KR20230039806A - Apparatus for protecting waker and control method thereof - Google Patents

Abstract

Disclosed are a pedestrian protection apparatus and a control method thereof. According to an embodiment of the present invention, the pedestrian protection apparatus comprises: a first sensing unit detecting first information according to the dynamic behavior of a vehicle; a second detection unit detecting second information according to a collision between the vehicle and an object located in front of the vehicle; and a control unit determining the collision possibility of a pedestrian and the type of pedestrian based on the first information, adjusting first threshold information for determining whether the collision accident of the vehicle has occurred and second threshold information for determining the type of accident, based on the collision probability and the type of pedestrian, comparing the second information and the first threshold information to determine whether a pedestrian collision accident has occurred, determines the type of accident based on the second information and the second threshold information when a pedestrian collision accident has occurred, and operating a protection module corresponding to the determined type of accident. Therefore, the pedestrian protection apparatus can operate a protection module that responds to the type of pedestrian accident.

Description

Pedestrian protection device and its control method {APPARATUS FOR PROTECTING WAKER AND CONTROL METHOD THEREOF}

The present invention relates to a pedestrian protection device and a control method thereof, and more particularly, to set critical information for determining whether a pedestrian collision has occurred and determining the type of pedestrian accident based on information detected through an active sensor, and determining the type of pedestrian accident, and the critical information The present invention relates to a pedestrian protection device that determines whether a pedestrian collision occurs and the type of pedestrian accident based on information detected through a passive sensor and operates a protection module corresponding to the type of pedestrian accident, and a control method thereof.

In the case of a collision accident between a vehicle and a pedestrian, the pedestrian first collides with the front bumper of the vehicle, then collapses toward the hood panel of the vehicle and then crashes again, resulting in the pedestrian's head colliding with the hood. Accordingly, the impact energy is transferred to the pedestrian as it is, and the pedestrian may be fatally injured.

Therefore, as pedestrian protection laws have recently been strengthened, in order to satisfy the above pedestrian protection laws, in case of a pedestrian collision accident, the pedestrian protection airbag mounted on the outside of the vehicle is deployed to protect the pedestrian's head from fatal injury, or between the hood and engine room of the vehicle. An active hood system that moves the hood of a vehicle upward so that a space capable of absorbing the impact energy of a pedestrian is secured is being applied.

A conventional pedestrian protection system discriminates between a pedestrian and an object using information from passive sensors such as an acceleration sensor, a pressure sensor, and an optical fiber sensor, and controls protection devices (hood lift, airbag, restraint device, etc.) in case of collision. Protects pedestrians from colliding with vehicles. However, since it is difficult to determine the type of an object collided with only a passive sensor, a collision with a non-pedestrian object may cause an early warning that the pedestrian protection module is deployed. Since it is detected as small, there is a problem in that the pedestrian protection module for protecting the pedestrian is not deployed or is delayed.

Accordingly, an active sensor is additionally installed to determine the type of object with a possibility of collision, and a passive sensor is assisted to prevent the pedestrian protection module from opening and closing in the morning.

However, conventional pedestrian protection devices do not distinguish between types of pedestrian accidents and can only respond to collisions with the upper part of the vehicle among the types of pedestrian accidents. there is.

The foregoing background art is technical information that the inventor possessed for derivation of the present invention or acquired during the derivation process of the present invention, and cannot necessarily be said to be known art disclosed to the general public prior to filing the present invention.

The present invention has been made to solve the above-described problems, and an object of the present invention is to set threshold information for determining whether a pedestrian collision has occurred and determining the type of pedestrian accident based on information detected through an active sensor, and determining the threshold An object of the present invention is to provide a pedestrian protection device and a control method for determining whether a pedestrian collision occurs and the type of pedestrian accident based on information and information detected through a passive sensor, and operating a protection module corresponding to the type of pedestrian accident.

The problem to be solved by the present invention is not limited to the above-mentioned problem (s), and another problem (s) not mentioned will be clearly understood by those skilled in the art from the following description.

Pedestrian protection device according to an aspect of the present invention, a first detection unit for detecting first information according to the dynamic behavior of the vehicle, a first detection unit for detecting the second information according to the collision of the vehicle with an object located in front of the vehicle 2 a sensing unit and first threshold information for determining whether a collision accident of the vehicle has occurred based on the possibility of collision with a pedestrian and the type of pedestrian based on the first information, and based on the possibility of collision and the type of pedestrian; The second critical information for determining the type is adjusted, the second information and the first critical information are compared to determine whether a pedestrian collision occurs, and when a pedestrian collision occurs, the second information and the second critical information and a control unit for determining an accident type based on and operating a protection module corresponding to the accident type.

In the present invention, the first sensing unit may include at least one or more of a camera, radar, and lidar.

In the present invention, the second sensing unit includes at least one of an acceleration sensor and a pressure sensor, and the pressure sensor is mounted on a front bumper of the vehicle and detects a collision between an object located in front of the vehicle and the vehicle. A first pressure sensor detecting a first pressure, and a second pressure sensor mounted on the bonnet of the vehicle to detect a second pressure of the bonnet according to a collision between the object and the vehicle.

In the present invention, the control unit measures at least one of a relative distance, a relative speed, and a collision time between the vehicle and the pedestrian based on the first information, and the relative distance, the relative speed, and the collision time based on at least one of the A possibility of collision with a pedestrian may be predicted, and the first threshold information may be adjusted according to the possibility of collision with the pedestrian.

