Vehicle hood control method, vehicle control system, vehicle and storage medium

Abstract

The present invention discloses a vehicle hood control method, a vehicle control system, a vehicle and a storage medium, and relates to the field of vehicle technology. The vehicle hood control method includes: when the vehicle is at risk of collision, the front end of the hood is lifted according to a first condition; and the rear end of the hood is lifted according to a second condition. According to the vehicle hood control method of the present invention, when the vehicle is at risk of collision, the front end of the hood is lifted according to the first condition, and the rear end of the hood is lifted according to the second condition. The front end and / or rear end of the hood can be lifted according to the first and second conditions to improve the accuracy of hood control and better protect the target object in front of the vehicle, especially when the target object in front is a pedestrian. In addition, when it is determined that there is a collision risk, lifting the front end and / or rear end of the hood in advance can better avoid subsequent injuries to pedestrians if they are hit.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a method for controlling a vehicle hood, a vehicle control system, a vehicle, and a storage medium. Background Art

[0002] Pedestrians are a vulnerable group in road traffic and are more susceptible to injury in traffic accidents, so their protection requires special attention. Related technologies typically simply raise the hood when a collision risk arises. This simple method of raising the hood is detrimental to pedestrian protection and the accuracy of hood control. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a vehicle hood control method, which can better protect the target object in front of the vehicle.

[0004] The present invention also provides a vehicle control system that can better protect pedestrians.

[0005] The present invention also provides a vehicle, comprising the above-mentioned vehicle control system.

[0006] The present invention further provides a vehicle, wherein when the vehicle control program is executed by the processor, the steps of the above-mentioned vehicle hood control method are implemented.

[0007] The present invention further provides a storage medium for storing a vehicle control program, wherein the vehicle control program, when executed by a processor, implements the steps of the above-mentioned vehicle hood control method.

[0008] A method for controlling a vehicle hood according to an embodiment of the present invention includes: when there is a risk of collision of the vehicle, controlling the front end of the hood to rise according to a first condition; and controlling the rear end of the hood to rise according to a second condition.

[0009] According to the vehicle hood control method of an embodiment of the present invention, when there is a risk of collision with the vehicle, the front end of the hood is controlled to be raised according to a first condition, and the rear end of the hood is controlled to be raised according to a second condition. The front end and / or rear end of the hood can be raised according to the first and second conditions, thereby improving the accuracy of hood control and better protecting the target in front of the vehicle, especially when the target in front is a pedestrian. In addition, when it is determined that there is a risk of collision, raising the front end and / or rear end of the hood in advance can better avoid injuries to pedestrians if they are subsequently hit.

[0010] According to some embodiments of the present invention, the method further includes: acquiring target object information in front of the vehicle; and determining the collision risk of the vehicle based on motion information of the target object and motion information of the vehicle.

[0011] In some embodiments of the present invention, the method for determining the collision risk of the vehicle further includes: determining the predicted time TTC of a collision between the target object and the vehicle based on the motion information of the target object and the motion information of the vehicle; when the predicted time TTC is less than or equal to a collision threshold, the vehicle is at risk of collision.

[0012] In some embodiments of the present invention, the first condition is that the height of the target object is not higher than a preset height, and the second condition is that the height of the target object is higher than the preset height.

[0013] In some embodiments of the present invention, when the target object is a pedestrian, the first condition is a child, and the second condition is an adult.

[0014] In some embodiments of the present invention, the preset height is adjusted according to the height of the vehicle type.

[0015] In some embodiments of the present invention, when the target object satisfies the second condition, the control method further includes: obtaining the speed of the vehicle; when the speed of the vehicle is less than or equal to a preset speed, the rear end of the hood is lifted to a first height; when the speed of the vehicle is greater than the preset speed, the rear end of the hood is lifted to a second height, and the second height is greater than the first height.

[0016] In some embodiments of the present invention, raising the rear end of the hood to the second height comprises: raising the rear end of the hood to the first height first, and then raising the rear end of the hood to the second height.

[0017] In some embodiments of the present invention, when the target object satisfies the first condition, the control method further includes: obtaining the speed of the vehicle; when the speed of the vehicle is less than or equal to a preset speed, the front end of the hood is lifted to a third height; when the speed of the vehicle is greater than the preset speed, the front end of the hood is lifted to a fourth height, and the fourth height is greater than the third height.

[0018] In some embodiments of the present invention, raising the front end of the hood to the fourth height includes: raising the front end of the hood to the third height first, and then raising it to the fourth height.

[0019] In some embodiments of the present invention, the preset speed is 35km / h-45km / h.

[0020] In some embodiments of the present invention, when the target object satisfies the second condition, the control method further includes: determining that a collision has occurred; determining that the pedestrian's head does not land on the hood; raising the vehicle height through active suspension so that the pedestrian's head lands on the hood and / or the airbag at the rear end of the hood opens.

[0021] In some embodiments of the present invention, raising the vehicle height by active suspension so that a pedestrian's head lands on the hood and / or the airbag at the rear end of the hood opens includes: when the pedestrian's head can land on the hood by adjusting the height of the vehicle, raising the vehicle height by active suspension; when the pedestrian's head cannot land on the hood by adjusting the height of the vehicle, opening the airbag at the rear end of the hood.

[0022] In some embodiments of the present invention, when the airbag is deployed, the airbag covers the windshield beam and the A-pillar.

[0023] In some embodiments of the present invention, when the airbag is deployed, the airbag has a hollow portion opposite to the main driving area.

[0024] In some embodiments of the present invention, the further method includes: a passive identification module of the vehicle determines whether a collision occurs; and when the vehicle does not collide, the hood is reset.

[0025] In some embodiments of the present invention, the hood reset completion time is 3s-5s after the hood is raised.

