CN116691574A - Pedestrian protection system and method - Google Patents
Pedestrian protection system and method Download PDFInfo
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- CN116691574A CN116691574A CN202310753234.2A CN202310753234A CN116691574A CN 116691574 A CN116691574 A CN 116691574A CN 202310753234 A CN202310753234 A CN 202310753234A CN 116691574 A CN116691574 A CN 116691574A
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Classifications
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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
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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
- 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
- B60R21/0132—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 responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
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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
- B60R21/0134—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 responsive to imminent contact with an obstacle, e.g. using radar systems
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- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
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- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
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- B60R21/0136—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 responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
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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
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- 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
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R2021/003—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks characterised by occupant or pedestian
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60R2021/01286—Electronic control units
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/00—Road transport of goods or passengers
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Abstract
The application discloses a pedestrian protection system and a pedestrian protection method, wherein the system comprises a non-contact sensing module, a control module, a speed sensing module, a collision sensing module, a pedestrian protection control module and a pedestrian protection execution module; the non-contact sensing module is used for sensing pedestrian information; the speed sensing module is used for sensing speed information; the control module is used for identifying the actual obstacle and sending a dangerous signal; the collision sensing module is used for sensing collision parameters; the pedestrian protection control module is used for adjusting the trigger threshold value to be below a set value according to the dangerous signal, and sending an instruction when the trigger threshold value is met so that the pedestrian protection execution module executes measures. The scheme combines non-contact sensing, speed sensing and collision sensing to accurately identify the actual obstacle and judge whether the actual obstacle collides with the pedestrian, and the triggering threshold is lowered when the actual obstacle is identified, so that the explosion can be timely initiated, false explosion or explosion leakage is avoided, and the pedestrian is better protected.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a pedestrian protection system and a pedestrian protection method.
Background
With the development of society, the automobile is continuously promoted, the casualties caused by traffic are continuously increased, the road safety protection is more important, and on the basis of the traditional protection of passengers in the automobile, the protection of road vulnerable groups is more important to the society.
The existing pedestrian protection system is divided into a sensing part and an executing part, wherein the sensing is generally realized through a camera or a radar; or by a camera, radar, acceleration crash sensor, and airbag control unit. The actuating part is divided into an active cabin cover or a pedestrian protection airbag at the cabin outer part and the front windshield. However, most of the existing pedestrian protection systems only rely on a non-contact sensing system to judge, so that the situation that pedestrians are not protected due to missing report is easy to occur, or a large maintenance cost is caused by false explosion.
Disclosure of Invention
The application provides a pedestrian protection system and a pedestrian protection method, which are used for avoiding risks of false explosion and missing report, reducing a larger injury value caused by late detonation time, better protecting pedestrians, reducing pedestrian injury value and saving maintenance cost through earlier detonation.
In a first aspect, an embodiment of the present application provides a pedestrian protection system, including: the system comprises a non-contact sensing module, a control module, a speed sensing module, a collision sensing module, a pedestrian protection control module and a pedestrian protection execution module; the control module is respectively connected with the non-contact sensing module, the speed sensing module and the pedestrian protection control module; the pedestrian protection control module is also respectively connected with the collision sensing module and the pedestrian protection execution module;
the non-contact sensing module is used for sensing pedestrian information in a set range and sending the pedestrian information to the control module;
the speed sensing module is used for sensing the speed information of the vehicle and sending the speed information to the control module;
the control module is used for identifying an actual obstacle according to the pedestrian information and the speed information, and sending a dangerous signal to the pedestrian protection control module when the actual obstacle is identified;
the collision sensing module is used for sensing collision parameters of the vehicle and the pedestrian and sending the collision parameters to the pedestrian protection control module;
the pedestrian protection control module is used for adjusting the triggering threshold value of the pedestrian protection measure to be below a set value according to the dangerous signal, and sending a pedestrian protection instruction to the pedestrian protection execution module when the collision parameter meets the triggering threshold value so as to enable the pedestrian protection execution module to execute the pedestrian protection measure.
In a second aspect, an embodiment of the present application further provides a pedestrian protection method, including:
sensing pedestrian information in a set range, speed information of the vehicle and collision parameters of the vehicle and pedestrians;
identifying an actual obstacle based on the pedestrian information and the speed information;
when the actual obstacle is identified, the triggering threshold value of the pedestrian protection measure is adjusted to be below a set value;
and taking pedestrian protection measures when the collision parameter meets the trigger threshold.
In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the pedestrian protection method as set forth in any of the second aspects.