In the present invention, the control unit compares the collision probability with a preset collision prediction threshold, and as a result of the comparison, when the collision probability exceeds the collision prediction threshold, the first threshold acceleration and the first threshold pressure are used as first threshold information. and sets first threshold information as a second threshold acceleration and a second threshold pressure when the probability of collision does not exceed a collision prediction threshold, wherein the first threshold acceleration is a value smaller than the second threshold acceleration, The first threshold pressure may be smaller than the second threshold pressure.

In the present invention, the control unit determines the pedestrian type and pedestrian size based on the first information, compares the ratio between the pedestrian size and the front and rear shape parameters of the vehicle with a preset reference ratio, and according to the comparison result, the first 2 Critical information can be adjusted.

In the present invention, the control unit determines whether the pedestrian size according to the pedestrian type is effective based on the pre-stored average pedestrian size for each pedestrian type, and if valid, compares the ratio between the pedestrian size and the front and rear shape parameters of the vehicle with the reference ratio. can

In the present invention, the control unit sets second threshold information as a first critical angular velocity and a third threshold pressure when the ratio between the size of the pedestrian and the shape parameters of the front and rear surfaces of the vehicle is greater than or equal to the reference ratio, and the size of the pedestrian and the front and rear surfaces of the vehicle are set. When the ratio between shape parameters is not greater than or equal to the reference ratio, second threshold information is set as a second critical angular velocity and a fourth critical pressure, wherein the first critical angular velocity is smaller than the second critical angular velocity, and the third critical pressure may be a value smaller than the fourth threshold pressure.

In the present invention, the second information may include at least one of acceleration information of an acceleration sensor, a first pressure of a first pressure sensor, and a second pressure of a second pressure sensor.

In the present invention, the control unit compares the acceleration information and the first pressure with the first threshold information, and as a result of the comparison, when the acceleration information and the first pressure exceed the first threshold information, a pedestrian collision occurs. can be judged by

In the present invention, the controller calculates an angular velocity by integrating the acceleration information, compares the angular velocity and the second pressure with the second critical information, and as a result of the comparison, the angular velocity and the second pressure are the second critical information If it exceeds , the accident type may be determined as an upper vehicle collision accident, and if the angular velocity and the second pressure do not exceed the second threshold information, the accident type may be determined as an accident with an under vehicle collision.

In the present invention, the control unit deploys at least one of a hood lift actuator and a windshield airbag to protect the pedestrian when the accident type is an upper vehicle crash accident, and when the accident type is an accident with a vehicle lower station, the controller deploys at least one of a hood lift actuator and a windshield airbag to protect the pedestrian. For protection, the bumper curtain airbags can be deployed.

A method for controlling a pedestrian protection device according to an aspect of the present invention includes receiving, by a control unit, first information and second information from a first detection unit and a second detection unit; Determining the possibility of collision and the type of pedestrian, and based on the possibility of collision and the type of pedestrian, adjusting first threshold information for determining whether a collision of the vehicle has occurred and second threshold information for determining the type of accident; determining, by the controller, whether a pedestrian collision accident occurs by comparing the second information with the first critical information; and when a pedestrian collision occurs, the controller determines the type of accident based on the second information and the second critical information. Determining, and the control unit operating a protection module corresponding to the accident type.

In the present invention, in the step of adjusting the first critical information and the second critical information for determining the accident type, the control unit may, based on the first information, at least one of the relative distance, relative speed, and collision time between the vehicle and the pedestrian. One is measured, the probability of collision with the pedestrian is predicted based on at least one of the relative distance, relative speed, and collision time, and the first threshold information can be adjusted according to the possibility of collision with the pedestrian.

In the present invention, in the step of adjusting the first threshold information and the second threshold information for determining the accident type, the controller compares the collision probability with a preset collision prediction threshold, and as a result of the comparison, the collision probability is When the predicted threshold value is exceeded, the first threshold information is set as the first critical acceleration and the first critical pressure, and when the probability of collision does not exceed the predicted collision threshold value, the first threshold information is set as the second critical acceleration and the second critical pressure. Critical information is set, the first threshold acceleration may be a value smaller than the second threshold acceleration, and the first threshold pressure may be a value smaller than the second threshold pressure.

In the present invention, in the step of adjusting the first critical information and the second critical information for determining the accident type, the control unit determines the pedestrian type and pedestrian size based on the first information, and determines the pedestrian size and the size of the pedestrian before and after the vehicle. A ratio between surface shape parameters is compared with a preset reference ratio, and the second threshold information may be adjusted according to the comparison result.

In the step of adjusting the first critical information and the second critical information for determining the accident type, the control unit determines whether the pedestrian size according to the pedestrian type is effective based on the pre-stored average pedestrian size for each pedestrian type. and, if valid, the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle may be compared with the reference ratio.

In the present invention, in the step of adjusting the first critical information and the second critical information for determining the type of accident, the control unit, when the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle is greater than or equal to the reference ratio, the first critical angular velocity and setting second threshold information as a third threshold pressure, and setting second threshold information as a second threshold angular velocity and a fourth threshold pressure when the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle is not equal to or greater than the reference ratio. , The first critical angular velocity may be a value smaller than the second critical angular velocity, and the third critical pressure may be a value smaller than the fourth critical pressure.

In the present invention, the second information may include at least one of acceleration information of an acceleration sensor, a first pressure of a first pressure sensor, and a second pressure of a second pressure sensor.