[0026] In some embodiments of the present invention, if it is determined that no collision occurs within a preset time after the hood is raised, the hood is controlled to be reset immediately.

[0027] In some embodiments of the present invention, the preset time is 2.5s-3.5s.

[0028] According to an embodiment of the present invention, the control system of a vehicle includes: a judgment decision module, which is used to judge whether there is a collision risk; an active hood execution module, which is used to control the front end of the hood to be lifted according to a first condition when there is a collision risk, and control the rear end of the hood to be lifted according to a second condition.

[0029] In a vehicle control system according to an embodiment of the present invention, a decision module determines whether a collision risk exists. If a collision risk exists, the active hood actuation module controls the front end of the hood to raise according to a first condition and the rear end of the hood to raise according to a second condition. This improves the accuracy of hood control and better protects objects in front of the vehicle, particularly pedestrians. Furthermore, raising the front and / or rear end of the hood in advance when a collision risk is determined can better prevent injuries to pedestrians in the event of a collision.

[0030] In some embodiments of the present invention, it further includes: an active recognition module, which is used to obtain target object information in front of the vehicle, and the judgment and decision module is used to determine whether there is a collision risk based on the information obtained by the active recognition module.

[0031] In some embodiments of the present invention, the present invention further includes: a passive recognition module, which is provided at the front end of the vehicle and is used to determine whether a collision occurs.

[0032] In some embodiments of the present invention, the active hood execution module is further configured to reset the hood when the passive recognition module determines that no collision has occurred.

[0033] In some embodiments of the present invention, the active hood execution module is further configured to deploy a hood rear end airbag when the passive recognition module determines that a collision has occurred and the pedestrian's head does not land on the hood.

[0034] In some embodiments of the present invention, it also includes: an active suspension adjustment module, which is used to lift the rear end of the hood when the active hood execution module is used. When the passive recognition module determines that a collision has occurred and the target object is a pedestrian and the pedestrian's head does not fall on the hood, the height of the vehicle is raised according to the information obtained by the active recognition module.

[0035] A vehicle according to an embodiment of the present invention includes the above-mentioned vehicle control system.

[0036] According to an embodiment of the present invention, a vehicle is provided with the aforementioned vehicle control system, wherein a decision module determines whether a collision risk exists. When a collision risk exists, an active hood actuation module controls the front end of the hood to be raised according to a first condition and the rear end of the hood to be raised according to a second condition. This improves the accuracy of hood control and better protects objects in front of the vehicle, particularly pedestrians. Furthermore, raising the front and / or rear end of the hood in advance when a collision risk is determined can better prevent injuries to pedestrians in the event of a collision.

[0037] According to an embodiment of the present invention, a vehicle includes: a vehicle body, a hood, a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the hood is located on the upper side of the front end of the vehicle body; when the vehicle control program is executed by the processor, the steps of the vehicle hood control method as described above are implemented.

[0038] According to an embodiment of the present invention, a vehicle control program executed by a processor implements the aforementioned vehicle control method, thereby improving the accuracy of hood control and better protecting objects in front of the vehicle, particularly pedestrians. Furthermore, when a collision risk is determined, raising the front and / or rear end of the hood in advance can better prevent injuries to pedestrians in the event of a collision.

[0039] According to the storage medium of the embodiment of the present invention, the storage medium stores a vehicle control program, and when the vehicle control program is executed by a processor, the steps of the vehicle hood control method as described above are implemented.

[0040] According to the storage medium of an embodiment of the present invention, when the processor executes the vehicle control program stored therein, the aforementioned vehicle control method steps are implemented, thereby improving the accuracy of hood control and better protecting objects in front of the vehicle, particularly pedestrians. Furthermore, when a collision risk is determined, raising the front and / or rear end of the hood in advance can better prevent injuries to pedestrians in the event of a collision.

[0041] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0043] Figure 1 is a schematic diagram of the composition of a control system of a vehicle according to an embodiment of the present invention;

[0044] Figure 2 is a schematic diagram of the front end of a vehicle according to an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of a vehicle with a hood front end raised according to an embodiment of the present invention;

[0046] Figure 4 is a schematic diagram of a vehicle hood rear end being raised according to an embodiment of the present invention;

[0047] Figure 5 It is based on the active recognition signal to determine the landing point and airbag detonation area map;

[0048] Figure 6 4 is a flow chart of a method for controlling a vehicle hood according to an embodiment of the present invention.

[0049] Reference numerals:

[0050] 100. Vehicles;

[0051] 1. Active identification module; 101. Camera; 102. Radar;

[0052] 2. Judgment and decision module; 201. ECU controller;

[0053] 3. Passive identification module; 301. Pressure tube; 302. Collision sensor;

[0054] 4. Active hood actuation module; 401. Hood lock; 403. Hinge; 404. Lifter; 405. Airbag actuator;

[0055] 5. Active suspension adjustment module; 501. Active suspension height adjustment execution system; 502. Sensor;

[0056] 6. Car body;

[0057] 7. Engine hood. DETAILED DESCRIPTION

[0058] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0059] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0060] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0061] Reference below Figure 6 A control method of the vehicle 100 according to an embodiment of the present invention is described.

[0062] like Figure 6 As shown, the control method of the vehicle 100 according to the embodiment of the present invention includes:

[0063] When the vehicle 100 is at risk of collision, the front end of the hood 7 is controlled to be raised according to a first condition; and the rear end of the hood 7 is controlled to be raised according to a second condition.

[0064] Among them, after the hood 7 is lifted, the hood 7 is separated from at least part of the parts below the hood 7 to avoid hard contact between the hood 7 and the parts below the hood 7. This allows the hood 7 to deform downward when hit from above, protecting the target object in front of the hit vehicle 100.

