusion judgment of front road condition information through comparison of information of the front millimeter wave radar module 2 and the front-view camera module 3, and redundancy check can be carried out to judge whether pedestrians are in front or not accurately. Specifically, three kinds of pedestrian perception logics are stored in the environment perception processing unit, the environment perception processing unit calls the combined codes in the parameter unit 12 in real time, the combined code information represents specific sensor configurations, and each configuration represents one perception logic. Here, a first type of pedestrian perception logic is invoked to determine whether there is a pedestrian in front.
When the environment perception processing unit judges that a pedestrian exists in front of the vehicle at present, the AEB controller module 1 performs braking behaviors and alarming behaviors of corresponding levels according to the real-time collision time TTC and sends danger signals for colliding with the pedestrian to the airbag control unit module 6; when the environmental perception processing unit determines that there is no pedestrian in front of the vehicle at present, the AEB controller module 1 does not send a danger signal to the airbag control unit module 6 to impact the pedestrian.
Specifically, the airbag control unit module 6 includes an airbag control unit module diagnosis unit, an airbag control unit module threshold parameter unit, an airbag control unit module data analysis unit, an airbag control unit module threshold parameter adjustment unit, an airbag control unit module ignition decision unit, and an airbag control unit module ignition current sending unit.
The safety air bag control unit module data analysis unit is used for analyzing currently received signals of the collision sensor, including collision data signals transmitted by the collision pressure sensing module 8 and the collision acceleration sensing module 10, and transmitting the signals to the safety air bag control unit module ignition decision unit after analysis.
The ignition decision unit of the safety airbag control unit module is used for calling an initiation threshold line in a threshold parameter unit of the safety airbag control unit module in real time, meanwhile, the initiation threshold line is compared with a received collision data signal, when the collision data signal reaches the initiation threshold line, the ignition decision unit of the safety airbag control unit module is used for sending an ignition instruction of an initiation pedestrian protection execution module 9 to an ignition current sending unit of the safety airbag control unit module, then an energy storage capacitor in the ignition current sending unit of the safety airbag control unit module is used for sending an ignition current pulse to the pedestrian protection execution module 9, the pedestrian protection execution module 9 pops up a cabin cover, and if a pedestrian protection airbag is configured on a vehicle, the pedestrian protection execution module 9 synchronously opens the pedestrian protection airbag.
The safety air bag control unit module threshold parameter unit monitors collision data signals transmitted by the non-contact sensing system in real time, when the collision data signals are received, the safety air bag control unit module threshold parameter unit rapidly pulls down a threshold line to Y-low, otherwise pulls up the threshold line to Y-high, when the non-contact sensing system fails, the threshold line is not pulled up or pulled down, and a default value Y-mo is kept.
Further, referring to fig. 3, an external change instruction is input through the external diagnostic apparatus 20 to make a configuration change to the pedestrian protection method. Specifically, various combination codes selected in advance are written in the AEB controller module diagnosis unit or the airbag control unit module diagnosis unit in advance.
Specifically, the external diagnostic device 20 is communicatively connected to the diagnostic unit 11 of the AEB controller module 1.
The external diagnostic device 20 sends an "enter extended mode command" to the diagnostic unit 11 according to an external operation, and if the diagnostic unit 11 does not successfully respond to the "enter extended mode command", the diagnostic unit sends an "unsuccessful reminder" to the external diagnostic device 20, and if the "enter extended mode command" is successfully responded, the diagnostic unit sends a "first successful reminder" to the external diagnostic device 20.
After receiving the "first success prompt", the external diagnostic device 20 sends a "security verification command" to the diagnostic unit 11, and if the diagnostic unit 11 determines that the security verification fails, the diagnostic unit sends a "failed verification prompt" to the external diagnostic device 20, and if the security verification passes, the diagnostic unit sends a "passed verification prompt" to the external diagnostic device 20.
After receiving the "pass check reminder", the external diagnostic device 20 sends a "command to enter the factory mode" to the diagnostic unit 11, and if the diagnostic unit 11 does not successfully enter the factory mode, the diagnostic unit sends an "unsuccessful reminder" to the external diagnostic device 20, and if the diagnostic unit successfully enters the factory mode, the diagnostic unit sends a "second success reminder" to the external diagnostic device 20.