In the step of determining whether the pedestrian collision accident has occurred, the control unit compares the acceleration information and the first pressure with the first threshold information, and as a result of the comparison, the acceleration information and the first pressure are When the first threshold information is exceeded, it may be determined that a pedestrian collision accident occurs.

In the step of determining the accident type, the control unit calculates an angular velocity by integrating the acceleration information, compares the angular velocity and the second pressure with the second critical information, and as a result of the comparison, the angular velocity and When the second pressure exceeds the second critical information, the accident type is determined as an upper vehicle crash accident, and when the angular velocity and the second pressure do not exceed the second critical information, the accident type is determined as an accident with a lower vehicle accident. can be judged by

In the step of activating the protection module, the control unit deploys at least one of a hood lift actuator and a windshield airbag to protect the pedestrian when the accident type is an upper vehicle collision accident, and the accident type is In the event of an accident with the underside of the vehicle, the bumper curtain airbag can be deployed to protect the pedestrian.

A pedestrian protection device and method for controlling the same according to an aspect of the present invention set critical information for determining whether a pedestrian collision has occurred and determining the type of pedestrian accident based on information detected through an active sensor, and set critical information and passive Based on the information detected through the sensor, it determines whether a pedestrian collision has occurred and the type of pedestrian accident, and by activating the protection module corresponding to the type of pedestrian accident, it can prevent a pedestrian from colliding with the upper part of the vehicle as well as a pedestrian being sucked into the lower part of the vehicle. It can prevent the occurrence of an accident with a vehicle lowering, and reduce injuries to pedestrians.

On the other hand, the effects of the present invention are not limited to the effects mentioned above, and various effects may be included within a range apparent to those skilled in the art from the contents to be described below.

1 is a block diagram schematically showing a pedestrian protection device according to an embodiment of the present invention.
2 is an exemplary view for explaining a first pressure sensor and a second pressure sensor according to an embodiment of the present invention.
3 is an exemplary diagram for explaining accident types according to an embodiment of the present invention.
4 is a flowchart illustrating a control method of a pedestrian protection device according to an embodiment of the present invention.
5 is a flowchart illustrating a method of setting first threshold information for determining whether a vehicle collision accident occurs according to an embodiment of the present invention.
6 is a flowchart illustrating a method of adjusting second threshold information for determining an accident type according to an embodiment of the present invention.
7 is a flowchart illustrating a method for controlling a protection module according to a pedestrian collision accident type according to an embodiment of the present invention.

Hereinafter, a pedestrian protection device and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

Implementations described herein may be embodied in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Even if discussed only in the context of a single form of implementation (eg, discussed only as a method), the implementation of features discussed may also be implemented in other forms (eg, an apparatus or program). The device may be implemented in suitable hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which is generally referred to as a processing device including, for example, a computer, microprocessor, integrated circuit, programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

1 is a block diagram schematically showing a pedestrian protection device according to an embodiment of the present invention, FIG. 2 is an exemplary view for explaining a first pressure sensor and a second pressure sensor according to an embodiment of the present invention, FIG. It is an exemplary diagram for explaining accident types according to an embodiment of the present invention.

Referring to FIG. 1 , the pedestrian protection device according to an embodiment of the present invention includes a detection unit 100, a storage unit 200, a protection module driving unit 300, and a control unit 400.

The detector 100 includes a first detector 110 that detects first information according to the dynamic behavior of the vehicle, and a second detector that detects second information according to a collision of the vehicle with an object located in front of the vehicle ( 120) may be included.

The first sensing unit 110 may detect the presence and distance of an obstacle in front of the vehicle to identify the front obstacle and provide first information as a detection result to the control unit 400 to determine the possibility of a collision.

The first detector 110 may include at least one active sensor of a camera (not shown), a radar (not shown), and a lidar (not shown), and in addition to these, by identifying a front obstacle and detecting a distance, It may include sensors capable of determining the possibility of collision. A camera photographs an obstacle in front to determine whether it is a person or an object, and a radar and lidar can detect the presence of an obstacle (person, object, etc.) in front and the distance therebetween. The first information sensed by the first detection unit 110 may be transmitted to the control unit 400 . In this embodiment, the camera may detect an obstacle around the vehicle using image capturing information and determine whether the obstacle is a pedestrian. The camera may determine whether the obstacle is a pedestrian through image analysis, and determine that the obstacle is a pedestrian when motion is detected through comparison of front and back images after the obstacle is determined to be a pedestrian.

The second detector 120 may detect second information for detecting a vehicle collision.

The second sensor 120 is a sensor that detects a physical contact (collision) of the vehicle and may be implemented as a passive sensor such as an acceleration sensor 122 and a pressure sensor 124 . Here, the acceleration sensors 122 are provided inside the left and right bumpers of the vehicle, respectively, and can measure accelerations generated from the left and right bumpers of the vehicle, respectively. As shown in FIG. 2 , the pressure sensor 124 may include a first pressure sensor 124a mounted on a front bumper of the vehicle and a second pressure sensor 124b mounted on the bonnet of the vehicle. The first pressure sensor 124a is provided inside the front bumper of the vehicle to measure a first pressure generated in the front bumper according to a collision between the vehicle and an object in front of the vehicle. The second pressure sensor 124b is provided inside the bonnet of the vehicle and may measure a second pressure generated in the bonnet according to a collision between an object and the vehicle.