[0065] In the present invention, when there is a risk of a vehicle collision, if a first condition is met, the front end of the hood 7 is raised to protect the target in front of the vehicle 100 by the front end of the hood 7. If a second condition is met, the rear end of the hood 7 is raised to protect the target in front of the vehicle 100 by the rear end of the hood 7. The front end and / or rear end of the hood 7 can be raised according to the first and second conditions to improve the accuracy of controlling the hood 7 and better protect the target in front of the vehicle, especially when the target in front is a pedestrian.

[0066] In addition, when it is determined that there is a risk of collision, the front end and / or rear end of the hood 7 is lifted in advance to avoid subsequent injuries to pedestrians if they are hit.

[0067] According to the method for controlling the hood 7 of the vehicle 100 according to an embodiment of the present invention, when the vehicle 100 is at risk of collision, the front end of the hood 7 is controlled to be raised according to a first condition, and the rear end of the hood 7 is controlled to be raised according to a second condition. The front end and / or rear end of the hood 7 can be raised according to the first and second conditions, thereby improving the accuracy of controlling the hood 7 and better protecting the target object in front of the vehicle, especially when the target object in front is a pedestrian. In addition, when it is determined that there is a risk of collision, raising the front end and / or rear end of the hood 7 in advance can better avoid injuries to pedestrians if they are subsequently hit.

[0068] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the vehicle hood control method further includes:

[0069] Obtain information about the target object in front of the vehicle 100; Figure 1 and Figure 2 As shown, the vehicle 100 may be provided with an active recognition module 1, which may include a camera 101 and a radar 102 provided in front of the vehicle 100. The camera 101 and the radar 102 may collect information about targets in front of the vehicle 100. For example, the radar 102 may collect information about the distance and speed of the vehicle in front, and the distance between the vehicle 100 and the pedestrian in front. The camera 101 may collect information about the pedestrian category (including adults and children), the pedestrian's movement speed, the collision speed, and the pedestrian's head landing trajectory described below.

[0070] The collision risk of the vehicle is determined based on the motion information of the target object and the motion information of the vehicle 100. Figure 1 and Figure 2 As shown, the vehicle 100 may have a judgment and decision module 2, which may include an ECU (Electronic Control Unit) controller 201, which performs algorithm calculations based on target object information detected by the camera 101 and the radar 102, and evaluates whether there is a collision risk based on the recognition results.

[0071] In some embodiments of the present invention, the method of determining the collision risk of the vehicle 100 further includes:

[0072] Determine a predicted time TTC of collision between the target object and the vehicle based on the motion information of the target object and the motion information of the vehicle 100;

[0073] When the predicted time TTC is less than or equal to the collision threshold, the vehicle is at risk of collision.

[0074] For example, through the development of a fusion algorithm of the camera 101 and the radar 102, the actual scene is subsequently identified based on the existing algorithm, and a judgment is made through the set collision threshold. When the TTC is less than or equal to the collision threshold, it is determined that there is a collision risk between the vehicle 100 and the pedestrian. Conversely, when the TTC is greater than the collision threshold, it is determined that there is no collision risk between the vehicle 100 and the pedestrian.

[0075] In some embodiments of the present invention, the first condition is that the height of the target is not higher than a preset height, and the second condition is that the height of the target is higher than a preset height. The height of the target that meets the second condition is higher than the height of the target that meets the first condition. The height of the target that meets the first condition is lower, and the collision position is mostly concentrated at the front end of the hood 7, while the height of the target that meets the second condition is higher, and the collision position is mostly concentrated at the rear end of the hood 7. When the target meets the second condition, the rear end of the hood 7 is lifted so that the rear end of the hood 7 is separated from the components below the hood 7, and the rear end of the hood 7 can be deformed downward when the target hits it, thereby better protecting the hit target. When the target meets the first condition, the front end of the hood 7 is lifted so that the front end of the hood 7 is separated from the components below the hood 7, and the front end of the hood 7 can be deformed downward when the target hits it, thereby better protecting the hit target. In this way, the front end or rear end of the hood 7 can be lifted according to the height of the target, thereby better protecting targets of different heights.

[0076] Before lifting the hood 7, the control method of the hood 7 of the vehicle 100 may also include: determining whether the target object is a pedestrian, and when it is determined that the vehicle 100 has a collision risk, continuing to determine whether the target object is a pedestrian, and when it is determined that the target object is a pedestrian, performing subsequent actions, and when the target object is a non-pedestrian, such as an animal, an obstacle, or another vehicle 100, etc., no subsequent actions are performed. When it is determined that there is a collision risk and the target object is a pedestrian, the front end and / or rear end of the hood 7 are lifted in advance to avoid subsequent injuries to the pedestrian if the pedestrian is hit. In addition, the operation of lifting the front end and / or rear end of the hood 7 when the target object is determined to be a pedestrian can reduce the actions when the target object is a non-pedestrian, reduce the probability of false triggering, and reduce the repair cost of the hood 7 after it is damaged due to false triggering.

[0077] The vehicle 100 may include a perception system module, whose database is based on pedestrian identification based on different body types, ages, genders, and collision behaviors. After front-end identification, the complete scene target information is transmitted to the judgment and decision module 2.

[0078] In some embodiments of the present invention, when the target object is a pedestrian, the first condition is a child, and the second condition is an adult. It is understood that the front and / or rear end of the hood are raised based on the type of pedestrian, i.e., adult or child. Specifically, when the pedestrian is an adult, the rear end of the hood 7 is raised; when the pedestrian is a child, the front end of the hood 7 is raised.