The embodiment of the application provides a pedestrian protection system, which comprises: the system comprises a non-contact sensing module, a control module, a speed sensing module, a collision sensing module, a pedestrian protection control module and a pedestrian protection execution module; the control module is respectively connected with the non-contact sensing module, the speed sensing module and the pedestrian protection control module; the pedestrian protection control module is also respectively connected with the collision sensing module and the pedestrian protection execution module; the non-contact sensing module is used for sensing pedestrian information in a set range and sending the pedestrian information to the control module; the speed sensing module is used for sensing the speed information of the vehicle and sending the speed information to the control module; the control module is used for identifying an actual obstacle according to the pedestrian information and the speed information, and sending a dangerous signal to the pedestrian protection module when the actual obstacle is identified; the collision sensing module is used for sensing collision parameters of the vehicle and the pedestrian and sending the collision parameters to the pedestrian protection control module; the pedestrian protection control module is used for adjusting the triggering threshold value of the pedestrian protection measure to be below a set value according to the dangerous signal, and sending a pedestrian protection instruction to the pedestrian protection execution module when the collision parameter meets the triggering threshold value so as to enable the pedestrian protection execution module to execute the pedestrian protection measure. Above-mentioned technical scheme through non-contact perception module, control module, speed perception module, collision perception module, pedestrian protection control module and pedestrian protection execution module, has avoided the risk of mistake to explode and miss report, through earlier detonation rendering, reduces because the great injury value that causes late in detonation time, protects the pedestrian better, reduces pedestrian injury value.
Drawings
FIG. 1 is a schematic diagram of a pedestrian protection system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of another pedestrian protection system according to an embodiment of the application;
fig. 3 is a flowchart of a pedestrian protection method according to a second embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
It should be noted that the concepts of "first," "second," and the like in the embodiments of the present application are merely used to distinguish between different devices, modules, units, or other objects, and are not intended to limit the order or interdependence of functions performed by the devices, modules, units, or other objects.
Example 1
Fig. 1 is a schematic structural diagram of a pedestrian protection system according to an embodiment of the present application, which is applicable to a situation where a vehicle is traveling to protect a pedestrian. As shown in fig. 1, the pedestrian protection system provided in this embodiment includes: a non-contact sensing module 1, a control module 2, a speed sensing module 3, a collision sensing module 4, a pedestrian protection control module 5 and a pedestrian protection executing module 6.
The control module 2 is respectively connected with the non-contact sensing module 1, the speed sensing module 3 and the pedestrian protection control module 5; the pedestrian protection control module 5 is also connected with the collision sensing module 4 and the pedestrian protection execution module 6, respectively.
Specifically, the control module 2 mainly refers to comprehensively judging information of a sensing module connected with the control module, so as to control the vehicle. In this embodiment, the control module may be an automatic emergency brake (Autonomous Emergency Braking, AEB) controller. The non-contact sensing module 1 mainly refers to a module capable of sensing information without contact, such as a non-contact sensing device of a camera, a radar, an infrared camera and the like; the speed sensing module 3 mainly refers to a module that senses speed information, for example, senses pedestrian speed information or senses vehicle speed information, etc.; the pedestrian protection control module 5 mainly controls the issuing of a pedestrian protection instruction according to the information of each module connected with the module, and in practice, the issuing and non-issuing of the pedestrian protection instruction are mainly determined according to the actual situation; the collision sensing module 4 mainly refers to a module that senses a collision, such as a collision sensor, a pressure sensor, a collision acceleration sensor, etc.; the pedestrian protection execution module 6 mainly refers to a module that executes pedestrian protection measures, such as emergency braking, detonating a vehicle-outside pedestrian protection airbag, bouncing a cabin cover, and the like.
In this embodiment, the control module is connected to the non-contact sensing module, the speed sensing module and the pedestrian protection control module respectively, and after comprehensively judging the information of each sensing module, the control module sends the judged content to the pedestrian protection control module to control the vehicle; the pedestrian protection control module is further connected with the collision sensing module and the pedestrian protection execution module respectively, and the pedestrian protection module is combined with the collision sensing information in the collision sensing module to judge whether to send a pedestrian protection instruction to the pedestrian protection execution module so as to enable the pedestrian protection execution module to execute pedestrian protection measures, thereby avoiding risks of false explosion or missing report, realizing better pedestrian protection and avoiding relatively large maintenance cost caused by false explosion.
Further, the non-contact sensing module 1 is configured to sense pedestrian information within a set range and send the pedestrian information to the control module 2; the setting range may be within 100 meters, 200 meters, or the like, or may be set according to the perceivable range of a non-contact perceiving device such as a camera, a radar, an infrared camera, or the like, which is not limited in this embodiment; the pedestrian information may be information that a pedestrian in a set range is perceived by means of a non-contact sensor such as a camera, a radar, an infrared camera, etc., for example, the direction, speed, distance from the vehicle, etc., which is not limited in this embodiment.