After receiving the "second success prompt", the external diagnostic device 20 sends a "combined code flash command" to the diagnostic unit 11, the diagnostic unit 11 sends a new combined code in the "combined code flash command" to the parameter unit 12, if the parameter unit 12 identifies that the new combined code does not belong to the preselected combined code, it is determined that the operation is incorrect, and sends a "combined code flash unsuccessful command" to the diagnostic unit 11, and if the parameter unit 12 identifies that the new combined code belongs to the preselected combined code, it will successfully go to the next step.
The logic storage unit 13 calls the new combination code to form a new logic 14, and the pedestrian protection method is executed according to the new logic.
The new logic 14 is fed back to the external diagnostic device 20, and the external diagnostic device 20 sends a switch normal mode command to the diagnostic unit 11. If the diagnostic unit does not respond then an external fault may occur and the result is fed back to the external diagnostic device 20.
Further, when the driver wants to adjust the pedestrian perception logic, the diagnosis unit 11, the parameter unit 12, and the logic storage unit 13 are an AEB controller module diagnosis unit, an AEB controller module parameter unit, and an AEB controller module logic storage unit, respectively.
When the driver wants to adjust the impact sensing logic, the diagnosis unit 11, the parameter unit 12 and the logic storage unit 13 are respectively an airbag control unit module diagnosis unit, an airbag control unit module threshold parameter unit and an airbag control unit module threshold parameter adjustment unit.
Of course, the driver can make simultaneous adjustments to the pedestrian perception logic and the impact perception logic through the external diagnostic device 20.
The embodiment also provides a pedestrian protection system using the pedestrian protection method.
In the prior art, a pedestrian protection system cannot be closed, and inconvenience is brought to a driver when the false alarm rate of the pedestrian protection system is high.
To solve the above problem, in the present embodiment, the driver can also turn off the pedestrian protection system by operating the external diagnostic device 20. And when the false alarm rate of the pedestrian protection system is high, the driver selects to turn off the pedestrian protection system.
The foregoing embodiments are merely illustrative of the principles and features of this invention, which is not limited to the above-described embodiments, but rather is susceptible to various changes and modifications without departing from the spirit and scope of the invention, which changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A pedestrian protection method, characterized by comprising the steps of:
s1, determining one of three pre-stored pedestrian perception logics as an executable pedestrian perception logic according to an external change instruction; the three pedestrian perception logics comprise a first pedestrian perception logic, a second pedestrian perception logic and a third pedestrian perception logic, the first pedestrian perception logic is suitable for vehicles needing a front millimeter wave radar module and a front camera module, the second pedestrian perception logic is suitable for vehicles needing the front millimeter wave radar module and no front camera module, and the third pedestrian perception logic is suitable for vehicles needing the front camera module and no front millimeter wave radar module;
s2, judging whether a pedestrian exists in front of the vehicle according to the executable pedestrian perception logic; if so, go to step S3; if not, continuously judging whether a pedestrian exists in front of the vehicle at present according to the executable pedestrian perception logic;
s3, starting pedestrian protection;
s4, judging whether a pedestrian is hit, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act;
the pedestrian protection system stores a first radar perception setting threshold and a first camera perception setting threshold, wherein the first radar perception setting threshold is K1, the first camera perception setting threshold is L1, and the pedestrian protection system can acquire the radar perception threshold and the camera perception threshold in real time;
the first pedestrian perception logic comprises:
when the radar perception threshold is larger than K1 and the camera perception threshold is larger than L1, determining that a pedestrian is in front of the vehicle;
when the radar perception threshold is larger than K1, the camera perception threshold is smaller than L1, and the radar perception threshold lasts for a first set time length and is larger than K1, it is determined that a pedestrian exists in front of the vehicle currently;
when the radar perception threshold is less than K1 and the camera perception threshold is less than L1, determining that there is no pedestrian in front of the vehicle;
when the radar sensing threshold is smaller than K1, the camera sensing threshold is larger than L1, and the duration of the camera is larger than L1 for a second set time, it is determined that a pedestrian exists in front of the vehicle currently;
a second radar perception setting threshold is stored in the pedestrian protection system, the second radar perception setting threshold is K2, and K2 is larger than K1;
the second pedestrian perception logic comprises: when the radar perception threshold value is larger than K2, determining that a pedestrian exists in front of the vehicle at present;
the pedestrian protection system is stored with a second camera perception setting threshold value L2, L2 is greater than L1, and the third pedestrian perception logic comprises: and when the camera perception threshold value is larger than L2, determining that a pedestrian exists in front of the vehicle.
