技术领域technical field
本发明涉及车辆安全领域，特别是涉及一种车用行人保护安全系统及控制方法。The invention relates to the field of vehicle safety, in particular to a vehicle pedestrian protection safety system and a control method.
背景技术Background technique
在道路交通中，行人安全问题越来越受到关注，每年由于撞到行人产生的事故占所有交通事故很大比例，受害人在损失经济利益的同时，身心也遭受巨大伤害，因此越来越多的企业和车辆研究机构对车辆的行人保护装置进行了有效的研究。In road traffic, more and more attention has been paid to the safety of pedestrians. Accidents caused by hitting pedestrians account for a large proportion of all traffic accidents every year. While the victims lose economic benefits, they also suffer great physical and mental injuries. Therefore, more and more Leading enterprises and vehicle research institutions have conducted effective research on vehicle pedestrian protection devices.
目前大多数车辆行人保护装置是考虑到车辆本身的行人保护效果，即假设行人撞击到车上时所产生伤害的防护，如采用行人安全气囊来吸收行人撞击车辆时的能量，通过在行人头部撞击车辆前展开安全气囊，行人就可以免受其头部撞击车辆时产生的冲击，从而有效保护了行人安全。At present, most vehicle pedestrian protection devices take into account the pedestrian protection effect of the vehicle itself, that is, the protection of the injury caused by the assumption that the pedestrian hits the vehicle. For example, the pedestrian airbag is used to absorb the energy when the pedestrian hits the vehicle. Deploy the airbag before hitting the vehicle, and the pedestrian can be protected from the impact when his head hits the vehicle, thus effectively protecting the safety of the pedestrian.
但是在实际人-车交通事故中，由于行人与车辆碰撞时人的运动姿态存在很多不确定性，从而导致很多情况下行人发生碰撞时被抛出车外行人头部撞击到地面而死亡的恶性事故产生。However, in actual human-vehicle traffic accidents, there are many uncertainties in the motion posture of pedestrians when they collide with vehicles, which leads to the vicious death of pedestrians who are thrown out of the vehicle and hit the ground with their heads in many cases. Accidents happen.
发明内容Contents of the invention
本发明的目的在于提供一种车用行人保护安全系统，该系统能够在人-车碰撞时行人被抛出车外后对行人头部进行有效的保护。The purpose of the present invention is to provide a vehicle pedestrian protection safety system, which can effectively protect the head of the pedestrian after the pedestrian is thrown out of the vehicle during a collision between a person and a vehicle.
本发明的另一个目的在于提供一种应用于所述车用行人保护安全系统的控制方法，通过该方法，能够有效的在人-车碰撞时行人被抛出车外后对行人头部进行保护。Another object of the present invention is to provide a control method applied to the vehicle pedestrian protection safety system, through which the head of the pedestrian can be effectively protected after the pedestrian is thrown out of the vehicle during a collision between a person and a vehicle .
特别地，本发明提供了一种车用行人保护安全系统，其包括：In particular, the present invention provides a vehicle pedestrian protection safety system, which includes:
图像获取装置，用于获取车辆前方的图像；An image acquisition device, configured to acquire an image in front of the vehicle;
图像处理装置，用于根据所述图像判定所述车辆前方是否存在行人；an image processing device, configured to determine whether there is a pedestrian in front of the vehicle according to the image;
安全网，展开后包围车辆前舱与乘员舱侧面；和a safety net that deploys to enclose the sides of the vehicle's front compartment and passenger compartment; and
控制器，用于配置成在判定所述车辆前方存在行人的情况下控制所述安全网展开。A controller configured to control deployment of the safety net when it is determined that there is a pedestrian in front of the vehicle.
进一步地，所述安全网数量为两个，两个所述安全网分别安装于所述车辆的翼子板两侧，并且在所述车辆中对应的翼子板与A柱之间展开。Further, there are two safety nets, and the two safety nets are installed on both sides of the fenders of the vehicle respectively, and are deployed between the corresponding fenders and the A-pillars of the vehicle.
进一步地，所述安全网展开后还平铺于所述车辆的引擎盖处。Further, after the safety net is unfolded, it is also flatly laid on the hood of the vehicle.
