CN104228754B - The control method and control system of the hood of vehicle - Google Patents
The control method and control system of the hood of vehicle Download PDFInfo
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- CN104228754B CN104228754B CN201410448351.9A CN201410448351A CN104228754B CN 104228754 B CN104228754 B CN 104228754B CN 201410448351 A CN201410448351 A CN 201410448351A CN 104228754 B CN104228754 B CN 104228754B
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Abstract
The present invention provides a kind of control method of the hood of vehicle and control systems, wherein the control method of the hood of vehicle is the following steps are included: detect the object of vehicle front；There are in the case where object, determine whether object is pedestrian detecting in front of vehicle；In the case where object is pedestrian, determine whether vehicle can be with pedestrian collision；In the case where vehicle can be with pedestrian collision, the rear end of the hood of vehicle is lifted before the moment that collides.Present invention efficiently solves vehicles in the prior art after collision occurs, and lifts the problem at high cost that the technology of hood needs.
Description
Technical field
The present invention relates to technical field of vehicle control, control method and control system more particularly to the hood of vehicle
System.
Background technique
In the prior art, when hood and enging cabin internal rigid structure interval are unsatisfactory for pedestrian's design protection requirement
When, to protect pedestrian head in an impact, peace is generally passed through when a vehicle is in a collision using upspring type hood technology
Judge to be hit target type mounted in the sensor of vehicle front bumper, when judging result is pedestrian, carries out hood rear end
Lift action increases hood and enging cabin internal rigid structure interval, absorbs certain collision impact energy, reduces pedestrian
Head injury.But the technology can only just can be carried out the firing action of judgement calculating and jacking device after collision occurs, and reserve meter
Evaluation time and actuation time are very short, require height to executing agency's movement speed, and multiple and different sensors is needed to be visited
Collision information is surveyed, in addition, the prior art can only use similar with air bag to meet the requirement that very short time lifts hood
Ignition type trigger device is as jacking device, and this jacking device cannot be reused, and maintenance cost is high.
Summary of the invention
It is an object of the present invention to provide a kind of control method of the hood of vehicle and control system, to solve
Vehicle lifts the problem at high cost that the technology of hood needs after collision occurs in the prior art.
According to an aspect of the present invention, the present invention provides a kind of control methods of the hood of vehicle, including with
Lower step: the object of vehicle front is detected；Detecting in front of the vehicle there are in the case where object, determine described in
Whether object is pedestrian；In the case where the object is pedestrian, determine whether the vehicle can occur with the pedestrian
Collision；In the case where the vehicle can be with the pedestrian collision, the vehicle is lifted before the moment that collides
The rear end of the hood.
Further, in the case where the vehicle can be with the pedestrian collision, the vehicle and the row are calculated
The collision moment that people collides；Also, the predetermined instant before the collision moment, after lifting the hood
End.
Further, at the time of the predetermined instant is selected from before the collision moment in the range of 1 second to 3 seconds.
Further, at the time of 3 seconds before the predetermined instant is the collision moment.
Further, further includes: after the rear end for lifting the hood, determine that the vehicle is with the pedestrian
No generation actual collision accident；And in the case where actual collision accident does not occur for the vehicle and the pedestrian, so that institute
State hood reset.
Further, further includes: in the case where the vehicle can be with the pedestrian collision, the vehicle is carried out
Emergency braking.
According to another aspect of the present invention, a kind of control system of the hood of vehicle is provided, comprising: environment passes
Sensor, for detecting the environmental information of vehicle front；Computing controller is configured to determine the vehicle according to the environmental information
Whether and can touched in the case where the vehicle can be with the pedestrian collision with the pedestrian collision in front
It is issued before hitting the moment and executes signal；Executing agency, for responding the execution signal for the hood of the vehicle
Rear end lift.
Further, the computing controller is configured to calculate the collision moment of the vehicle Yu the pedestrian, and
Predetermined instant before the collision moment sends the execution signal.
Further, at the time of the predetermined instant is selected from before the collision moment in the range of 1 second to 3 seconds.