[0079] Active signals are used to distinguish between the head impact areas of adults, children, and pedestrians, and the hood 7 is raised to different positions. Due to their shorter height, children's head impacts are mostly concentrated at the front end of the hood 7, while adults are taller and their head impacts are mostly concentrated at the rear end of the hood 7. When the pedestrian is an adult, the rear end of the hood 7 is raised so that it is separated from the components below the hood 7. The rear end of the hood 7 can be deformed downward when a pedestrian's head impacts the hood, better protecting the adult's head. When the pedestrian is a child, the front end of the hood 7 is raised so that it is separated from the components below the hood 7. The front end of the hood 7 can be deformed downward when a pedestrian's head impacts the hood, better protecting the child's head. In this way, the front or rear end of the hood 7 can be raised according to whether it is an adult or a child, and the hood 7's variable area can be adjusted to better adapt to the impact position of the pedestrian's head, thus better protecting adults and children.

[0080] In addition, when the height of the pedestrian is higher than the preset height, the pedestrian category is determined to be an adult;

[0081] When the height of the pedestrian is not higher than the preset height, the pedestrian category is determined to be a child.

[0082] It can be understood that the height of the pedestrian is used to determine whether it is an adult or a child. Specifically, when the height of the pedestrian is higher than the preset height, it is determined to be an adult, and when the height of the pedestrian is not higher than the preset height, it is determined to be a child. In this way, the landing point of the pedestrian's head can be better determined according to the pedestrian category, and the front end or rear end of the hood 7 can be lifted according to the landing point.

[0083] In some embodiments of the present invention, the preset height is adjusted according to the vehicle model. When the vehicle model is a low-lying vehicle, the preset height is lower. When the vehicle model is a high-height vehicle, the preset height is higher, which can ensure that pedestrians of the preset height hit the hood 7 instead of the bumper of the vehicle 100.

[0084] For example, when the vehicle 100 is an SUV or an off-road vehicle, the preset height can be 1.4m. When the height of the pedestrian is higher than 1.4m, the position where the pedestrian's head lands after being hit is generally located at the rear end of the hood 7. When the height of the pedestrian is less than or equal to 1.4m, the position where the pedestrian's head lands after being hit is generally located at the front end of the hood 7. Therefore, when the height of the pedestrian is higher than 1.4m, the pedestrian category is determined to be an adult. When the height of the pedestrian is not higher than, that is, less than or equal to 1.4m, the pedestrian category is determined to be a child, which can better protect the pedestrian.

[0085] In addition, the camera 101 can identify information such as facial features and gait features of pedestrians, and based on the above information, it can assist in determining whether the pedestrian is an adult or a child.

[0086] In some embodiments of the present invention, Figure 6As shown, when the target object meets the second condition, the control method further includes:

[0087] Get the speed of the vehicle;

[0088] When the speed of the vehicle is less than or equal to a preset speed, the rear end of the hood is raised to a first height;

[0089] When the speed of the vehicle is greater than a preset speed, the rear end of the hood is lifted to a second height, which is greater than the first height.

[0090] The higher the hood 7 is raised, the greater the distance between it and the components below it, leaving more room above it to deform downward after an impact. When the vehicle 100 is moving at a low speed, the force exerted by an object, such as a pedestrian, against the hood 7 is relatively small. At higher speeds, the force exerted by an object, such as a pedestrian, against the hood 7 is relatively large. In the present invention, speed-based height control maximizes the reduction of damage to objects, such as pedestrians, and improves the performance of protecting objects, such as pedestrians, at high speeds. When the target object meets the second condition, when the speed of the vehicle 100 is less than or equal to the preset speed, the rear end of the hood 7 is controlled to be lifted to the first height. When the speed of the vehicle 100 is greater than the preset speed, the rear end of the hood 7 is controlled to be lifted to the second height. This allows the rear end of the hood 7 to be lifted to a greater height when the speed of the vehicle 100 is higher, better adapting to the impact force exerted on the hood 7 after the target object, such as a pedestrian's head, is hit, thereby making the deformation of the hood 7 more adapted to the impact force and better protecting the target object, such as a pedestrian's head. Therefore, adjusting the lifting height according to the vehicle speed can more accurately respond to collision scenarios at different speeds, ensuring practicality at low speeds and providing stronger protection at high speeds.

[0091] In some embodiments of the present invention, raising the rear end of the hood to the second height comprises:

[0092] The rear end of the hood is first lifted to a first height and then lifted to a second height.

[0093] Thus, the first height can be raised by the mechanism for lifting the rear end of the hood 7, and the second height can be raised, and the first height and the second height can be accurately reached.

[0094] In some embodiments of the present invention, Figure 6 As shown, when the target object meets the first condition, the control method further includes:

[0095] Get the speed of the vehicle;

[0096] When the speed of the vehicle is less than or equal to a preset speed, the front end of the hood is raised to a third height;

[0097] When the speed of the vehicle is greater than a preset speed, the front end of the hood is lifted to a fourth height, which is greater than the third height.

[0098] The higher the hood 7 is lifted, the greater the distance between the hood 7 and the components below the hood 7, and the larger the space above the hood 7 that can deform downward after being hit. When the speed of the vehicle 100 is low, the force with which the target object, such as a pedestrian, hits the hood 7 is small. When the speed of the vehicle 100 is high, the force with which the target object, such as a pedestrian, hits the hood 7 is large. In the present invention, when the target object meets the first condition, when the speed of the vehicle 100 is less than or equal to the preset speed, the front end of the hood 7 is controlled to be lifted to a third height. When the speed of the vehicle 100 is greater than the preset speed, the front end of the hood 7 is controlled to be lifted to a fourth height. This allows the front end of the hood 7 to be lifted to a greater height when the speed of the vehicle 100 is high, better adapting to the impact force exerted on the hood 7 after the target object, such as a pedestrian's head, is hit, thereby making the deformation of the hood 7 more adapted to the impact force and better protecting the target object, such as the pedestrian's head.

[0099] In some embodiments of the present invention, raising the front end of the hood to the fourth height includes:

[0100] The front end of the hood is first lifted to the third height and then to the fourth height.