进一步地，还包括车速传感器，用于检测所述车辆的车速。Further, a vehicle speed sensor is also included for detecting the vehicle speed of the vehicle.
进一步地，所述控制器配置成在判定所述车辆前方存在行人的情况下并且所述车辆的车速达到预定车速时，控制所述安全网展开。Further, the controller is configured to control the deployment of the safety net when it is determined that there are pedestrians in front of the vehicle and the speed of the vehicle reaches a predetermined speed.
进一步地，还包括压力传感器，用于检测行人与所述车辆的前保险杠的碰撞力。Further, a pressure sensor is also included for detecting the collision force between the pedestrian and the front bumper of the vehicle.
进一步地，所述压力传感器安装在所述车辆的前保险杠的后方。Further, the pressure sensor is installed behind the front bumper of the vehicle.
进一步地，所述控制器配置成在判定所述车辆前方存在行人的情况下、所述车辆的车速达到预定车速且所述车辆的前保险杠的碰撞力达到预定碰撞力时，控制所述安全网展开。Further, the controller is configured to control the safety when it is determined that there is a pedestrian in front of the vehicle, the speed of the vehicle reaches a predetermined speed, and the collision force of the front bumper of the vehicle reaches a predetermined collision force. The net unfolds.
进一步地，所述安全网为气垫网或橡胶网。Further, the safety net is an air cushion net or a rubber net.
进一步地，本发明还提供了一种应用于上述所述的车用行人保护安全系统的控制方法，包括：Further, the present invention also provides a control method applied to the above-mentioned vehicle pedestrian protection safety system, including:
获取车辆前方的图像；Get the image in front of the vehicle;
根据所述图像判定所述车辆前方是否存在行人；determining whether there is a pedestrian in front of the vehicle according to the image;
在判定所述车辆前方存在行人的情况下控制所述安全网展开；controlling the deployment of the safety net when it is determined that there is a pedestrian in front of the vehicle;
其中，所述安全网展开后包围车辆前舱与乘员舱侧面；Wherein, the safety net surrounds the front compartment of the vehicle and the sides of the passenger compartment after deployment;
可选地，所述方法还包括获取所述车辆的车速；Optionally, the method further includes acquiring the vehicle speed of the vehicle;
在判定所述车辆前方存在行人的情况下并且所述车辆的车速达到预定车速时，控制所述安全网展开；When it is determined that there are pedestrians in front of the vehicle and the speed of the vehicle reaches a predetermined speed, controlling the deployment of the safety net;
可选地，所述方法还包括获取所述车辆的前保险杠的碰撞力；Optionally, the method further includes obtaining the collision force of the front bumper of the vehicle;
在判定所述车辆前方存在行人的情况下、所述车辆的车速达到预定车速且所述车辆的前保险杠的碰撞力达到预定碰撞力时，控制所述安全网展开。When it is determined that there is a pedestrian in front of the vehicle, when the speed of the vehicle reaches a predetermined speed and the collision force of the front bumper of the vehicle reaches a predetermined collision force, the safety net is controlled to deploy.
本发明的有益效果在于，在车辆翼子板两侧安装行人保护安全网，当车辆与行人发生碰撞后被抛出车外瞬间，通过在车辆翼子板与A柱之间迅速展开安全网，就能够在地面与行人头部之间形成保护，行人头部首先与安全网接触，在缓冲了大量碰撞能量后，再落到地面上，因此，有效降低了行人头部受撞击而产生剧烈伤害的程度。The beneficial effect of the present invention is that the pedestrian protection safety net is installed on both sides of the vehicle fender, and when the vehicle collides with the pedestrian and is thrown out of the vehicle, the safety net is quickly deployed between the vehicle fender and the A-pillar, It can form a protection between the ground and the pedestrian's head. The pedestrian's head first contacts with the safety net, and then falls to the ground after buffering a large amount of collision energy. Therefore, it effectively reduces the severe injury caused by the impact on the pedestrian's head Degree.