The storage unit 200 may store front and rear shape parameters of the vehicle and average size information for each type of pedestrian. Here, the front and rear shape parameters of the vehicle may include a Bonnet Leading Edge (BLE), a vehicle width, and a vehicle length. The average size information for each pedestrian type is information for determining whether the pedestrian size for each pedestrian type is effective, and may include the average height and center of gravity for each pedestrian type, and the pedestrian type may include children, adult females, and adult males. can If the pedestrian size according to the pedestrian type determined by the controller 400 is not included within the error range of the average size information for each pedestrian type stored in the storage unit 200, the controller 400 converts the pedestrian size of the determined pedestrian type to the corresponding pedestrian. It can be corrected using the average size information of the type. Here, the error range may be a preset range, for example, ±10%.

In addition, the storage unit 200 may store first critical information for determining whether a vehicle collision accident has occurred in multiple stages. Here, the first critical information may include critical acceleration and critical pressure, and the storage unit 200 may store the multi-stage critical acceleration and critical pressure in the first critical information table. That is, the first threshold information table may store values of the threshold acceleration and threshold pressure in order of low (or high) order.

For example, the storage unit 200 may store the critical acceleration and critical pressure of step 1 and the critical acceleration and critical pressure of step 2 as shown in Table 1 below.

In addition, the storage unit 200 may store second critical information for determining the type of vehicle crash in multiple stages. Here, the second critical information may include the critical angular velocity and critical pressure, and the storage unit 200 may store the multi-level critical angular velocity and critical pressure in the second critical information table. That is, the second critical information table may store values of the critical angular velocity and the critical pressure in descending order (or high order).

For example, the storage unit 200 may store the critical angular velocity and critical pressure of step 1 and the critical angular velocity and critical pressure of step 2 as shown in Table 2 below.

The protection module driving unit 300 may drive a protection module for protecting a pedestrian in case of collision with a vehicle. Here, the protection module may include a hood lift actuator, a windshield airbag, and a bumper curtain airbag. The hood lift actuator is a device that reduces damage caused by a secondary collision between a pedestrian and a vehicle by lifting the hood when a collision between a pedestrian and a vehicle occurs and reducing the impact when the pedestrian collides with the hood. A windshield airbag is a device that reduces damage caused by a secondary collision between a pedestrian and a vehicle through an airbag deployed outside the vehicle body when a collision between a pedestrian and a vehicle occurs. The bumper curtain airbag may be an airbag that is deployed when a pedestrian collides with a vehicle and the pedestrian is sucked under the vehicle and an accident occurs.

The control unit 400 determines the probability of collision of a pedestrian and the type of pedestrian based on the first information from the first detector 110, and based on the possibility of collision and the type of pedestrian, the control unit 400 determines whether a collision accident of the vehicle has occurred or not. Adjusting the first critical information and the second critical information for determining the type of accident, comparing the second information from the second sensor 120 with the first critical information to determine whether a pedestrian collision has occurred, and to determine whether a pedestrian collision has occurred A pedestrian accident type may be determined based on the time, second information, and second threshold information, and a protection module corresponding to the pedestrian accident type may be operated. At this time, the control unit 400 may control the protection module driving unit 300 to operate the protection module corresponding to the pedestrian accident type.

Hereinafter, the operation of the control unit 400 will be described in detail.

The control unit 400 measures at least one of the relative distance between the vehicle and the pedestrian, the relative speed, and the time to collision (TTC) based on the first information from the first detector 110, and the measured relative distance , the relative speed, and the collision probability based on at least one of the pedestrian collision probability based on, and the first threshold information can be adjusted according to the pedestrian collision probability. At this time, the controller 400 compares the collision probability with a preset collision prediction threshold, and sets the first threshold information as the first threshold acceleration and the first threshold pressure when the collision probability exceeds the collision prediction threshold as a result of the comparison. And, when the possibility of collision does not exceed the collision prediction threshold, the first threshold information may be set as the second threshold acceleration and the second threshold pressure. Here, the first threshold acceleration may be a value smaller than the second threshold acceleration, and the first threshold pressure may be a value smaller than the second threshold pressure.

For example, a case in which the possibility of collision is determined using the collision time (TTC) will be described. In this case, the control unit 400 compares the measured collision time with a preset critical collision time, and if the measured collision time exceeds the critical collision time as a result of the comparison, the controller 400 compares the measured collision time with the threshold collision time stored in the storage unit 200. 1 Relatively low critical acceleration and critical pressure may be extracted from the critical information table and set as first critical information. For example, when the first critical information table such as Table 1 is stored, the control unit 400 may set the critical acceleration 2 and the critical pressure 50 corresponding to the first step as the first critical information. If the measured collision time does not exceed the critical collision time, the control unit 400 extracts a relatively higher critical acceleration and critical pressure from the first critical information table stored in the storage unit 200 and converts them into first critical information. can be set For example, when the first critical information table such as Table 1 is stored, the controller 400 may set the critical acceleration 10 and the critical pressure 80 corresponding to the second step as the first critical information.

As described above, if the possibility of collision is high, the controller 400 may set a relatively smaller value as the first threshold information, and if the possibility of collision is low, set a relatively lower value as the first threshold information. .

In addition, the controller 400 determines the pedestrian type and pedestrian size based on the first information from the first detector 110, compares the ratio between the pedestrian size and the front and rear shape parameters of the vehicle with a preset reference ratio, According to the comparison result, the second threshold information may be adjusted.