Further, at the time of 3 seconds before the predetermined instant is the collision moment.
Further, the computing controller includes: object detection unit, for detecting institute according to the environmental information
State the object of vehicle front；Pedestrian determination unit, for judging whether the object is pedestrian；Collision judgment unit is used
In the object be pedestrian in the case where judge whether the vehicle can be with the pedestrian collision；Collision moment calculates
Unit, for the collision moment of the collision can to occur with calculating in the case where the pedestrian collision in the vehicle；Letter
Number transmission unit sends the execution signal for the predetermined instant before the collision moment.
Further, the executing agency is non-ignition formula jacking device.
Further, the executing agency includes fluid pressure type, vapour-pressure type, spring or driven type jacking device.
Further, the computing controller is configured to that reset signal can be sent；And executing agency's response
The reset signal resets the hood of the vehicle.
It, can be automatically tight in conjunction with pedestrian in the case where lifting hood before guaranteeing that pedestrian head is contacted with hood
Method and step in anxious braking technology judges to be hit targets of type and collision moment in advance, initiatively lift before collision occurs
Play hood rear end.It therefore, there is no need to additionally increase pressure tube sensor or acceleration transducer as the prior art,
It does not need to judge the rigidity and quality of knocked object, erroneous judgement problem can occur without considering whether, without carrying out a large amount of
System calibrating test set, so effectively reduce time cost and hardware cost；Moreover, before collision occurs
The movement for lift hood has sufficient hood lift action to execute the time, can reduce the dynamic of executing agency
Make time requirement, can choose jacking device of less demanding to the time in this way, without using ignition type trigger device, reduces
Infrastructure cost is executed, can also reuse, reduce maintenance cost.
According to the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will be brighter
The above and other objects, advantages and features of the present invention.
Detailed description of the invention
Some specific embodiments of the present invention is described in detail by way of example and not limitation with reference to the accompanying drawings hereinafter.
Identical appended drawing reference denotes same or similar part or part in attached drawing.It should be appreciated by those skilled in the art that these
What attached drawing was not necessarily drawn to scale.In attached drawing:
Fig. 1 is the schematic diagram of the control method of the hood of vehicle according to an embodiment of the invention；
Fig. 2 is the schematic diagram of the control method of the hood of vehicle in accordance with another embodiment of the present invention；
Fig. 3 is the schematic diagram of the control system of the hood of vehicle according to an embodiment of the invention.
Specific embodiment
The present invention provides a kind of embodiment of the control method of the hood of vehicle, Fig. 1 is one according to the present invention
The schematic diagram of the control method of the hood of the vehicle of embodiment, the present embodiment are used in particular for pony car, specifically, control
Method the following steps are included:
S11: the object of vehicle front is detected；
S13: there are in the case where object, determine whether object is pedestrian detecting in front of vehicle；
S15: in the case where object is pedestrian, determine whether vehicle can be with pedestrian collision；
S17: in the case where vehicle can be with pedestrian collision, the engine of vehicle is lifted before the moment that collides
The rear end of cover.
Step S11, S13 and S15 is used to judge vehicle with the presence or absence of the risk with pedestrian collision.In the prior art
Have similar technology, such as pedestrian's emergency braking technology.Therefore, these steps can be using same or similar with these technologies
Detection and judgment step.For example, in step s 11, can by be arranged at vehicle environmental sensor (such as camera,
Radar sensor and infrared sensor etc.), the object of vehicle front is detected, such as various barriers.In step s 13,
It by calculation processing resolution target object whether is pedestrian by information that environmental sensor measures, such calculation processes can be with
Using the existing knowledge of the prior art, details are not described herein again.It needs to be determined that whether vehicle can touch with pedestrian in step S15
It hits, and the collision moment in step S17 it needs to be determined that when colliding.This for example can be according to the traveling speed of vehicle
Degree, pedestrian is at a distance from vehicle and other information calculates, and vehicle and the collision probability of pedestrian is obtained, if be calculated
It is more than a preset probability threshold value in collision probability, then judges that vehicle will be with pedestrian collision.Judging vehicle
In the case where with pedestrian collision, the collision to collide can also be calculated according to speed above-mentioned and range information
Moment.This collision probability and the specific calculating process of collision moment are also that those skilled in the art can obtain according to the prior art
Know, no longer specifically describes herein.