[0101] Thus, the third height can be raised by the mechanism for raising the front end of the hood 7, and the fourth height can be raised, and the third height and the fourth height can be accurately reached.

[0102] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the vehicle 100 is equipped with an active hood actuation module 4, which includes a front-end lifting mechanism and a rear-end lifting mechanism. When the ECU controller 201 determines that the vehicle 100 is at risk of collision, it simultaneously transmits the identification information to the active hood actuation module 4. The active hood actuation module 4 executes the lifting mode of the hood 7 according to the first condition and the second condition.

[0103] Specifically, when the target object meets the first condition, the ECU controller 201 transmits a signal to the front end lifting mechanism of the active hood execution module 4, such as Figure 1-Figure 3As shown, the front-end lifting mechanism can be a hood lock 401. When it determines that the speed of the vehicle 100 is less than or equal to a preset speed, the ECU controller 201 transmits a signal to raise the hood 7 to a third height to the active hood actuator module 4. After the hood lock 401 is unlocked, the front end of the hood 7 is raised to the third height. When it determines that the speed of the vehicle 100 is greater than the preset speed, the ECU controller 201 transmits a signal to raise the hood 7 to a fourth height to the active hood actuator module 4. After the hood lock 401 is unlocked, the front end of the hood 7 continues to raise to the fourth height after the third height. After the front end of the hood 7 reaches the designated height, it remains stable.

[0104] When the target object meets the second condition, the ECU controller 201 transmits a signal to the rear end lifting mechanism of the active hood execution module 4, such as Figure 1 、 Figure 2 and Figure 4 As shown, the rear-end lifting mechanism can be a hinge 403. When the vehicle 100's speed is determined to be less than or equal to a preset speed, the ECU controller 201 transmits a signal to the active hood actuator module 4 to raise the rear end of the hood 7 to a first height. After the hinge 403 is unlocked, the lifter 404 is activated to lift the rear end of the hood 7 to the first height. When the vehicle 100's speed is determined to be greater than the preset speed, the ECU controller 201 transmits a signal to the active hood actuator module 4 to raise the rear end of the hood 7 to a second height. After the hinge 403 is unlocked, the lifter 404 is activated to lift the rear end of the hood 7 to the second height. After the rear end of the hood 7 reaches the specified height, it remains stable.

[0105] Optionally, the preset speed is 35km / h-45km / h. For example, the preset speed may be 36km / h, 37km / h, 38km / h, 39km / h, 40km / h, 41km / h, 42km / h, 43km / h, or 44km / h. In a specific example of the present invention, the preset speed is 40km / h.

[0106] In some embodiments of the present invention, after the lifting mechanism has lifted to a specified height and remains stable, it is further determined whether a collision has occurred. Figure 1 and Figure 2 As shown, the vehicle 100 may be equipped with a passive identification module 3, which is connected to the ECU controller 201. The passive identification module 3 may include a pressure tube 301 and a collision sensor 302. The ECU controller 201 uses the signals from the pressure tube 301 and the collision sensor 302 to determine whether a collision has occurred through a collision threshold.

[0107] The pressure tube 301 and collision sensor 302 are located at the front end of the vehicle 100. Pressure changes in the pressure tube 301 are transmitted to the pressure sensors at both ends, forming a pressure signal. When a collision occurs, the pressure changes accordingly. When the pressure change is greater than or equal to a set collision threshold, a collision is determined to have occurred. Conversely, when the pressure change is less than the set collision threshold, no collision is determined. Alternatively, the collision sensor 302 can be an acceleration sensor, located on the front bumper or a deformable metal bracket. It determines whether a collision has occurred by sensing changes in acceleration during a front bumper collision. When the acceleration change is greater than or equal to the set collision threshold, a collision is determined to have occurred. Conversely, when the acceleration change is less than the set collision threshold, no collision is determined.

[0108] In some embodiments of the present invention, Figure 6 As shown, when the target object meets the second condition and is a pedestrian, the control method further includes:

[0109] Determining that a collision has occurred;

[0110] Make sure the pedestrian's head does not land on the hood;

[0111] The active suspension raises the vehicle so that the pedestrian's head lands on the hood and / or the airbag at the rear end of the hood deploys.

[0112] For tall adults, the point where their heads collide may occur in the area between the hood 7 and the windshield, the windshield area, or the A-pillar area, so the protection provided to tall adults by only raising the rear end of the hood 7 is limited. The ECU controller 201 can predict the movement trajectory of the pedestrian through the camera 101 and other means, and determine whether the pedestrian's head lands on the hood 7. If it is determined that the pedestrian's head does not land on the hood 7, the ECU controller 201 controls the detonation signal of the airbag at the rear end of the hood 7 to be sent to the airbag actuator 405, and the airbag actuator 405 deploys the airbag after receiving the detonation signal. When an adult is tall, the airbag can protect the pedestrian's head, thereby achieving better protection for the pedestrian. The actual scenarios covered by the present invention are more comprehensive, and can maximize the efficiency of improving the pedestrian protection performance, thereby achieving better protection for pedestrians.

[0113] Among them, the fusion algorithm of camera 101 and radar 102 can identify the height of pedestrians, and combined with the vehicle height information, it can obtain the pedestrian's head landing position information. When it is determined that the head landing position exceeds the edge line of the hood 7, it is determined that the head landing position is not on the hood 7, and then the airbag protection is activated.

[0114] Furthermore, if it is determined that the pedestrian's head does not land on hood 7, the active suspension can be used to adjust the height of vehicle 100. Specifically, vehicle 100 can be raised so that the pedestrian's head lands on hood 7, thereby protecting the pedestrian's head through deformation of the rear end of hood 7. Firstly, after hood 7 is activated, the risk of injury to the pedestrian is significantly reduced. While airbag protection can play a significant role in pedestrian protection, it is a disposable product and the subsequent maintenance costs of vehicle 100 are also high. Therefore, the active suspension can not only reduce head injuries, but also reduce the repair costs caused by vehicle 100 impacting the windshield area.