Specifically, the non-contact sensing module can sense pedestrians in a set range through non-contact sensing devices such as cameras, radars and infrared cameras, and sends sensed pedestrian information to the control module.
Further, the speed sensing module 3 is configured to sense speed information of the vehicle and send the speed information to the control module 2; the speed information of the host vehicle may be obtained by various means such as radar, a sensor or a speedometer of the host vehicle, navigation software, etc., which is not limited in this embodiment.
Specifically, the speed sensing module may sense speed information of the vehicle in the above manner or other manners and send the speed information to the control module.
Further, the control module 2 is configured to identify an actual obstacle according to the pedestrian information and the speed information, and send a danger signal to the pedestrian protection control module 5 when the actual obstacle is identified; the actual obstacle can be an obstacle with collision risk identified after the control module comprehensively judges according to pedestrian information and speed information of the vehicle; a hazard signal, i.e. a corresponding hazard signal is emitted when an obstacle at risk of collision is identified.
Specifically, the control module receives the speed information of the vehicle transmitted by the speed sensing module, and combines the speed information of the vehicle with pedestrian information to carry out comprehensive judgment, when an obstacle with collision risk is identified, the control module sends out corresponding danger signals to the pedestrian protection control module through the form of a controller area network (Controller Area Network, CAN), meanwhile carries out danger prompt and carries out corresponding vehicle control. The method has the advantages of short data transmission time, low probability of interference, short retransmission time, high reliability of data transmission, strong instantaneity, long transmission distance, strong electromagnetic interference resistance, low cost and the like.
Further, the collision sensing module 4 is configured to sense collision parameters of the vehicle and the pedestrian and send the collision parameters to the pedestrian protection control module 5; the collision parameter of the vehicle and the pedestrian may be a collision parameter detected by a collision sensor, a pressure sensor, a collision acceleration sensor, or the like when the vehicle collides with the pedestrian.
Specifically, when the collision sensing module senses that a vehicle collides with a pedestrian, the sensed collision parameters are sent to the pedestrian protection control module, so that the pedestrian protection control module judges whether to send a pedestrian protection instruction to the pedestrian protection execution module according to the collision parameters, and the pedestrian protection execution module executes pedestrian protection measures.
Further, the pedestrian protection control module 5 is configured to adjust a triggering threshold of the pedestrian protection measure to be below a set value according to the dangerous signal, and send a pedestrian protection instruction to the pedestrian protection execution module 6 when the collision parameter meets the triggering threshold, so that the pedestrian protection execution module 6 executes the pedestrian protection measure. A triggering threshold value of the pedestrian protection measure, namely a threshold value for triggering the pedestrian protection measure; the set value may be set according to the actual situation, which is not limited in this embodiment.
Specifically, as a person collides with the vehicle relative to the vehicle, or the vehicle collides with a railing or a wall structure, the deceleration value generated by the vehicle is smaller, and in general, the pedestrian protection control module can combine acceleration signals of the vehicle collision and the vehicle wall collision, and the pedestrian protection control module usually sets a triggering threshold line larger in consideration of less false initiation, at the moment, the collision parameters which can be perceived by the pedestrian protection control module through connection with the collision perception module are actually smaller when the vehicle collides with the pedestrian, so that the triggering threshold of pedestrian protection control is basically impossible to be reached, and the risk of generating a missing report is extremely high; therefore, in this embodiment, after receiving the danger signal sent by the control module, the pedestrian protection control module adjusts the trigger threshold of the pedestrian protection measure to be below the set value, and by pulling the trigger threshold line low in advance, the trigger threshold can be met by slightly colliding at this time, and the collision parameter can meet the trigger threshold, so that the pedestrian protection control module can send a pedestrian protection instruction to the pedestrian protection execution module, so that the pedestrian protection control module executes the pedestrian protection measure, the pedestrian can be better protected, and the larger injury value caused by late detonation time is reduced.
In the embodiment, the non-contact sensing module, the control module, the speed sensing module, the pedestrian protection control module and the pedestrian protection execution module are arranged to be connected, so that the risks of false explosion and missing report are avoided, the earlier detonation rendering is realized, more selection spaces are provided for calibrating the pedestrian protection air bag and the cabin cover, the pedestrians are better protected, and the pedestrian injury value is reduced; the collision sensing module is connected with the pedestrian protection control module, so that whether contact collision finally occurs or not is judged, whether the collision occurs or not is further checked, the situation that when a non-contact sensing system fails or a vehicle does not touch a person at last, the pedestrian protection air bag and the cabin cover are initiated by mistake can be made up, and maintenance cost caused by false explosion is avoided.