附图说明Description of drawings
后文将参照附图以示例性而非限制性的方式详细描述本发明的一些具体实施例。附图中相同的附图标记标示了相同或类似的部件或部分。附图中：Hereinafter, some specific embodiments of the present invention will be described in detail by way of illustration and not limitation with reference to the accompanying drawings. The same reference numerals in the drawings designate the same or similar parts or parts. In the attached picture:
图1是按照本发明一个实施例的安全网安装位置示意图；Fig. 1 is a schematic diagram of a safety net installation position according to an embodiment of the present invention;
图2是按照本发明一个实施例的安全网展开后的示意图；Fig. 2 is a schematic diagram after the safety net is expanded according to an embodiment of the present invention;
图3是按照本发明一个实施例的应用于车用行人保护安全系统的控制方法的流程图。FIG. 3 is a flowchart of a control method applied to a vehicle pedestrian protection safety system according to an embodiment of the present invention.
具体实施方式detailed description
图1是按照本发明一个实施例的安全网安装位置示意图，图2是按照本发明一个实施例的安全网展开后的示意图，参见图1，还可以参见图2，本实施例以图1为主加以说明，一种车用行人保护安全系统，其一般性的可以包括图像获取装置100用于获取车辆前方的图像；图像处理装置用于根据所述图像判定所述车辆前方是否存在行人；安全网200展开后包围车辆前舱与乘员舱侧面；和控制器用于配置成在判定所述车辆前方存在行人的情况下控制所述安全网200展开。在这里，所述图像获取装置100可以为摄像头，位于车辆风窗玻璃顶部，所述图像处理装置与控制器可以为电子控制单元，集成于车辆的CAN网络中，所述安全网200数量可以为两个，两个所述安全网200分别安装于所述车辆的翼子板300两侧，并且在所述车辆中对应的翼子板400与A柱500之间展开。Fig. 1 is a schematic diagram of the installation position of the safety net according to an embodiment of the present invention, and Fig. 2 is a schematic diagram of the unfolded safety net according to an embodiment of the present invention, referring to Fig. 1, and Fig. 2 can also be referred to, and Fig. 1 is used as an example in this embodiment The main description is that a pedestrian protection safety system for a vehicle may generally include an image acquisition device 100 for acquiring images in front of the vehicle; an image processing device for judging whether there are pedestrians in front of the vehicle according to the images; The net 200 is deployed to surround the front cabin and the side of the passenger compartment of the vehicle; and the controller is configured to control the deployment of the safety net 200 when it is determined that there is a pedestrian in front of the vehicle. Here, the image acquisition device 100 may be a camera located on the top of the windshield of the vehicle, the image processing device and the controller may be electronic control units integrated in the CAN network of the vehicle, and the number of the safety nets 200 may be Two, the two safety nets 200 are respectively installed on both sides of the fender 300 of the vehicle, and spread between the corresponding fender 400 and the A-pillar 500 of the vehicle.
通过安全网200的设置，当车辆与行人发生碰撞后被抛出车外瞬间，通过在车辆翼子板400与A柱500之间迅速展开安全网200，就能够在地面与行人头部之间形成保护，行人头部首先与安全网200接触，在缓冲了大量碰撞能量后，再落到地面上，因此，有效扩大了行人头部的保护范围，其不仅仅局限于行人头部撞击车辆本身而产生的对行人的保护，还将车辆两侧行人头部常见落地点也纳入了保护范围，由此降低了因行人头部撞击地面而发生的死亡事故，更全面地保护了行人的安全。Through the setting of the safety net 200, when the vehicle collides with a pedestrian and is thrown out of the vehicle, by rapidly deploying the safety net 200 between the vehicle fender 400 and the A-pillar 500, it is possible to protect the vehicle between the ground and the head of the pedestrian. To form a protection, the head of the pedestrian first comes into contact with the safety net 200, and then falls to the ground after buffering a large amount of collision energy. Therefore, the protection range of the head of the pedestrian is effectively expanded, and it is not limited to the head of the pedestrian hitting the vehicle itself The resulting protection of pedestrians also includes the common landing points of pedestrians' heads on both sides of the vehicle into the scope of protection, thereby reducing fatal accidents caused by pedestrians' heads hitting the ground and more comprehensively protecting the safety of pedestrians.