The method of the present embodiment, can be in the case where lifting hood before guaranteeing that pedestrian head is contacted with hood
In conjunction with the method and step in pedestrian's automatic emergency brake technology, judges to be hit targets of type and collision moment in advance, collide
Hood rear end is initiatively lifted before occurring.Therefore, it after by using the method for the present embodiment, does not then need as the prior art
Equally additionally increase pressure tube sensor or acceleration transducer, does not also need to sentence the rigidity and quality of knocked object
It is disconnected, erroneous judgement problem can occur without considering whether, set without carrying out the test of a large amount of system calibrating, so effectively
Reduce time cost and hardware cost；Moreover, lift before collision occurs the movement of hood, there is sufficient start
Hood lift action executes the time, and the actuation time that can reduce executing agency requires, and can choose want to the time in this way
Not high jacking device is sought, without using ignition type trigger device, reduces and executes infrastructure cost, can also reuse, reduce
Maintenance cost.
The present invention also provides a kind of embodiments of the control method of the hood of vehicle, referring to fig. 2, the present embodiment
Method the following steps are included:
S21: detection vehicle front whether there is object, such as various barriers.If detecting object, enter step
Rapid S23 continues to detect if not detecting object in repetition step S21.
S23: determine whether detected object is pedestrian.If the object is pedestrian, S25 is entered step,
Otherwise return step S21 continues to detect.
S25: determine whether vehicle can be with pedestrian collision.If can collide, S271 can be entered step, otherwise
Return step S21 continues to detect.
S271: the collision moment of vehicle and pedestrian collision is calculated；Also, the predetermined instant before collision moment,
Lift the rear end of hood.
S29: after lifting the rear end of hood, it can determine whether vehicle and pedestrian occur actual collision accident；
In case of collision accident, then accident rescue signal is issued.It, can in the case where actual collision accident does not occur for vehicle and pedestrian
So that hood is resetted to be closed, and return step S21 continues to detect.
Before step S21, after driver starts automobile, the System self-test of automobile itself is opened, if the discovery system failure
Then sounded an alarm to driver.If self-test does not have a failure, automotive system if, enters standby mode.Meanwhile real-time monitoring is started
The closed state of hood.If it is not closed to detect hood, system is sounded an alarm to driver, and driver is prompted to close
Hood.In S29 step, it can judge whether to be collided according to the sensor that vehicle head is arranged, if do not sent out
Raw collision, can be by controlling hood circuit to its original state closed state in other words, so that hood by jacking device
It resets, guarantees that hood does not influence pilot's line of vision.It is of course also possible to judge whether to occur actually to touch by driver oneself
It hits, and special reset key and resetting apparatus is set, controlled whether to reset hood manually.In some cases
In, when actual collision does not occur, hood can also be resetted using manpower by driver.
As previously described, it is proposed, according to the invention, be the movement for starting to carry out lifting hood before collision occurs, this to send out
Motivation cover lifts executing agency by the sufficient working time to lift hood, so as to reduce the movement of executing agency
Time requirement.Therefore, some pairs be can choose in the present invention and execute the not high jacking device of time requirement, such as fluid pressure type, air pressure
Formula, spring or driven type jacking device.In view of above-mentioned several jacking devices have certain preloading procedure, ordinary circumstance
Under, certain execution time is needed, in order to guarantee that above-mentioned jacking device has the sufficient execution time to carry out lifting hood, so this reality
At the time of applying predetermined instant in the method for example and be selected from before collision moment in the range of 1 second to 3 seconds.It can be effectively reduced in this way
The actuation time of jacking device is required, so as to select jacking device that is at low cost and can satisfy actual requirement.Some excellent
In the embodiment of selection of land, at the time of predetermined instant is 3 seconds before collision moment.Moreover, use in the prior art with air bag class
As ignition type trigger device generally comprise disposable chemical reactant, after primary execute, the chemical reactant
Substantially it is exhausted, and prevents jacking device from reusing in a short time.Jacking device in the present invention can not then select this
The ignition type trigger device of sample, and reusable fluid pressure type, vapour-pressure type, spring or driven type above-mentioned can be used
Jacking device.