Optionally, the pedestrian protection control module is further configured to adjust a trigger threshold of the pedestrian protection measure to be above the set value when there is no danger signal.
Specifically, if the pedestrian protection control module does not receive the dangerous signal sent by the control module, the triggering threshold of the pedestrian protection measure is adjusted to be above the set value, for example, if a small animal or basketball, a garbage can or the like hits a vehicle at the moment, the triggering threshold line which is pulled up before the moment is difficult to trigger due to limited collision strength, so that false explosion can be avoided, and maintenance cost is saved.
Optionally, the collision sensing module includes a collision acceleration sensor and a pressure sensor.
Specifically, by arranging the collision sensing module, a collision acceleration sensor and a pressure sensor are arranged on the front bumper of the vehicle to sense collision parameters, redundancy judgment is carried out, and even if the non-contact sensing module senses pedestrian information, the control module informs the pedestrian protection control module that the pedestrian is in danger of collision, the pedestrian protection control module further carries out inspection judgment through the pressure sensor and the collision parameters fed back by the acceleration sensor (for example, the magnitude value of pressure and the magnitude value of acceleration) so as to avoid the risk of false explosion under the condition that the vehicle does not finally touch the pedestrian; further, even if the non-contact sensing system fails, that is, the non-contact sensing module does not sense pedestrian information, the control module does not send a dangerous signal to the pedestrian protection control module, but the pedestrian protection control module can send a pedestrian protection instruction to the pedestrian protection execution module at the moment because the acceleration and the pressure sensor on the front bumper are installed to sense collision rapidly, so that the pedestrian protection execution module executes pedestrian protection measures, missing report is avoided, and pedestrian safety is protected.
Optionally, the non-contact sensing module includes a radar and a camera.
Specifically, the front millimeter wave radar and the front-view camera in the non-contact sensing module sense the front road information, and are responsible for identifying the situations of the front vehicle and the pedestrians, including the advancing direction, speed, distance from the vehicle and the like of the front pedestrian, and then the sensed pedestrian information is respectively transmitted to the AEB control module through the private CAN. In the embodiment, the danger is perceived in advance through the front-view camera and the front millimeter wave radar and is transmitted to the control module through the private CAN, and the control module controls the vehicle to correspondingly decelerate in advance, so that the pedestrian injury value is better reduced.
Optionally, the control module comprises an environment sensing processing unit, which is used for identifying the actual obstacle according to the pedestrian information sensed by the radar and the camera; if the pedestrian information perceived by the radar is greater than a first threshold value and the pedestrian information perceived by the camera is greater than a second threshold value, identifying that an actual obstacle exists; if the pedestrian information perceived by the radar in the period lasting the first quantity is larger than a first threshold value, and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that an actual obstacle exists; if the pedestrian information perceived by the radar is smaller than a first threshold value and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that no actual obstacle exists; and if the pedestrian information perceived by the radar is smaller than the first threshold value and the pedestrian information perceived by the camera in the period lasting the second number is larger than the second threshold value, identifying that an actual obstacle exists.
In this embodiment, the first threshold may be set to K1, and the second threshold may be set to L1; the first number of periods is M1 and the second number of periods is N1. It should be noted that, the first threshold and the second threshold may be determined according to different scenes, and the thresholds corresponding to different scenes may also be different, for example, scenes such as raining, low light, snowing, hazing, and sand storm.
Specifically, when the pedestrian information is the distance between the pedestrian and the vehicle, the environment perception processing unit recognizes an actual obstacle according to the pedestrian information perceived by the radar and the camera; when the pedestrian information perceived by the radar is larger than K1 and the pedestrian information perceived by the camera is larger than L1, identifying that an actual obstacle exists; when the pedestrian information perceived by the radar in the period of lasting M1 is larger than K1 and the pedestrian information perceived by the camera is smaller than L1, identifying that an actual obstacle exists; when the pedestrian information perceived by the radar is smaller than K1 and the pedestrian information perceived by the camera is smaller than L1, identifying that no actual obstacle exists; and when the pedestrian information perceived by the radar is smaller than K1 and the pedestrian information perceived by the camera in the period of lasting N1 is larger than L1, identifying that an actual obstacle exists.