[0115] When it is determined that the vehicle 100 is at risk of collision and the position of the head impact point is identified, the ECU controller 201 transmits a signal to the sensor 502, and the active suspension height adjustment execution system 501 automatically adjusts the suspension height. By adjusting the height of the active suspension, the head impact point can be transferred from the windshield or the gap between the hood 7 and the windshield to the hood 7. If the head impact point cannot be adjusted to the optimized area of ​​the hood 7, the active suspension height adjustment will not be started.

[0116] In some embodiments of the present invention, raising the vehicle height by active suspension so that the pedestrian's head lands on the hood and / or the rear airbag of the hood deploys includes:

[0117] When the height of the vehicle is adjusted so that the pedestrian's head lands on the hood, the vehicle is raised through the active suspension.

[0118] When the pedestrian's head cannot fall on the hood by adjusting the vehicle height, the airbag at the rear end of the hood is controlled to open.

[0119] If the pedestrian's head does not land on the hood 7, the vehicle first determines based on the trajectory whether it is achievable to land on the hood 7 within the active suspension height adjustment range. If it is achievable, active suspension adjustment is initiated to adjust the height of the vehicle 100. Conversely, if the pedestrian's head cannot land on the hood 7 within the active suspension height adjustment range and can only impact the windshield area, activating active suspension adjustment is of little significance. In this case, it is only necessary to control the deployment of the airbag at the rear end of the hood 7 and detonate the airbag area to protect the pedestrian.

[0120] Further, if Figure 5 As shown, when the airbag is deployed, it covers the windshield crossbar and A-pillar, with a hollowed-out portion facing the driver's area. This allows the airbag to better cover the windshield and A-pillar, and leaves a clear viewing area for the driver, ensuring driving safety and preventing further collisions.

[0121] In some embodiments of the present invention, Figure 6As shown, the control method further includes:

[0122] The vehicle's passive identification module determines whether a collision has occurred;

[0123] When the vehicle is not involved in a collision, the hood is reset.

[0124] The front-end lifting mechanism is a retractable hood lock 401. When the pedestrian category is a child, after the front end of the hood 7 is lifted to a specified height, if it is determined that no collision has occurred, the ECU controller 201 transmits a signal to the hood lock 401, and the actuator retracts, that is, the front end of the hood 7 is automatically reset and the vehicle 100 continues to drive normally.

[0125] The rear-end lifting mechanism is a retractable hinge 403. If the pedestrian is an adult, after the rear end of the hood 7 is raised to a specified height and it is determined that no collision has occurred, the ECU controller 201 transmits a signal to the hinge 403, causing the actuator to retract, automatically resetting the rear end of the hood 7. Simultaneously, if suspension self-adjustment is enabled, the active suspension adjusts the height of the vehicle 100 to a normal driving state, and the vehicle 100 continues to travel normally.

[0126] The hood 7 is reset to complete time 3s-5s after the hood 7 is raised. No collision occurs within the time when a collision may occur, and the hood 7 is quickly reset, which can ensure the safety of the vehicle 100.

[0127] Alternatively, after the hood 7 is raised, a determination is made as to whether a collision has occurred within a preset time. If no collision has occurred, the hood 7 is immediately reset. The preset time is 2.5s-3.5s. If no collision has occurred within the possible collision time, the hood 7 is quickly reset to ensure the safety of the vehicle 100.

[0128] Optionally, the preset time may be 2.5s, 2.7s, 3s, 3.3s or 3.5s. In a specific example, the preset time is 3s.

[0129] In the related technology, most of the existing models equipped with active hoods use a gunpowder-type rear-end lifting mechanism. However, one of the disadvantages of traditional gunpowder-type active hoods is that they are difficult to use a second time. Once the lifting mechanism is triggered, it needs to be replaced later, which increases maintenance costs and also affects the customer's driving experience during road driving.

[0130] In the present invention, the hood 7 can be automatically reset after being lifted to a specified height through the hinge 403 or the hood lock 401 and its corresponding controller is normal when no collision occurs, that is, the hinge 403 and the hood lock 401 are both reversible, which can effectively solve the problem of secondary usability.

[0131] In addition, the present invention can detect pedestrians based on active signals such as radar 102 and camera 101, and combine passive signals to secondary identify whether a collision accident has occurred. On the one hand, it can effectively reduce the false explosion rate of the hood 7; on the other hand, since the hood 7 can be automatically reset, even if a false explosion occurs, the hood 7 can still be reset and used normally, thereby reducing the subsequent maintenance cost of the hood 7 and alleviating consumers' after-sales complaints.

[0132] The following describes a control system of the vehicle 100 according to an embodiment of the present invention.

[0133] like Figure 1 and Figure 2 As shown, the control system of the vehicle 100 according to the embodiment of the present invention includes a judgment and decision module 2 and an active hood execution module 4 .

[0134] The judgment and decision module 2 is used to judge whether there is a collision risk; the judgment and decision module 2 may include an ECU (Electronic Control Unit) controller 201 .

[0135] The active hood actuation module 4 is configured to raise the front end of the hood according to a first condition and raise the rear end of the hood according to a second condition when a collision risk exists. The active hood actuation module 4 includes a front lift mechanism and a rear lift mechanism. The front lift mechanism may be a hood lock 401, which is configured to raise the front end of the hood 7, and the rear lift mechanism may be a hinge 403, which is configured to raise the rear end of the hood 7.