Damage when in order to further decrease vehicle and pedestrian impact to pedestrian, it is preferable that the present embodiment control method is also
The following steps are included:
S273: in the case where vehicle can be with pedestrian collision, emergency braking is carried out to vehicle.
Driver's emergency deceleration can be effectively avoided by step S273 and deal with the feelings for causing speed that can not reduce improperly
Condition can extend the time that vehicle collides with pedestrian or target, give pedestrian or vehicle driver's more reaction time,
And relative velocity when actual collision occurs with pedestrian for vehicle can be effectively reduced, to reduce the damage to pedestrian.
In fact, aforementioned step S21, S23, S25 and S273 may be constructed pedestrian's emergency braking system of existing vehicle
The main execution step of system.It is to be appreciated that falling into a trap in the case where step S271 and S273 are performed simultaneously in step S271
When calculating collision moment, need to consider the influence of the emergency braking due to step S273.Obviously, what is executed in step S273 is urgent
Braking can significantly delay vehicle and the collision moment of pedestrian collision.
The present invention also provides a kind of embodiments of the control system of the hood of vehicle, as shown in figure 3, control system
Including environmental sensor 10, computing controller 20 and executing agency 30.Environmental sensor 10 is used to detect the environment of vehicle front
Information, such as can be the camera, radar sensor and infrared sensor etc. being arranged at vehicle, this is this field skill
Known to art personnel.Computing controller 20 is configured to determine whether vehicle can touch with the pedestrian in front according to environmental information
It hits, and is issued before the moment that collides in the case where vehicle can be with pedestrian collision and execute signal.Executing agency
30 execute signal lifting the rear end of the hood of vehicle for responding.Executing agency 30 in the present embodiment can be non-
Ignition type jacking device.
The control system of the present embodiment guarantee pedestrian head contacted with hood before lift hood in the case where,
Environmental sensor 10 and computing controller 20 judge to be hit targets of type and collision moment in advance, by holding before collision occurs
Hood rear end is initiatively lifted by row mechanism 30.It therefore, there is no need to additionally increase pressure tube sensor as the prior art
Or acceleration transducer, it does not need to judge the rigidity and quality of knocked object, without worrying whether can judge by accident yet
Problem, without carrying out a large amount of system calibrating test set, so effectively reduce time cost and hardware cost；
Moreover, lift the movement of hood before collision occurs, there is sufficient hood lift action to execute the time, it can be with
The actuation time for reducing executing agency requires, and can choose jacking device of less demanding to the time in this way, without using point
Fiery formula trigger device reduces and executes infrastructure cost, can also reuse, reduce maintenance cost.
Since the actuation time to executing agency is of less demanding, thus above-mentioned executing agency 30 can choose fluid pressure type,
Vapour-pressure type, spring or driven type jacking device are one such.Consider that above-mentioned several jacking devices have certain preloading
Process needs certain execution time under normal circumstances, in order to guarantee that above-mentioned jacking device has the sufficient execution time to be lifted
Hood, computing controller 20 are configured to calculate the collision moment of vehicle and pedestrian, and the pre- timing before collision moment
It carves, sends and execute signal, at the time of which is selected from before collision moment in the range of 1 second to 3 seconds.It is some preferably
In embodiment, at the time of predetermined instant is set as before collision moment 3 seconds.
It is further preferred that computing controller 20 can be set object detection unit 21, pedestrian determination unit 22, touch
Hit judging unit 23, collision moment computing unit 24 and signal transmitting unit 25.Object detection unit 21 is used for according to environment
The object of infomation detection vehicle front, pedestrian determination unit 22 is for judging whether object is pedestrian, collision judgment unit
23 for judging whether vehicle can be used with pedestrian collision, collision moment computing unit 24 in the case where object is pedestrian
In vehicle can with calculate the collision moment to collide in the case where pedestrian collision, signal transmitting unit 25 is for touching
Predetermined instant before hitting the moment, which is sent, executes signal.