In this embodiment, the environment sensing unit performs fusion on the radar and the camera information to determine pedestrian information, and performs redundancy check, so as to determine whether an actual obstacle exists at present more accurately. For example, when the environmental sensing processing unit identifies an actual obstacle, the control module may control the vehicle to perform corresponding levels of braking actions, including light braking, medium braking, and heavy braking, and the light braking, medium braking, and heavy braking are conceptual only, and are not limited to three braking moments, and the actual braking deceleration may correspond to different braking moments according to different collision times (Time To Collision, TTC), and may correspond to an infinite number of braking moments. When the environment sensing processing unit recognizes that no actual obstacle exists, the control module does not control the vehicle to perform braking action.
Optionally, the pedestrian protection system further includes: a body stability controller (Electronic Stability Program, ESP) and an alarm module; the control module is respectively connected with the ESP and the alarm module; the ESP is used for maintaining the stability of the body of the vehicle during braking; the alarm module is used for displaying danger prompt information.
Specifically, the control module receives the speed information of the vehicle transmitted by the speed sensing module, and meanwhile, when the environment sensing processing unit recognizes that an actual obstacle exists, the control module comprehensively judges, and if the collision risk is recognized, the control module sends a corresponding danger signal to the pedestrian protection control module, and meanwhile, sends alarm information to the alarm module to carry out danger prompt, so that a vehicle driver is reminded of knowing the pedestrian condition in time, and the safety of the pedestrian is ensured; meanwhile, a deceleration instruction is sent to the ESP, so that the stability of the vehicle body in the braking process of the vehicle is ensured, and the safety and the operability of the vehicle are improved.
Optionally, the control module includes a decision control unit, configured to calculate a collision time TTC according to speed information of the vehicle, speed information of an actual obstacle, and a distance between the vehicle and the actual obstacle; if the TTC is smaller than or equal to a collision time threshold and the TTC is larger than or equal to a braking threshold, sending alarm information to the alarm module; if the TTC is smaller than a braking threshold value, a dangerous signal is sent to the pedestrian protection module, a braking instruction is sent to the ESP, and alarm information is sent to the alarm module; if the TTC is larger than the collision time threshold, no early warning signal, no braking instruction and no danger signal are sent.
In the present embodiment, the collision time TTC refers to the time when the vehicle collides with an actual obstacle; the collision time threshold mainly refers to early warning time before the collision of the vehicle; the braking threshold mainly refers to the time when the vehicle stops braking; if the TTC is smaller than or equal to a collision time threshold value and the TTC is larger than or equal to a braking threshold value, namely a vehicle driver does not react in the time of collision early warning, so that the vehicle is braked, but can still successfully brake and stop before the vehicle collides, alarm information is sent to the alarm module, and the vehicle driver is reminded to react in time, so that the vehicle is braked; if the TTC is smaller than a braking threshold, namely the driver of the vehicle does not react to collision early warning, the time for stopping the vehicle braking is longer than the time for collision between the vehicle and an actual obstacle, and the vehicle is in collision when the vehicle is not stopped by braking, a dangerous signal is sent to the pedestrian protection module, a braking instruction is sent to the ESP, and alarm information is sent to the alarm module; if the TTC is larger than the collision time threshold, namely the vehicle driver reacts in the early warning time before the collision of the vehicle, so that the vehicle stops, and an early warning signal, a braking instruction and a danger signal are not sent.
Specifically, the decision control unit calculates the collision time TTC according to the speed information of the vehicle, the speed information of the actual obstacle and the distance between the vehicle and the actual obstacle, compares the collision time TTC with a set threshold value, determines whether to send a braking request instruction to the ESP, sends alarm information to the alarm module, sends a danger signal to the pedestrian protection control module, realizes flexible control of the vehicle, better protects pedestrians and reduces the injury value of the pedestrians.
Optionally, the pedestrian protection control module comprises a data analysis unit, a threshold adjustment unit, an ignition decision unit and an ignition current sending unit; the data analysis unit is used for analyzing the collision parameters; the threshold value adjusting unit is used for monitoring dangerous signals in real time and adjusting the triggering threshold value of pedestrian protection measures to be below a set value according to the dangerous signals; the ignition decision unit is used for comparing the collision parameter with the trigger threshold value and sending an ignition instruction to the ignition current sending unit when the collision parameter meets the trigger threshold value; the ignition current sending unit is used for sending ignition current pulses to the pedestrian protection execution module through the energy storage capacitor according to the ignition command.