[0136] According to the control system of vehicle 100 according to an embodiment of the present invention, decision module 2 determines whether a collision risk exists. When a collision risk exists, active hood actuator module 4 controls the front end of hood 7 to raise according to a first condition and the rear end of hood 7 to raise according to a second condition. This improves the accuracy of hood 7 control and better protects objects in front of the vehicle, particularly pedestrians. Furthermore, raising the front and / or rear end of hood 7 in advance when a collision risk is determined can better prevent injuries to pedestrians in the event of a subsequent collision.

[0137] In some embodiments of the present invention, the control system of vehicle 100 further includes an active recognition module 1, which is configured to obtain information about targets in front of vehicle 100. A judgment and decision module 2 is configured to determine whether a collision risk exists based on the information obtained by active recognition module 1. Active recognition module 1 may include a camera 101 and a radar 102 located in front of vehicle 100. Camera 101 and radar 102 may collect information about targets in front of vehicle 100. For example, radar 102 may collect information about the distance and speed of the vehicle in front, and the distance between vehicle 100 and the pedestrian in front. Camera 101 may collect information about the pedestrian's category (including adults and children), the pedestrian's movement speed, collision speed, and the pedestrian's head landing trajectory described below. Judgment and decision module 2 may perform algorithmic calculations based on the target information detected by camera 101 and radar 102, and assess whether a collision risk exists and determine the pedestrian's category based on the recognition results.

[0138] In some embodiments of the present invention, the control system of vehicle 100 further includes a passive identification module 3, which is located at the front end of vehicle 100 and is used to determine whether a collision has occurred. Passive identification module 3 is connected to ECU controller 201 and may include a pressure tube 301 and a collision sensor 302. ECU controller 201 uses the signals from pressure tube 301 and collision sensor 302 to determine whether a collision has occurred based on a collision threshold.

[0139] In some embodiments of the present invention, the active hood actuation module 4 is further configured to reset the hood 7 when the passive identification module 3 determines that no collision has occurred. The front-end lifting mechanism is a retractable hood lock 401, and the rear-end lifting mechanism is a retractable hinge 403. If it is determined that no collision has occurred, the ECU controller 201 transmits a signal to the active hood actuation module 4, and the actuator retracts, i.e., the hood 7 automatically resets. When no collision has occurred, the hood 7 can be automatically reset after being raised to a specified height through the hinge 403 or hood lock 401 and its corresponding controller is normal. That is, both the hinge 403 and the hood lock 401 are reversible, which can effectively solve the problem of secondary use.

[0140] In some embodiments of the present invention, the active hood actuation module 4 is further configured to deploy the rear airbag of the hood 7 when the passive recognition module 3 determines that a collision has occurred and the pedestrian's head does not land on the hood 7. If a tall adult's head impacts the windshield and A-pillar, the airbag can be used to protect the pedestrian's head, providing better protection.

[0141] In some embodiments of the present invention, the control system of the vehicle 100 also includes an active suspension adjustment module 5, which is used to lift the rear end of the hood 7 when the active hood execution module 4 is used. When the passive recognition module 3 determines that the collision target is a pedestrian and the pedestrian's head does not land on the hood 7, the height of the vehicle 100 is raised according to the information obtained by the active recognition module 1.

[0142] If it is determined that the pedestrian's head does not land on hood 7, the active suspension can be used to adjust the height of vehicle 100. Specifically, vehicle 100 can be raised so that the pedestrian's head lands on hood 7, protecting the pedestrian's head through deformation of the rear end of hood 7. Firstly, after hood 7 is activated, the risk of injury to the pedestrian is significantly reduced. While airbag protection can play a significant role in pedestrian protection, it is a disposable product and the subsequent maintenance cost of vehicle 100 is also high. Therefore, the active suspension can not only reduce head injuries, but also reduce the repair costs caused by vehicle 100 impacting the windshield area.

[0143] The following describes a vehicle 100 according to an embodiment of the present invention.

[0144] The vehicle 100 according to the embodiment of the present invention includes the control system of the vehicle 100 described above.

[0145] According to the vehicle 100 of the embodiment of the present invention, by configuring the control system of the vehicle 100 as described above, the decision module 2 determines whether there is a collision risk. When there is a collision risk, the active hood execution module 4 controls the front end of the hood 7 to raise according to a first condition and controls the rear end of the hood 7 to raise according to a second condition, thereby improving the accuracy of the control of the hood 7 and better protecting the target in front of the vehicle, especially when the target in front is a pedestrian. In addition, when a collision risk is determined, raising the front end and / or rear end of the hood 7 in advance can better prevent injuries to pedestrians who are subsequently hit.

[0146] The following describes a vehicle 100 according to an embodiment of the present invention.

[0147] The vehicle 100 according to the embodiment of the present invention includes a vehicle body 6 , a hood 7 , a memory, and a control program of the vehicle 100 stored in the memory and executable on a processor.

[0148] The hood 7 is provided on the upper side of the front end of the vehicle body 6 . When the control program of the vehicle 100 is executed by the processor, the steps of the above-mentioned method for controlling the vehicle 100 are implemented.

[0149] According to the vehicle 100 of the embodiment of the present invention, by causing the control program of the vehicle 100 to be executed by the processor, the steps of the control method of the vehicle 100 are implemented, thereby improving the accuracy of the control of the hood 7 and better protecting the target in front of the vehicle, especially when the target in front is a pedestrian. In addition, when a collision risk is determined, the front and / or rear end of the hood 7 is raised in advance to better prevent injuries to pedestrians in the event of a collision.

[0150] The following describes a storage medium according to an embodiment of the present invention.

[0151] According to the storage medium of the embodiment of the present invention, the storage medium stores a control program of the vehicle 100 , and when the control program of the vehicle 100 is executed by the processor, the steps of the above-mentioned control method of the vehicle 100 are implemented.