The environmental information detected from environmental sensor 10 is carried out processing calculating by object detection unit 21, detects vehicle
The object in front, and send information to pedestrian determination unit 22 and carry out calculation processing.Pedestrian determination unit 22 judges the mesh
Mark whether object is pedestrian.If it is, collision judgment unit 23 can integrate Vehicle Speed, at a distance from pedestrian and its
Its information calculates the collision probability of vehicle and pedestrian collision, sets in advance if being calculated and being more than one in collision probability
Fixed probability threshold value then judges that vehicle will be with pedestrian collision.Collision moment computing unit 24 can be sent out in vehicle with pedestrian
The collision moment to collide is calculated in the case where raw collision.Predetermined instant hair of the signal transmitting unit 25 before collision moment
Send execution signal.The rear end of hood is lifted after receiving above-mentioned execution signal by executing agency 30.
Computing controller 20 is configured to that reset signal can be sent, and executing agency 30 responds reset signal for vehicle
Hood reset.It also is provided with sensor on vehicle head, to judge whether vehicle and pedestrian have occurred actual collision.Such as
Fruit does not collide, and above-mentioned reset signal can be sent by computing controller 20 and gives executing agency 30 (i.e. jacking device), by
Jacking device controls hood and resets, and guarantees that hood does not influence pilot's line of vision.
It is to be appreciated that environmental sensor 10 above-mentioned, object detection unit 21, pedestrian determination unit 22 and collision
Judging unit 23 is usually actually also the component part of pedestrian's emergency braking system of existing vehicle, therefore, of the invention
System is easy to combine realization with the emergency braking system, and implements the urgent system of vehicle while realizing that hood lifts
It is dynamic.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (9)
1. a kind of control method of the hood of vehicle, comprising the following steps:
Detect the object of vehicle front；
There are in the case where object, determine whether the object is pedestrian detecting in front of the vehicle；
In the case where the object is pedestrian, determine whether the vehicle can be with the pedestrian collision；
In the case where the vehicle can be with the pedestrian collision, the institute of the vehicle is lifted before the moment that collides
State the rear end of hood；
In the case where the vehicle can be with the pedestrian collision, touching for the vehicle and the pedestrian collision is calculated
Hit the moment；Also, the predetermined instant before the collision moment lifts the rear end of the hood；
After the rear end for lifting the hood, determine whether the vehicle and the pedestrian occur actual collision accident；
And
In the case where actual collision accident does not occur for the vehicle and the pedestrian, so that the hood resets；It is also logical
It crosses and is judged whether that actual collision occurs by driver oneself, and special reset key and resetting apparatus are set, controlled manually
Whether hood is resetted；
Wherein, in the case where the vehicle can be with the pedestrian collision, emergency braking is carried out to the vehicle.
2. control method according to claim 1, which is characterized in that the predetermined instant is selected from 1 before the collision moment
At the time of in the range of second to 3 seconds.
3. control method according to claim 2, which is characterized in that the predetermined instant is before the collision moment 3
At the time of second.
4. a kind of control system of the hood of vehicle characterized by comprising
Environmental sensor, for detecting the environmental information of vehicle front；
Computing controller, be configured to be determined according to the environmental information vehicle whether can with the pedestrian collision in front,
And it is issued before the moment that collides in the case where the vehicle can be with the pedestrian collision and executes signal；
Executing agency, for responding execution signal the lifting the rear end of the hood of the vehicle；
Wherein, the computing controller includes:
Object detection unit, for detecting the object of the vehicle front according to the environmental information；
Pedestrian determination unit, for judging whether the object is pedestrian；
Collision judgment unit, for judging whether the vehicle can be sent out with the pedestrian in the case where the object is pedestrian
Raw collision；
Collision moment computing unit touches described in generation for calculating in the case where the vehicle can be with the pedestrian collision
The collision moment hit；
Signal transmitting unit sends the execution signal for the predetermined instant before the collision moment；
The computing controller is configured to calculate the collision moment of the vehicle Yu the pedestrian, and in the collision moment
The predetermined instant before sends the execution signal；
Further include the reset key being specially arranged and resetting apparatus, actual collision occurs for being judged whether by driver oneself, and
It is controlled whether to reset hood manually；
Further include emergency braking unit, is used in the case where the vehicle can be with the pedestrian collision, to the vehicle
Carry out emergency braking.