In this embodiment, the data analysis unit may be configured to analyze the currently received crash parameters, including the acceleration and pressure transmitted from the crash acceleration sensor and the pressure sensor, and transmit the crash parameters to the ignition decision unit. The threshold value adjusting unit is used for monitoring the dangerous signal in real time, adjusting the triggering threshold value of the pedestrian protection measure to be below a set value when the dangerous signal is detected, and adjusting the triggering threshold value of the pedestrian protection measure to be above the set value when the dangerous signal is not detected; if the non-contact sensing system fails, the triggering threshold of the pedestrian protection measure is neither pulled up nor pulled down, and the default value is maintained. The ignition decision unit is used for calling the triggering threshold value of the pedestrian protection measure in the threshold value adjusting unit in real time, comparing the triggering threshold value with the received collision parameter, and sending an ignition instruction to the ignition current sending unit when the collision parameter reaches the triggering threshold value. The ignition current transmitting unit transmits ignition current pulses to the pedestrian protection executing module through the energy storage capacitor according to the received ignition command, so that the pedestrian protection executing module executes corresponding pedestrian protection measures.
Specifically, when a dangerous signal is detected, the pedestrian protection control module adjusts the triggering threshold value of pedestrian protection measures to be below a set value through a data analysis unit, a threshold value adjusting unit, an ignition decision unit and an ignition current sending unit, the triggering threshold value line is pulled down in advance, the triggering threshold value can be met by a little collision at the moment, an ignition decision unit can send an ignition instruction to the ignition current sending unit, and the ignition current sending unit sends an ignition current pulse to a pedestrian protection executing module through an energy storage capacitor according to the received ignition instruction, so that the pedestrian protection measures are executed, pedestrians can be better protected, and a larger damage value caused by late detonation time is reduced; when no danger signal is detected, the triggering threshold value of the pedestrian protection measure is adjusted to be above the set value, for example, if a small animal or a basketball, a garbage can or the like hits a vehicle at the moment, the triggering threshold value line which is pulled up before is difficult to trigger due to limited collision strength, so that an ignition command is not sent to an ignition current sending unit, the occurrence of false explosion can be avoided, and the maintenance cost is saved.
Optionally, the pedestrian protection execution module includes: an airbag control unit and/or a cabin cover control unit; the air bag control unit is used for opening a pedestrian protection air bag according to the pedestrian protection instruction; the cabin cover control unit is used for bouncing the cabin cover according to the pedestrian protection instruction.
Specifically, the pedestrian protection execution module can open the pedestrian protection air bag and/or pop up the cabin cover according to the pedestrian protection instruction, so that more selection spaces can be provided for the calibrated pedestrian protection air bag and the cabin cover, better pedestrian protection can be realized, and the pedestrian injury value is reduced.
Fig. 2 is a schematic structural diagram of another pedestrian protection system according to an embodiment of the application. Referring to fig. 2, the working principle of the system specifically includes the following steps:
1. sensing pedestrian information (the advancing direction, speed, distance from the vehicle and the like of the pedestrian in front) through a radar and a camera in the non-contact sensing module, and sending the pedestrian information to the control module;
2. sensing the speed information of the vehicle through a speed sensing module and sending the speed information to a control module;
3. the control module identifies the actual obstacle according to the pedestrian information and the speed information, calculates the collision time TTC, and compares the TTC with a set threshold value to determine whether to send a dangerous signal to the pedestrian protection control module, whether to send a braking instruction to the ESP and whether to send alarm information to the alarm module;
4. the collision sensing module senses collision parameters of the vehicle and pedestrians and sends the collision parameters to the pedestrian protection control module;
5. the pedestrian protection control module analyzes the collision parameters, monitors dangerous signals, adjusts the triggering threshold of pedestrian protection measures according to the dangerous signals, and sends pedestrian protection instructions to the pedestrian protection execution module when the collision parameters meet the triggering threshold;
6. the pedestrian protection execution module executes pedestrian protection measures according to the pedestrian protection instructions.
The embodiment of the application provides a pedestrian protection system, which comprises: the system comprises a non-contact sensing module, a control module, a speed sensing module, a collision sensing module, a pedestrian protection control module and a pedestrian protection execution module; the pedestrian protection control module can raise the threshold value when no dangerous signal exists, so that false alarm can be avoided, and the cost can be saved; the collision acceleration sensor, the pressure sensor, the radar and the camera are combined to identify the actual obstacle, so that the pedestrian condition can be accurately identified in advance, whether collision occurs or not can be further verified and judged, the detonation can be timely carried out, the injury to the pedestrian caused by too late detonation is avoided, and false explosion or explosion leakage is avoided, so that the pedestrian is better protected; by comparing the TTC with the collision time threshold value and the braking threshold value, corresponding decisions are made, the sending of dangerous signals, alarm information and braking request instructions can be flexibly controlled, and more selection spaces can be provided for the calibrated pedestrian protection air bags and cabin covers, so that better pedestrian protection is realized, and the pedestrian injury value is reduced.