在本发明一个实施例中，除了保护行人头部，为保护行人其他部位免受剧烈撞击，所述安全网200展开后还平铺于车辆引擎盖处，因此，通过安全网200的缓冲作用，行人其他部位，如手臂等，就能够及时避免与引擎盖直接的刚性碰撞，有效保护了行人。In one embodiment of the present invention, in addition to protecting the head of the pedestrian, in order to protect other parts of the pedestrian from severe impacts, the safety net 200 is also laid flat on the hood of the vehicle after being deployed. Therefore, through the buffering effect of the safety net 200, Other parts of pedestrians, such as arms, can avoid direct rigid collision with the hood in time, effectively protecting pedestrians.
由于行人与车辆发生碰撞而产生致命伤害，一般都是在车辆车速较高的情况下，若车速缓慢，那么即使行人撞击车辆，一般也不会产生过大的伤害，因此，为保证安全网200有效展开，即避免在不需要展开的情况下(如车速过慢，行人虽与车辆有碰撞，但不会导致其头部发生伤害)展开而浪费诸多资源，在本发明一个实施例中，还包括车速传感器(图中未示出)，用于检测所述车辆的车速。所述控制器配置成在判定所述车辆前方存在行人的情况下并且所述车辆的车速达到预定车速时，控制所述安全网200展开。在这里，预定车速可以是40km/h，所述车速传感器为车辆自身标配。Fatal injuries due to the collision between pedestrians and vehicles are generally under the condition of high vehicle speed. If the vehicle speed is slow, then even if pedestrians collide with the vehicle, there will generally not be too much injury. Therefore, in order to ensure the safety net 200 Efficient deployment, that is, to avoid the waste of many resources due to the deployment when the speed of the vehicle is too slow (such as the speed of the vehicle is too slow, although pedestrians collide with the vehicle, but will not cause injuries to their heads), and in one embodiment of the present invention, A vehicle speed sensor (not shown in the figure) is included for detecting the vehicle speed of the vehicle. The controller is configured to control the safety net 200 to deploy when it is determined that there is a pedestrian in front of the vehicle and the speed of the vehicle reaches a predetermined speed. Here, the predetermined vehicle speed may be 40km/h, and the vehicle speed sensor is a standard configuration of the vehicle itself.
此外，考虑到当车辆与行人发生碰撞，若两者之间产生的碰撞力不足以使行人抛出车外，那么也就没有必要张开安全网200来保护行人，因此，在本发明一个实施例中，还包括压力传感器300，用于检测行人与所述车辆的前保险杠的碰撞力，所述压力传感器300可以安装在车辆前保险杠的后方。所述控制器配置成在判定所述车辆前方存在行人的情况下、所述车辆的车速达到预定车速且所述车辆的前保险杠的碰撞力达到预定碰撞力时，控制所述安全网展开。在这里，预定车速可以是40km/h，预定碰撞力则根据不同行人由控制器判断，以使行人抛出车外为准。In addition, considering that when a vehicle collides with a pedestrian, if the collision force generated between the two is not enough to cause the pedestrian to be thrown out of the vehicle, then there is no need to open the safety net 200 to protect the pedestrian. Therefore, in an implementation of the present invention In an example, a pressure sensor 300 is also included for detecting the collision force between the pedestrian and the front bumper of the vehicle, and the pressure sensor 300 may be installed behind the front bumper of the vehicle. The controller is configured to control the deployment of the safety net when it is determined that there is a pedestrian in front of the vehicle, the speed of the vehicle reaches a predetermined speed, and the collision force of the front bumper of the vehicle reaches a predetermined collision force. Here, the predetermined vehicle speed may be 40km/h, and the predetermined collision force is judged by the controller according to different pedestrians, so that the pedestrian is thrown out of the vehicle as the criterion.
同时，根据不同材质的分类，所述安全网200可以为气垫网或橡胶网，具体根据实际情况而定。Meanwhile, according to the classification of different materials, the safety net 200 can be an air cushion net or a rubber net, depending on the actual situation.