Specifically, the controller 400 may determine the type and size of a pedestrian by detecting a face region from the image information included in the first information and parsing the detected face region to classify the pedestrian's gender, age, and size. there is. At this time, the control unit 400 may detect the face region using various algorithms such as a haar feature-based face region detection algorithm and a skill color-based face region detection algorithm, and parse the detected face region to determine the pedestrian's It can distinguish gender, age, size, etc. Here, the pedestrian size may include a height, a center of gravity, and the like of the pedestrian. When determining the type and size of the pedestrian, the controller 400 may use various algorithms in addition to the facial region detection algorithm.

When the pedestrian type and size are determined, the controller 400 may determine whether the pedestrian size according to the pedestrian type is effective based on the average pedestrian size for each pedestrian type stored in the storage unit 200 . For example, if it is determined that the pedestrian type is a child, the height of the pedestrian is 180 cm, and the average height of the child is set to 150 cm, the height of the child exceeds the error range of the average height of the child, so the controller 400 determines the determined pedestrian type. It can be determined that the pedestrian size according to is invalid. If it is determined that the pedestrian type is a child, the height of the pedestrian is 152 cm, and the average height of the child is set to 150 cm, the height of the child is included within the average height error range of the child, so the controller 400 determines the height of the child according to the determined pedestrian type. The pedestrian size can be determined to be valid.

If the type and size of the pedestrian are valid, the controller 400 may compare the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle with a reference ratio. Here, the pedestrian size may be the height or center of gravity of the pedestrian. The vehicle front and rear shape parameters may include BLE (Bonnet Leading Edge), vehicle width, vehicle length, etc., but BLE will be described below for convenience of description. Accordingly, the control unit 400 may compare (BLE/pedestrian height) or (BLE/pedestrian center of gravity) with a reference ratio, and compare a first reference ratio for comparison with (BLE/pedestrian height) and (BLE/pedestrian center of gravity). ) The second reference ratio for comparison with may be a different value. Here, the first reference ratio and the second reference ratio may be preset values.

When the ratio between the pedestrian size and the BLE is greater than or equal to the reference ratio, the controller 400 may set the second threshold information as the first threshold angular velocity and the third threshold pressure. When the ratio between the pedestrian size and the BLE is not greater than or equal to the reference ratio, the controller 400 may set the second threshold information as the second threshold angular velocity and the fourth threshold pressure. Here, the first critical angular velocity may be a value smaller than the second critical angular velocity, and the third critical pressure may be a value smaller than the fourth critical pressure.

For example, a case where the ratio between the pedestrian size and the BLE is 'BLE/pedestrian height' will be described. In this case, the control unit 400 compares (BLE/pedestrian key) with a first reference ratio, and if the comparison result (BLE/pedestrian key) is greater than or equal to the first reference ratio, the second threshold stored in the storage unit 200 A relatively lower critical angular velocity and critical pressure may be extracted from the information table and set as second critical information. For example, when the second critical information table such as Table 2 is stored, the controller 400 may set the critical angular velocity 5 and the critical pressure 30 corresponding to the first step as the second critical information. If (BLE/pedestrian key) is not equal to or greater than the first reference ratio, the control unit 400 extracts a relatively higher critical angular velocity and critical pressure from the second critical information table stored in the storage unit 200 to obtain a second threshold value. information can be set. For example, when a second critical information table such as Table 2 is stored, the controller 400 may set critical angular velocity 15 and critical pressure 50 corresponding to the second step as the second critical information.

When the first critical information for determining whether a vehicle collision has occurred and the second critical information for determining the type of accident are set, the controller 400 receives the second information and the first critical information from the second detector 120. By comparison, it is possible to determine whether a pedestrian collision has occurred. At this time, the control unit 400 compares the acceleration information and the first pressure included in the second information with the first threshold information, and as a result of the comparison, when the acceleration information and the first pressure exceed the first threshold information, a pedestrian collision occurs. can be judged by

Specifically, the controller 400 may compare the X-axis component data of the acceleration information with the critical acceleration of the first critical information, and compare the first pressure of the first pressure sensor 124a with the critical pressure of the first critical information. . As a result of the comparison, when the X-axis component data of the acceleration information exceeds the critical acceleration of the first critical information and the first pressure exceeds the critical pressure of the first critical information, the control unit 400 determines that a pedestrian collision has occurred. can judge If the X-axis component data of the acceleration information does not exceed the critical acceleration of the first critical information or the first pressure does not exceed the critical pressure of the first critical information, the control unit 400 does not cause a pedestrian collision accident. It can be judged that it does not.

When it is determined that a pedestrian collision accident has occurred, the controller 400 may determine the pedestrian accident type based on the second information and the second critical information.

Specifically, the controller 400 may integrate the acceleration information included in the second information to calculate the angular velocity, and compare the calculated angular velocity and the second pressure of the second pressure sensor 124b with the second threshold information. At this time, the controller 400 may compare the angular velocity with the critical angular velocity of the second critical information, and compare the second pressure of the second pressure sensor 124b with the critical pressure of the second critical information. As a result of the comparison, when the angular velocity exceeds the critical angular velocity of the second critical information and the second pressure exceeds the critical pressure of the second critical information, the controller 400 may determine the pedestrian accident type as a vehicle upper crash accident. there is. If the angular velocity does not exceed the critical angular velocity of the second critical information or the second pressure does not exceed the critical pressure of the second critical information, the control unit 400 may determine the pedestrian accident type as an accident with a vehicle under the vehicle. .