Example two
Fig. 2 is a flowchart of a pedestrian protection method according to a second embodiment of the present application, where the method may be applied to the pedestrian protection system provided in the foregoing embodiment, and as described with reference to fig. 2, the method may include the following steps:
s210, sensing pedestrian information in a set range, speed information of the vehicle and collision parameters of the vehicle and pedestrians;
s220, identifying an actual obstacle according to the pedestrian information and the speed information;
s230, when an actual obstacle is identified, adjusting a triggering threshold value of pedestrian protection measures to be below a set value;
s240, pedestrian protection measures are taken when the collision parameter meets the trigger threshold.
According to the technical scheme, pedestrian information, speed information of the vehicle and collision parameters of the vehicle and pedestrians in a set range are perceived; identifying an actual obstacle based on the pedestrian information and the speed information; when the actual obstacle is identified, the triggering threshold value of the pedestrian protection measure is adjusted to be below a set value; taking pedestrian protection measures when the collision parameter meets the trigger threshold; the pedestrian protection system solves the problems that the existing pedestrian protection system is judged by only relying on a non-contact sensing system, and the situation that pedestrians are not protected due to missing report is easy to occur, or relatively large maintenance cost is caused by false explosion occurs; through the mode of active and passive combination and further collision inspection, realize avoiding the risk of mistake exploding and missing report, through earlier detonation rendering, reduce because the great injury value that detonation time caused later, protect the pedestrian better, reduce pedestrian injury value, save maintenance cost.
Optionally, the method further comprises: and when no danger signal exists, the triggering threshold value of the pedestrian protection measure is adjusted to be above the set value.
Optionally, the method further comprises: identifying an actual obstacle according to pedestrian information perceived by the radar and the camera;
if the pedestrian information perceived by the radar is greater than a first threshold value and the pedestrian information perceived by the camera is greater than a second threshold value, identifying that an actual obstacle exists;
if the pedestrian information perceived by the radar in the period lasting the first quantity is larger than a first threshold value, and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that an actual obstacle exists;
if the pedestrian information perceived by the radar is smaller than a first threshold value and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that no actual obstacle exists;
and if the pedestrian information perceived by the radar is smaller than the first threshold value and the pedestrian information perceived by the camera in the period lasting the second number is larger than the second threshold value, identifying that an actual obstacle exists.
Optionally, the method further comprises: when the actual obstacle is identified, the stability of the body of the vehicle is maintained in the braking process, and the danger prompt information is displayed.
Optionally, the method further comprises: calculating collision time TTC according to the speed information of the vehicle, the speed information of the actual obstacle and the distance between the vehicle and the actual obstacle;
if the TTC is smaller than or equal to a collision time threshold and the TTC is larger than or equal to a braking threshold, sending alarm information to the alarm module;
if the TTC is smaller than a braking threshold value, a dangerous signal is sent to the pedestrian protection module, a braking instruction is sent to the ESP, and alarm information is sent to the alarm module;
if the TTC is larger than the collision time threshold, no early warning signal, no braking instruction and no danger signal are sent. Optionally, the method further comprises: analyzing the collision parameters, monitoring dangerous signals in real time, adjusting a triggering threshold value of pedestrian protection measures to be below a set value according to the dangerous signals, comparing the collision parameters with the triggering threshold value, and sending an ignition instruction when the collision parameters meet the triggering threshold value;
and sending an ignition current pulse through an energy storage capacitor according to the ignition command.
Optionally, the method further comprises: and when the pedestrian protection instruction is received, opening the pedestrian protection airbag and/or bouncing up the cabin cover.
The pedestrian protection method provided by the second embodiment of the application belongs to the same inventive concept as the pedestrian protection system of the above embodiment, and has corresponding functions and beneficial effects. Technical details which are not described in detail in this embodiment can be found in any of the above embodiments.
On the basis of the above-described embodiments, the present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the pedestrian protection method in any of the above-described embodiments of the present application.
A storage medium containing computer-executable instructions provided by embodiments of the present application may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
From the above description of embodiments, it will be clear to a person skilled in the art that the present application may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the viability assessment method according to the embodiments of the present application.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, while the application has been described in connection with the above embodiments, the application is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the application, which is set forth in the following claims.