特别地，本发明还提供了一种应用于上述所述的车用行人保护安全系统的控制方法，图3是按照本发明一个实施例的应用于车用行人保护安全系统的控制方法的流程图，如图3所示，其可以包含如下步骤：In particular, the present invention also provides a control method applied to the above-mentioned vehicle pedestrian protection safety system, and FIG. 3 is a flow chart of the control method applied to the vehicle pedestrian protection safety system according to an embodiment of the present invention , as shown in Figure 3, which may include the following steps:
S100，获取车辆前方的图像；S100, acquiring an image in front of the vehicle;
S200，根据所述图像判定所述车辆前方是否存在行人；S200. Determine whether there is a pedestrian in front of the vehicle according to the image;
S300，在判定所述车辆前方存在行人的情况下控制所述安全网200展开；S300, controlling the deployment of the safety net 200 when it is determined that there are pedestrians in front of the vehicle;
其中，所述安全网200展开后包围车辆前舱与乘员舱侧面。Wherein, the safety net 200 surrounds the front compartment of the vehicle and the sides of the passenger compartment after deployment.
当然，如前所述，由于行人与车辆发生碰撞而产生致命伤害，一般都是在车辆车速较高的情况下，若车速缓慢，那么即使行人撞击车辆，一般也不会产生过大的伤害，因此，为保证安全网200有效展开，所述方法可以包括获取所述车辆的车速，控制器在判定所述车辆前方存在行人的情况下并且所述车辆的车速达到预定车速时，控制所述安全网200展开。在这里，所述预定车速可以是40km/h。Of course, as mentioned above, fatal injuries due to collisions between pedestrians and vehicles are generally at high vehicle speeds. If the vehicle speed is slow, then even if pedestrians collide with vehicles, there will generally not be too much damage. Therefore, in order to ensure the effective deployment of the safety net 200, the method may include obtaining the speed of the vehicle, and the controller controls the safety net 200 when it is determined that there is a pedestrian in front of the vehicle and the speed of the vehicle reaches a predetermined speed. The net 200 is unfolded. Here, the predetermined vehicle speed may be 40km/h.
同理，如前所述，若行人与车辆之间产生的碰撞力不足以使行人抛出车外，那么也就没有必要张开安全网200来保护行人，因此，所述方法还可以包括获取所述车辆的前保险杠的碰撞力，控制器在判定所述车辆前方存在行人的情况下、所述车辆的车速达到预定车速且所述车辆的前保险杠的碰撞力达到预定碰撞力时，控制所述安全网200展开。在这里，所述预定车速可以是40km/h，所述预定碰撞力则根据不同行人由控制器判断，以使行人抛出车外为准。Similarly, as mentioned above, if the collision force generated between the pedestrian and the vehicle is not enough to cause the pedestrian to be thrown out of the vehicle, then there is no need to open the safety net 200 to protect the pedestrian. Therefore, the method may also include obtaining The collision force of the front bumper of the vehicle, when the controller determines that there are pedestrians in front of the vehicle, when the speed of the vehicle reaches a predetermined speed and the collision force of the front bumper of the vehicle reaches a predetermined collision force, Controlling the deployment of the safety net 200 . Here, the predetermined vehicle speed may be 40 km/h, and the predetermined collision force is judged by the controller according to different pedestrians, so that the pedestrian is thrown out of the vehicle.
由于所述控制方法应用于所述车用行人保护安全系统中，因此当车辆与行人发生碰撞后被抛出车外瞬间，该方法通过在车辆翼子板400与A柱500之间迅速展开安全网200，就能够在地面与行人头部之间形成保护，行人头部首先与安全网200接触，在缓冲了大量碰撞能量后，再落到地面上，因此，有效扩大了行人头部的保护范围，其不仅仅局限于行人头部撞击车辆本身而产生的对行人的保护，还将车辆两侧行人头部常见落地点也纳入了保护范围，由此降低了因行人头部撞击地面而发生的死亡事故，更全面地保护了行人的安全。Since the control method is applied to the vehicle pedestrian protection safety system, when the vehicle collides with a pedestrian and is thrown out of the vehicle, the method rapidly expands the safety system between the vehicle fender 400 and the A-pillar 500 The net 200 can form protection between the ground and the pedestrian's head. The pedestrian's head first contacts with the safety net 200, and then falls to the ground after buffering a large amount of collision energy. Therefore, the protection of the pedestrian's head is effectively expanded. Scope, it is not limited to the protection of pedestrians caused by the impact of pedestrians' heads on the vehicle itself, but also includes the common landing points of pedestrians' heads on both sides of the vehicle into the scope of protection, thus reducing the impact of pedestrians' heads on the ground. fatal accidents, and more comprehensively protect the safety of pedestrians.