When the pedestrian accident type is determined, the controller 400 may operate a protection module corresponding to the accident type to protect the pedestrian. That is, when the pedestrian accident type is a vehicle top crash, the controller 400 may deploy at least one of the hood lift actuator and the windshield airbag to protect the pedestrian. When the type of pedestrian accident is an accident involving an under-vehicle accident, the controller 400 may deploy a bumper curtain airbag to protect the pedestrian. At this time, the control unit 400 may control the protection module driving unit 300 to operate the protection module corresponding to the accident type.

For example, as shown in (a) of FIG. 3 , when a pedestrian collides with an upper part of a vehicle, the controller 400 may deploy protection modules such as a hood lift and a windshield airbag to protect the pedestrian. In addition, as shown in (b) of FIG. 3, when an accident occurs in which a pedestrian is sucked into the lower part of the vehicle, the control unit 400 deploys a bumper curtain airbag to protect the pedestrian and the pedestrian is sucked into the lower part of the vehicle. can prevent

4 is a flowchart illustrating a control method of a pedestrian protection device according to an embodiment of the present invention.

Referring to FIG. 4 , the controller 400 receives first information and second information from the first sensing unit 110 and the second sensing unit 120 (S410). Here, the first information may be information detected through at least one active sensor among a camera, radar, and lidar, and the second information may be information detected through a passive sensor such as an acceleration sensor 122 and a pressure sensor 124. may be information.

When step S410 is performed, the control unit 400 determines the possibility of collision of a pedestrian and the type of pedestrian based on the first information (S420), and based on the possibility of collision and the type of pedestrian, the control unit 400 determines whether a collision accident of the vehicle has occurred or not. 1 The critical information and the second critical information for determining the accident type are adjusted (S430). For a detailed description of how the controller 400 adjusts the first threshold information, refer to FIG. 5 and for a detailed description of how to adjust the second threshold information, refer to FIG. 6 .

When step S430 is performed, the control unit 400 compares the second information from the second detector 120 with the first critical information to determine whether a pedestrian collision has occurred (S440). For a detailed description of how the controller 400 determines whether a pedestrian collision has occurred, refer to FIG. 8 .

If it is determined that a pedestrian collision has occurred (S450), the controller 400 determines the accident type based on the second information and the second critical information (S460), and operates a protection module corresponding to the accident type (S470). For a detailed description of how the control unit 400 operates a protection module corresponding to an accident type, refer to FIG. 8 .

5 is a flowchart illustrating a method of setting first threshold information for determining whether a vehicle collision accident occurs according to an embodiment of the present invention.

Referring to FIG. 5 , the controller 400 measures at least one of a relative distance, a relative speed, and a Time To Collision (TTC) between a vehicle and a pedestrian based on first information from the first detector 110. Do (S510).

When step S510 is performed, the control unit 400 predicts the probability of collision with the pedestrian based on at least one of the measured relative distance, relative speed, and collision time (S520), and sets the collision probability of the pedestrian to a preset collision prediction threshold. It is determined whether it exceeds (S530). Here, the possibility of collision can be predicted by various values such as collision time.

As a result of the determination in step S530, if the probability of collision exceeds the collision prediction threshold, the control unit 400 sets the relatively low critical acceleration and critical pressure among the critical accelerations and critical pressures stored in the first critical information table as first critical information. It is set (S540).

If, as a result of the determination in step S530, if the probability of collision does not exceed the collision prediction threshold, the control unit 400 determines a relatively high critical acceleration and critical pressure among the critical accelerations and critical pressures stored in the first critical information table. It is set as critical information (S550).

As described above, if the possibility of collision is high, the controller 400 may set a relatively smaller value as the first threshold information, and if the possibility of collision is low, set a relatively lower value as the first threshold information. .

6 is a flowchart illustrating a method of adjusting second critical information for determining an accident type according to an embodiment of the present invention.

Referring to FIG. 6 , the controller 400 classifies the pedestrian type based on the first information from the first sensor 110 (S610) and estimates the size of the pedestrian (S620). At this time, the controller 400 may determine the type and size of the pedestrian by detecting a face region from the image information included in the first information and parsing the detected face region to classify the pedestrian's gender, age, size, etc. .

When step S620 is performed, it is determined whether the pedestrian size according to the pedestrian type is valid (S630). In this case, the controller 400 may determine whether the pedestrian size according to the pedestrian type is effective based on the average pedestrian size for each pedestrian type stored in the storage unit 200 .

As a result of the determination in step S630, if the pedestrian type and size are valid, the control unit 400 compares the ratio between the pedestrian size and the BLE with the reference ratio, and determines whether the ratio between the pedestrian size and the BLE is greater than or equal to the reference ratio (S640).

As a result of the determination in step S640, if the ratio between the pedestrian size and the BLE is greater than or equal to the reference ratio, the control unit 400 sets the relatively lower critical angular velocity and critical pressure among the critical angular velocity and critical pressure stored in the second critical information table to the second threshold It is set as information (S650).

If, as a result of the determination in step S640, the ratio between the pedestrian size and the BLE is not greater than or equal to the reference ratio, the control unit 400 determines a relatively higher critical angular velocity and critical pressure among the critical angular velocity and critical pressure stored in the second critical information table. It is set as the second threshold information (S660).

7 is a flowchart illustrating a method for controlling a protection module according to a pedestrian collision accident type according to an embodiment of the present invention.

Referring to FIG. 7 , the controller 400 receives second information including first and second pressures of the first and second pressure sensors 124a and 124b and acceleration information of the acceleration sensor 122. Receive (S710).