Claims (10)
1. A pedestrian protection system, comprising: the system comprises a non-contact sensing module, a control module, a speed sensing module, a collision sensing module, a pedestrian protection control module and a pedestrian protection execution module; the control module is respectively connected with the non-contact sensing module, the speed sensing module and the pedestrian protection control module; the pedestrian protection control module is also respectively connected with the collision sensing module and the pedestrian protection execution module;
the non-contact sensing module is used for sensing pedestrian information in a set range and sending the pedestrian information to the control module;
the speed sensing module is used for sensing the speed information of the vehicle and sending the speed information to the control module;
the control module is used for identifying an actual obstacle according to the pedestrian information and the speed information, and sending a dangerous signal to the pedestrian protection control module when the actual obstacle is identified;
the collision sensing module is used for sensing collision parameters of the vehicle and the pedestrian and sending the collision parameters to the pedestrian protection control module;
the pedestrian protection control module is used for adjusting the triggering threshold value of the pedestrian protection measure to be below a set value according to the dangerous signal, and sending a pedestrian protection instruction to the pedestrian protection execution module when the collision parameter meets the triggering threshold value so as to enable the pedestrian protection execution module to execute the pedestrian protection measure.
2. The system of claim 1, wherein the pedestrian protection control module is further configured to adjust the trigger threshold of the pedestrian protection measure above the set point when there is no hazard signal.
3. The system of claim 1, wherein the collision sensing module comprises a collision acceleration sensor and a pressure sensor.
4. The system of claim 1, wherein the non-contact sensing module comprises a radar and a camera.
5. The system of claim 4, wherein the control module includes an environmental awareness processing unit for identifying an actual obstacle based on pedestrian information perceived by the radar and the camera;
if the pedestrian information perceived by the radar is greater than a first threshold value and the pedestrian information perceived by the camera is greater than a second threshold value, identifying that an actual obstacle exists;
if the pedestrian information perceived by the radar in the period lasting the first quantity is larger than a first threshold value, and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that an actual obstacle exists;
if the pedestrian information perceived by the radar is smaller than a first threshold value and the pedestrian information perceived by the camera is smaller than a second threshold value, identifying that no actual obstacle exists;
and if the pedestrian information perceived by the radar is smaller than the first threshold value and the pedestrian information perceived by the camera in the period lasting the second number is larger than the second threshold value, identifying that an actual obstacle exists.
6. The system of claim 1, further comprising: a vehicle body stability controller ESP and an alarm module; the control module is respectively connected with the ESP and the alarm module;
the ESP is used for maintaining the stability of the body of the vehicle during braking;
the alarm module is used for displaying danger prompt information.
7. The system according to claim 6, wherein the control module comprises a decision control unit for calculating a time to collision TTC based on speed information of the host vehicle, speed information of an actual obstacle and a distance between the host vehicle and the actual obstacle;
if the TTC is smaller than or equal to a collision time threshold and the TTC is larger than or equal to a braking threshold, sending alarm information to the alarm module;
if the TTC is smaller than a braking threshold value, a dangerous signal is sent to the pedestrian protection module, a braking instruction is sent to the ESP, and alarm information is sent to the alarm module;
if the TTC is larger than the collision time threshold, no early warning signal, no braking instruction and no danger signal are sent.
8. The system of claim 1, wherein the pedestrian protection control module comprises a data analysis unit, a threshold adjustment unit, an ignition decision unit, and an ignition current transmission unit;
the data analysis unit is used for analyzing the collision parameters;
the threshold value adjusting unit is used for monitoring dangerous signals in real time and adjusting the triggering threshold value of pedestrian protection measures to be below a set value according to the dangerous signals;
the ignition decision unit is used for comparing the collision parameter with the trigger threshold value and sending an ignition instruction to the ignition current sending unit when the collision parameter meets the trigger threshold value;
the ignition current sending unit is used for sending ignition current pulses to the pedestrian protection execution module through the energy storage capacitor according to the ignition command.
9. The system of claim 1, wherein the pedestrian protection enforcement module comprises: an airbag control unit and/or a cabin cover control unit;
the air bag control unit is used for opening a pedestrian protection air bag according to the pedestrian protection instruction;
the cabin cover control unit is used for bouncing the cabin cover according to the pedestrian protection instruction.
10. A pedestrian protection method, comprising:
sensing pedestrian information in a set range, speed information of the vehicle and collision parameters of the vehicle and pedestrians;
identifying an actual obstacle based on the pedestrian information and the speed information;
when the actual obstacle is identified, the triggering threshold value of the pedestrian protection measure is adjusted to be below a set value;
and taking pedestrian protection measures when the collision parameter meets the trigger threshold.
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| CN202310753234.2A CN116691574A (en) | 2023-06-25 | 2023-06-25 | Pedestrian protection system and method |
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