2. The pedestrian protection method according to claim 1, wherein a warning time and a braking time are stored in the pedestrian protection system, the warning time is T1, the braking time is T2, T1 is greater than T2, the pedestrian protection system calculates a time to collision, the time to collision is TTC;
the step S3 includes:
s31, judging whether the TTC is larger than T1, if so, the pedestrian protection system does not act; if not, go to step S32;
s32, judging whether TTC is smaller than T2, if yes, the pedestrian protection system sends a deceleration instruction to the vehicle body stability control system module, sends an alarm signal to the AEB alarm system module and sends a pedestrian collision signal to the airbag control unit module; and if not, only sending an alarm signal to the AEB alarm system module.
3. The pedestrian protection method according to claim 1, wherein the step S4 includes:
s41, determining one of three pre-stored impact sensing logics as an executable impact sensing logic according to an external change instruction; the three impact sensing logics comprise a first impact sensing logic, a second impact sensing logic and a third impact sensing logic, wherein the first impact sensing logic needs to judge pressure sensor information and acceleration sensor information, the second impact sensing logic needs to judge the pressure sensor information and does not need to judge the acceleration sensor information, and the third impact sensing logic needs to judge the acceleration sensor information and does not need to judge the pressure sensor information;
s42, judging whether a pedestrian is impacted according to the executable impact sensing logic, and if so, controlling the cabin cover to bounce and/or controlling the pedestrian protection airbag to be opened; if not, the engine room cover and the pedestrian protection airbag do not act.
4. The pedestrian protection method according to claim 3, wherein a first acceleration sensor perception setting threshold value, a second acceleration sensor perception setting threshold value, a first pressure sensor perception setting threshold value and a second pressure sensor perception setting threshold value are stored in the pedestrian protection system, the first acceleration sensor perception setting threshold value is P1, the second acceleration sensor perception setting threshold value is P2, P2 is greater than P1, the first pressure sensor perception setting threshold value is Q1, the second pressure sensor perception setting threshold value is Q2, Q2 is greater than Q1, the pedestrian protection system is capable of acquiring the acceleration perception threshold value and the pressure perception threshold value in real time;
the first impact sensing logic comprises:
when the acceleration sensing threshold is greater than P1 and the pressure sensing threshold is greater than Q1, determining that the vehicle has impacted a pedestrian;
when the acceleration sensing threshold is larger than P1 and the pressure sensing threshold is smaller than Q1, if the acceleration sensing threshold is larger than P2, determining that the vehicle impacts a pedestrian;
determining that the vehicle does not impact a pedestrian when the acceleration perception threshold is less than P1 and the pressure perception threshold is less than Q1;
when the acceleration sensing threshold is less than P1 and the pressure sensing threshold is greater than Q1, if the pressure sensing threshold is greater than Q2, it is determined that the vehicle has collided with a pedestrian.
5. The pedestrian protection method according to claim 4, wherein a third acceleration sensor perception setting threshold value is stored in the pedestrian protection system, and the third acceleration sensor perception setting threshold value is P3;
the second impact sensing logic comprises: when the acceleration sensing threshold is greater than P3, it is determined that the vehicle has hit a pedestrian.
6. The pedestrian protection method according to claim 4, wherein a third pressure sensor perception setting threshold is stored in the pedestrian protection system, and the third pressure sensor perception setting threshold is Q3;
the third impact sensing logic comprises: and when the pressure sensing threshold value is larger than Q3, judging that the vehicle impacts the pedestrian.
7. A pedestrian protection system characterized by using the pedestrian protection method according to any one of claims 1 to 6.
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