Then, the control unit 400 compares the X-axis component data of the acceleration information with the critical acceleration of the first critical information, and compares the first pressure of the first pressure sensor 124a with the critical pressure of the first critical information ( S720).

As a result of comparison in step S720, if the X-axis component data of the acceleration information exceeds the critical acceleration of the first critical information and the first pressure exceeds the critical pressure of the first critical information, the control unit 400 determines that a pedestrian collision accident occurred. It is determined that the angular velocity is calculated by integrating the acceleration information included in the second information (S730).

Then, the controller 400 compares the calculated angular velocity and the second pressure of the second pressure sensor 124b with the second critical information (S740). That is, the controller 400 may compare the angular velocity with the critical angular velocity of the second critical information, and compare the second pressure of the second pressure sensor 124b with the critical pressure of the second critical information.

As a result of comparison in step S740, if the angular velocity exceeds the critical angular velocity of the second critical information and the second pressure exceeds the critical pressure of the second critical information, the controller 400 determines that it is a collision accident with the upper part of the vehicle, and the hood lift actuator and at least one of the windshield airbag is deployed (S750).

If, as a result of the comparison in step S740, if the angular velocity does not exceed the critical angular velocity of the second critical information or the second pressure does not exceed the critical pressure of the second critical information, the control unit 400 determines that it is an accident with the lower vehicle The bumper curtain airbag is deployed (S760).

As described above, the pedestrian protection device and method for controlling the same according to an aspect of the present invention set threshold information for determining whether a pedestrian collision has occurred and determining the type of pedestrian accident based on information detected through an active sensor, Based on the critical information and the information detected through the passive sensor, whether or not a pedestrian collision accident has occurred and the type of pedestrian accident are determined, and the protection module corresponding to the type of pedestrian accident is operated. It is possible to prevent the occurrence of an accident with the lower part of the vehicle being sucked into the lower part of the vehicle, and to reduce injuries to pedestrians.

Although the present invention has been described with reference to the embodiments shown in the drawings, it should be noted that this is only exemplary and various modifications and equivalent other embodiments are possible from those skilled in the art in the art to which the technology pertains. will understand Therefore, the true technical scope of protection of the present invention will be defined by the claims below.

100: sensing unit
110: first detection unit
120: second detection unit
122: acceleration sensor
124: pressure sensor
200: storage unit
300: protection module driving unit
400: control unit

Claims (22)