[0152] According to the storage medium of an embodiment of the present invention, when the control program for vehicle 100 stored therein is executed by the processor, the steps of the above-described method for controlling vehicle 100 are implemented, thereby improving the accuracy of controlling hood 7 and better protecting objects in front of the vehicle, particularly pedestrians. Furthermore, when a collision risk is determined, raising the front and / or rear end of hood 7 in advance can better prevent injuries to pedestrians if they are subsequently struck.

[0153] Other components and operations of the vehicle 100 according to the embodiment of the present invention are well known to those skilled in the art and will not be described in detail here.

[0154] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0155] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A method for controlling a vehicle hood, characterized in that: include: Obtain information about the target in front of the vehicle; determining a collision risk of the vehicle based on the motion information of the target object and the motion information of the vehicle; When there is a risk of collision, the front end of the hood is controlled to rise according to a first condition; the rear end of the hood is controlled to rise according to a second condition, wherein the first condition is that the height of the target object is not higher than a preset height, and the second condition is that the height of the target object is higher than the preset height. When the target object satisfies the second condition and the target object is a pedestrian, determining that a collision occurs; Make sure the pedestrian's head does not land on the hood; The active suspension raises the vehicle height so that the pedestrian's head lands on the hood and / or the rear airbag at the hood deploys. The step of raising the vehicle height by the active suspension so that the pedestrian's head lands on the hood and / or the airbag at the rear end of the hood is deployed includes: When the height of the vehicle is adjusted so that the pedestrian's head lands on the hood, the vehicle height is raised by the active suspension; When the pedestrian's head cannot fall on the hood by adjusting the vehicle height, the hood rear end airbag is deployed.

2. The vehicle hood control method according to claim 1, characterized in that: The method of determining the collision risk of the vehicle further includes: Determining a predicted time TTC of collision between the target object and the vehicle based on the motion information of the target object and the motion information of the vehicle; When the predicted time TTC is less than or equal to a collision threshold, the vehicle is at risk of collision.

3. The vehicle hood control method according to claim 1, characterized in that: When the target object is a pedestrian, the first condition is a child, and the second condition is an adult.

4. The vehicle hood control method according to claim 1, characterized in that: The preset height is adjusted according to the vehicle height.

5. The vehicle hood control method according to claim 1, characterized in that: When the target object satisfies the second condition, the control method further includes: Get the speed of the vehicle; When the speed of the vehicle is less than or equal to a preset speed, the rear end of the hood is raised to a first height; When the speed of the vehicle is greater than the preset speed, the rear end of the hood is lifted to a second height, which is greater than the first height.

6. The vehicle hood control method according to claim 5, characterized in that: The rear end of the hood is raised to the second height comprising: The rear end of the hood is firstly lifted to a first height and then lifted to a second height.

7. The vehicle hood control method according to claim 1, characterized in that: When the target object satisfies the first condition, the control method further includes: Get the speed of the vehicle; When the speed of the vehicle is less than or equal to a preset speed, the front end of the hood is raised to a third height; When the speed of the vehicle is greater than the preset speed, the front end of the hood is lifted to a fourth height, and the fourth height is greater than the third height.

8. The vehicle hood control method according to claim 7, characterized in that: The front end of the hood is raised to a fourth height, comprising: The front end of the hood is firstly lifted to the third height and then lifted to the fourth height.

9. The method for controlling a vehicle hood according to any one of claims 5 to 8, characterized in that: The preset speed is 35km / h-45km / h.

10. The vehicle hood control method according to claim 1, characterized in that: When the airbag is deployed, the airbag covers the windshield beam and the A-pillar.

11. The vehicle hood control method according to claim 10, characterized in that: When the airbag is deployed, the airbag has a hollow portion opposite to the main driving area.

12. The method for controlling a vehicle hood according to any one of claims 1 to 8, 10 and 11, characterized in that: Also includes: The passive recognition module of the vehicle determines whether a collision occurs; When the vehicle does not collide, the hood is reset.

13. The vehicle hood control method according to claim 12, characterized in that: The hood reset completion time is 3s-5s after the hood is lifted.

14. The vehicle hood control method according to claim 12, characterized in that: If it is determined that no collision occurs within a preset time after the hood is raised, the hood is controlled to be reset immediately.

15. The vehicle hood control method according to claim 14, characterized in that: The preset time is 2.5s-3.5s.

16. A vehicle control system, characterized in that: include: An active recognition module, the active recognition module is used to obtain target object information in front of the vehicle; A judgment and decision-making module, configured to determine whether there is a collision risk based on the information obtained by the active recognition module; an active hood actuation module, the active hood actuation module being configured to control the front end of the hood to be raised according to a first condition and the rear end of the hood to be raised according to a second condition when there is a risk of collision; a passive recognition module, the passive recognition module being disposed at the front end of the vehicle and configured to determine whether a collision has occurred, the active hood actuation module being further configured to deploy a rear-end airbag when the passive recognition module determines that a collision has occurred and the pedestrian's head has not landed on the hood; An active suspension adjustment module is used to raise the rear end of the hood when the active hood execution module is used. When the passive recognition module determines that a collision has occurred and the target object is a pedestrian and the pedestrian's head does not land on the hood, the vehicle height is raised according to the information obtained by the active recognition module.

17. The vehicle control system according to claim 16, characterized in that: The active hood execution module is further configured to reset the hood when the passive recognition module determines that no collision has occurred.

18. A vehicle, characterized in that: A control system comprising a vehicle according to claim 16 or 17.

19. A vehicle, characterized in that: include: A vehicle body, a hood, a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein: The hood is provided on the upper side of the front end of the vehicle body; When the vehicle control program is executed by the processor, the steps of the vehicle hood control method according to any one of claims 1 to 15 are implemented.

20. A storage medium, characterized in that The storage medium stores a vehicle control program, and when the vehicle control program is executed by a processor, the steps of the vehicle hood control method according to any one of claims 1 to 15 are implemented.

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