至此，本领域技术人员应认识到，虽然本文已详尽示出和描述了本发明的多个示例性实施例，但是，在不脱离本发明精神和范围的情况下，仍可根据本发明公开的内容直接确定或推导出符合本发明原理的许多其他变型或修改。因此，本发明的范围应被理解和认定为覆盖了所有这些其他变型或修改。So far, those skilled in the art should appreciate that, although a number of exemplary embodiments of the present invention have been shown and described in detail herein, without departing from the spirit and scope of the present invention, the disclosed embodiments of the present invention can still be used. Many other variations or modifications consistent with the principles of the invention are directly identified or derived from the content. Accordingly, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610601022.2ACN106184108A (en) | 2016-07-27 | 2016-07-27 | A kind of automobile-used pedestrian protecting safety system and control method |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610601022.2ACN106184108A (en) | 2016-07-27 | 2016-07-27 | A kind of automobile-used pedestrian protecting safety system and control method |
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| CN106184108Atrue CN106184108A (en) | 2016-12-07 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201610601022.2APendingCN106184108A (en) | 2016-07-27 | 2016-07-27 | A kind of automobile-used pedestrian protecting safety system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109591755A (en)* | 2019-01-14 | 2019-04-09 | 长沙理工大学 | A kind of fast car protection people collsion damage method |
| CN109606305A (en)* | 2018-12-20 | 2019-04-12 | 安徽江淮汽车集团股份有限公司 | A method of head injury minimizes during realizing pedestrian head shock vehicle body |
| CN112277868A (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 |
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| CN104709222A (en)* | 2013-05-08 | 2015-06-17 | 通用汽车环球科技运作有限责任公司 | Fender located pedestrian protection airbag |
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| EP1176062A2 (en)* | 2000-07-27 | 2002-01-30 | Nissan Motor Company, Limited | Vehicle air bag system |
| JP2002283939A (en)* | 2001-03-29 | 2002-10-03 | Toyota Motor Corp | Pedestrian protection airbag device |
| CN1830705A (en)* | 2005-03-09 | 2006-09-13 | 高田株式会社 | Airbag and airbag device for protecting a pedestrian or the like |
| KR100630841B1 (en)* | 2005-05-19 | 2006-10-02 | 주식회사 현대오토넷 | Pedestrian protection airbag system and its control method |
| CN1974275A (en)* | 2006-12-18 | 2007-06-06 | 李冰 | Pedestrian protecting safety air curtain device for vehicle |
| CN102096803A (en)* | 2010-11-29 | 2011-06-15 | 吉林大学 | Safe state recognition system for people on basis of machine vision |
| CN103204124A (en)* | 2012-01-17 | 2013-07-17 | 奥迪股份公司 | Method For Operating A Pedestrian Protection System And Motor Vehicle |
| CN202624201U (en)* | 2012-04-27 | 2012-12-26 | 浙江吉利汽车研究院有限公司杭州分公司 | Pedestrian detection intelligent control device for automobile |
| CN102722721A (en)* | 2012-05-25 | 2012-10-10 | 山东大学 | A human fall detection method based on machine vision |
| CN104709222A (en)* | 2013-05-08 | 2015-06-17 | 通用汽车环球科技运作有限责任公司 | Fender located pedestrian protection airbag |
| CN105015480A (en)* | 2014-04-30 | 2015-11-04 | 罗伯特·博世有限公司 | Method and device for activating a pedestrian protection means for a vehicle, and restraint system for a vehicle |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106997417A (en)* | 2017-04-28 | 2017-08-01 | 南京航空航天大学 | A kind of automatic buffer energy-absorbing A posts and its optimization method based on pedestrian protecting |
| CN109606305A (en)* | 2018-12-20 | 2019-04-12 | 安徽江淮汽车集团股份有限公司 | A method of head injury minimizes during realizing pedestrian head shock vehicle body |
| CN109591755A (en)* | 2019-01-14 | 2019-04-09 | 长沙理工大学 | A kind of fast car protection people collsion damage method |
| CN112277868A (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 |
| CN112277868B (en)* | 2019-07-26 | 2022-07-12 | 浙江吉利汽车研究院有限公司 | Pedestrian protection system and method |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20161207 |