A first sensor for sensing first information according to the dynamic behavior of the vehicle;
a second sensor configured to sense second information according to a collision between an object located in front of the vehicle and the vehicle; and
Based on the first information, the possibility of collision of a pedestrian and the type of pedestrian are determined, and based on the possibility of collision and the type of pedestrian, the first critical information for determining whether a collision accident of the vehicle has occurred and the first threshold information for determining the accident type 2 Adjusts critical information, compares the second information and the first critical information to determine whether a pedestrian crash accident occurs, and when a pedestrian crash occurs, accident type based on the second information and the second critical information A controller for determining and operating a protection module corresponding to the type of accident
Pedestrian protection device comprising a.
According to claim 1,
The first sensing unit,
Pedestrian protection device comprising at least one of a camera, radar and lidar.
According to claim 1,
The second sensing unit,
At least one of an acceleration sensor and a pressure sensor;
The pressure sensor may include a first pressure sensor mounted on a front bumper of the vehicle to sense a first pressure of the front bumper according to a collision between an object located in front of the vehicle and the vehicle, and a first pressure sensor mounted on the bonnet of the vehicle to detect the object and a second pressure sensor for sensing a second pressure of the bonnet according to a collision between the vehicle and the vehicle.
According to claim 1,
The control unit,
Based on the first information, at least one of a relative distance, a relative speed, and a collision time between the vehicle and the pedestrian is measured, and a possibility of collision of the pedestrian is predicted based on at least one of the relative distance, the relative speed, and the collision time. , Pedestrian protection device characterized in that for adjusting the first threshold information according to the possibility of collision of the pedestrian.
According to claim 4,
The control unit,
The collision probability is compared with a preset collision prediction threshold, and as a result of the comparison, when the collision probability exceeds the collision prediction threshold, first threshold information is set as a first threshold acceleration and a first threshold pressure, and the collision probability is When the collision prediction threshold is not exceeded, the first threshold information is set as the second threshold acceleration and the second threshold pressure,
The first threshold acceleration is a value smaller than the second threshold acceleration, the first threshold pressure is a pedestrian protection device, characterized in that the value smaller than the second threshold pressure.
According to claim 1,
The control unit,
Determining the pedestrian type and pedestrian size based on the first information, comparing the ratio between the pedestrian size and the front and rear shape parameters of the vehicle with a preset reference ratio, and adjusting the second threshold information according to the comparison result. Pedestrian protection device featuring.
According to claim 6,
The control unit,
Pedestrian protection characterized in that the validity of the pedestrian size according to the pedestrian type is determined based on the pre-stored average pedestrian size for each pedestrian type, and if valid, the ratio between the pedestrian size and the front and rear shape parameters of the vehicle is compared with the reference ratio. Device.
According to claim 7,
The control unit,
When the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle is equal to or greater than the reference ratio, second threshold information is set as a first critical angular velocity and a third threshold pressure, and the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle is the reference When the ratio is not higher than the second threshold angular velocity and the fourth threshold pressure, the second threshold information is set;
The first critical angular velocity is a value smaller than the second critical angular velocity, the third threshold pressure is a pedestrian protection device, characterized in that the value smaller than the fourth threshold pressure.
According to claim 1,
The second information,
A pedestrian protection device comprising at least one of acceleration information of an acceleration sensor, a first pressure of a first pressure sensor, and a second pressure of a second pressure sensor.
According to claim 9,
The control unit,
The acceleration information and the first pressure are compared with the first threshold information, and as a result of the comparison, when the acceleration information and the first pressure exceed the first threshold information, it is characterized in that it is determined that a pedestrian collision accident has occurred Pedestrian protection device.
According to claim 9,
The control unit,
An angular velocity is calculated by integrating the acceleration information, the angular velocity and the second pressure are compared with the second critical information, and the accident type is determined when the angular velocity and the second pressure exceed the second critical information. Pedestrian protection device, characterized in that it determines that it is a collision accident, and the type of accident is determined to be an accident with the lower vehicle when the angular velocity and the second pressure do not exceed the second threshold information.
According to claim 11,
The control unit,
deploying at least one of a hood lift actuator and a windshield airbag to protect the pedestrian when the accident type is an upper vehicle collision accident, and deploying a bumper curtain airbag to protect the pedestrian when the accident type is an accident with a vehicle lower part; Pedestrian protection device, characterized in that for deployment.
receiving, by a control unit, first information and second information from a first detection unit and a second detection unit;
The control unit determines the possibility of collision of a pedestrian and the type of pedestrian based on the first information, and based on the possibility of collision and the type of pedestrian, first threshold information for determining whether a collision accident of the vehicle has occurred and determining the type of accident Adjusting second critical information for;
determining, by the control unit, whether a pedestrian collision has occurred by comparing the second information with the first critical information;
determining, by the control unit, an accident type based on the second information and the second critical information when a pedestrian collision accident occurs; and
Operating, by the control unit, a protection module corresponding to the accident type
Control method of the pedestrian protection device comprising a.
According to claim 13,
In the step of adjusting the first critical information and the second critical information for determining the accident type,
The control unit measures at least one of a relative distance, a relative speed, and a collision time between the vehicle and the pedestrian based on the first information, and the collision of the pedestrian based on at least one of the relative distance, the relative speed, and the collision time. Control method of a pedestrian protection device, characterized in that by predicting the possibility, and adjusting the first threshold information according to the possibility of collision with the pedestrian.
According to claim 14,
In the step of adjusting the first critical information and the second critical information for determining the accident type,
The control unit compares the collision probability with a preset collision prediction threshold, and sets first threshold information as a first threshold acceleration and a first threshold pressure when the collision probability exceeds the collision prediction threshold as a result of the comparison, , When the probability of collision does not exceed the collision prediction threshold, the first threshold information is set as a second threshold acceleration and a second threshold pressure,
The first threshold acceleration is a value smaller than the second threshold acceleration, the control method of the pedestrian protection device, characterized in that the first threshold pressure is a value smaller than the second threshold pressure.
According to claim 13,
In the step of adjusting the first critical information and the second critical information for determining the accident type,
The control unit determines a pedestrian type and a pedestrian size based on the first information, compares a ratio between the pedestrian size and a front and rear shape parameter of the vehicle with a preset reference ratio, and based on the comparison result, the second threshold information. Control method of the pedestrian protection device, characterized in that for adjusting.
According to claim 16,
In the step of adjusting the first critical information and the second critical information for determining the accident type,
The control unit determines whether the pedestrian size according to the pedestrian type is effective based on the pre-stored average pedestrian size for each pedestrian type, and if valid, compares the ratio between the pedestrian size and the front and rear shape parameters of the vehicle with the reference ratio. A control method of a pedestrian protection device to be.
According to claim 17,
In the step of adjusting the first critical information and the second critical information for determining the accident type,
The control unit sets second threshold information as a first critical angular velocity and a third threshold pressure when the ratio between the size of the pedestrian and the front and rear shape parameters of the vehicle is equal to or greater than the reference ratio, and When the ratio is not equal to or greater than the reference ratio, second threshold information is set as a second threshold angular velocity and a fourth threshold pressure;
The first critical angular velocity is a value smaller than the second critical angular velocity, and the third threshold pressure is a control method of a pedestrian protection device, characterized in that a value smaller than the fourth threshold pressure.
According to claim 13,
The second information,
A control method for a pedestrian protection device comprising at least one of acceleration information of an acceleration sensor, a first pressure of a first pressure sensor, and a second pressure of a second pressure sensor.
According to claim 19,
In the step of determining whether the pedestrian collision accident has occurred,
The control unit compares the acceleration information and the first pressure with the first threshold information, and determines that a pedestrian collision accident occurs when the acceleration information and the first pressure exceed the first threshold information. A control method of a pedestrian protection device.
According to claim 19,
In the step of determining the type of accident,
The controller calculates an angular velocity by integrating the acceleration information, compares the angular velocity and the second pressure with the second critical information, and when the angular velocity and the second pressure exceed the second critical information, the accident A control method of a pedestrian protection device, characterized in that determining the type as an upper vehicle collision accident, and determining the accident type as an accident with the vehicle lower side when the angular velocity and the second pressure do not exceed the second threshold information.
According to claim 21,
In the step of operating the protection module,
The control unit deploys at least one of a hood lift actuator and a windshield airbag to protect the pedestrian when the accident type is an upper vehicle crash accident, and to protect the pedestrian when the accident type is an accident with a vehicle lower portion. A control method of a pedestrian protection device, characterized in that for deploying a bumper curtain airbag.

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