5. control system according to claim 4, which is characterized in that the predetermined instant is selected from 1 before the collision moment
At the time of in the range of second to 3 seconds.
6. control system according to claim 5, which is characterized in that the predetermined instant is before the collision moment 3
At the time of second.
7. control system according to claim 4, which is characterized in that the executing agency is non-ignition formula jacking device.
8. control system according to claim 7, which is characterized in that the executing agency includes fluid pressure type, vapour-pressure type, bullet
Spring formula or driven type jacking device.
9. the control system according to any one of claim 4-8, which is characterized in that the computing controller is configured to
Reset signal can be sent；And the executing agency responds the reset signal and answers the hood of the vehicle
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410448351.9A CN104228754B (en) | 2014-09-04 | 2014-09-04 | The control method and control system of the hood of vehicle |
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| CN201410448351.9A CN104228754B (en) | 2014-09-04 | 2014-09-04 | The control method and control system of the hood of vehicle |
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| CN104228754A CN104228754A (en) | 2014-12-24 |
| CN104228754B true CN104228754B (en) | 2019-10-29 |
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| KR102602429B1 (en) * | 2018-11-01 | 2023-11-14 | 현대자동차주식회사 | Always Operation Apparatus for Active Hood linked with ADAS |
| CN109591754B (en) * | 2019-01-07 | 2021-03-26 | 长沙理工大学 | Method for protecting human-ground collision damage in human-ground collision accident |
| CN109760621B (en) * | 2019-03-04 | 2021-03-19 | 长沙理工大学 | A working method of a hood for a smart car to protect pedestrians |
| CN110077356B (en) * | 2019-04-30 | 2021-07-23 | 浙江吉利控股集团有限公司 | Method, device and system for actively protecting pedestrian, memory and terminal |
| CN112277869A (en) * | 2019-07-26 | 2021-01-29 | 浙江吉利汽车研究院有限公司 | Pedestrian protection system and method and vehicle |
| CN110775011A (en) * | 2019-07-31 | 2020-02-11 | 中国第一汽车股份有限公司 | Control method and system of vehicle engine hood, vehicle and storage medium |
| CN111516631A (en) * | 2020-04-24 | 2020-08-11 | 东风汽车集团有限公司 | Passive pedestrian protection and collision buffering protection system based on ADAS sensor |
| CN111572491A (en) * | 2020-05-01 | 2020-08-25 | 东风汽车集团有限公司 | Active hood system based on scene control |
| US11590927B2 (en) * | 2020-05-12 | 2023-02-28 | Hyundai Mobis Co., Ltd. | System and method for protecting pedestrian upon a collision with a vehicle |
| CN111959429A (en) * | 2020-07-21 | 2020-11-20 | 恒大新能源汽车投资控股集团有限公司 | Front cover control method and system and vehicle |
| CN112606833B (en) * | 2020-12-21 | 2022-02-25 | 长沙理工大学 | A motion control method for intelligent vehicle based on model predictive control to protect human-ground collision damage |
| CN113479164B (en) * | 2021-08-11 | 2022-05-03 | 安徽江淮汽车集团股份有限公司 | Multidimensional intelligent vehicle driving safety protection method |
| CN116714544B (en) * | 2023-06-08 | 2024-08-06 | 中国汽车工程研究院股份有限公司 | Pedestrian protection control system, method and storage medium based on prediction model |
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| CN104228754A (en) | 2014-12-24 |
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