JP2002127867A - Obstruction presuming device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely presume a kind of obstruction against which a vehicle collides. SOLUTION: The obstruction presuming device 40 for the vehicle is constituted of a bumper face 42 to deform by making contact with an obstruction, a deforming speed detection means 51 to detect deforming speed Vb of the bumper face, a deforming quantity detection means 52 to detect deforming quantity Sb of the bumper face, a deforming speed maxium value renewing means 55 to make the maximum value of Vb the deforming speed maximum value Vm, standard speed generating means 71 to provide standard speed Vt0 by multiplying Vm by a speed constant of less than 1.0, a first standard deforming quantity generating means 72 to provide first standard deforming quantity St1 by multiplying Vm by a first deforming quantity constant, a second standard deforming quantity generating means 73 to provide second standard deforming quantity St2 by multiplying Vm by a second deforming quantity constant larger than the first deforming quantity constant and a presuming means 76 to presume that it is a specific obstruction when Vb<Vt0 and St1<Sb<S12 within presuming time from a point of time when the vehicle makes contact with the obstruction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle obstacle estimating apparatus for estimating the type of an obstacle when the vehicle collides with the obstacle.

[0002]

2. Description of the Related Art Some vehicles are equipped with a device for estimating the type of an obstacle when the vehicle collides with the obstacle and taking measures against secondary collision such as jumping up a hood according to the type. . As this type of apparatus, for example, Japanese Patent Application Laid-Open
No. 28994, “Pedestrian protection sensor system” is known. Hereinafter, this conventional technique will be described.

FIG. 27 is an explanatory diagram created based on FIGS. 4 and 7 of JP-A-11-28994. In addition, the names and reference numerals of the respective constituent elements were appropriately changed. The pedestrian protection sensor system 100 includes a load sensor 103 and a vehicle speed sensor 104 attached to a front bumper 102 of a vehicle 101.
4, a control signal is issued from the controller 105 to the flip-up mechanism 106. Vehicle 1
01 collides with the obstacle S11 at a certain vehicle speed or higher, and when the signal of the load sensor 103 is within a certain range, the controller 105 estimates that the colliding obstacle S11 is a specific obstacle and performs control. Emits a signal. In response to this control signal, the flip-up mechanism 106 takes measures against secondary collision by flipping up the rear end of the hood 107. The detailed operation of the controller 105 will be described with reference to FIG.

FIG. 28 is a load sensor output characteristic diagram created based on FIG. 6 of JP-A-11-28994, in which the horizontal axis represents time and the vertical axis represents load sensor output. In addition, the names and reference numerals of the respective constituent elements were appropriately changed. When the front bumper 102 shown in FIG. 27 collides with the obstacle S11, the sensor output starts increasing from zero, starts decreasing after reaching a peak, and returns to zero again. Line R1 indicates the sensor output characteristics when colliding with another vehicle or a wall, line R2 indicates the sensor output characteristics when colliding with a standing tree, a utility pole, or a signpost, and lines R3 and R4 indicate when colliding with a pedestrian. 5 shows the sensor output characteristics of the first embodiment.

[0005] Here, Se1 is the front bumper 102.
Is a first threshold value for determining whether or not has collided with the obstacle S11. As the sensor output increases, the first threshold value S
The point in time at which e1 is reached is defined as Ti1, and the time is counted from this point in time Ti1. If the sensor output further increases and exceeds the second threshold value Se2, it is estimated that the obstacle S11 is not a specific obstacle (pedestrian). On the other hand, the point at which the sensor output reaches the peak without exceeding the second threshold value Se2, starts decreasing, and decreases to the first threshold value Se1 is defined as Ti2. When the duration time Ti0 (Ti0 = Ti2-Ti1) from the time point Ti1 to the time point Ti2 falls within a predetermined time, the obstacle S11 that has collided with the obstacle S11.
Is a specific obstacle (pedestrian).

[0006]

As apparent from FIG. 28, the line R3 and the line R4 have a characteristic that the duration Ti0 within the range of Se1 to Se2 is relatively short. In addition to pedestrians, obstacles having such characteristics include lightweight objects such as sign boards (commonly called “pylons”) and rubber lane dividers. Even if the obstacle S11 is not a specific obstacle, the conventional controller 105
Means that the obstacle S11 is erroneously estimated to be a specific obstacle. That is, an error (error) may occur in the type estimation of the obstacle S11. The occurrence of such an error is not desirable.

An object of the present invention is to provide a technique capable of more accurately estimating the type of an obstacle colliding with a vehicle.

[0008]

According to a first aspect of the present invention, there is provided a vehicle obstacle estimating apparatus for estimating the type of an obstacle when the vehicle collides with the obstacle.
The vehicle obstacle estimating device includes a deformable member that deforms according to an impact force when the vehicle hits an obstacle, a deformation speed detecting unit that detects a deformation speed of the deformable member, and a deformable member. A deformation amount detecting means for detecting the deformation amount, a deformation speed maximum value updating means for comparing the deformation speed with the maximum value of the old deformation speed detected earlier to determine a larger one as the deformation speed maximum value, A reference speed generating means for determining a value corresponding to a value obtained by multiplying the value by a predetermined speed constant of less than 1.0 as a reference speed; and a value obtained by multiplying a maximum deformation speed by a predetermined first deformation amount constant. A first reference deformation amount generating means for determining a value to be performed as a first reference deformation amount, and a second reference value corresponding to a value obtained by multiplying a maximum deformation speed by a preset second deformation amount constant larger than the first deformation amount constant. The second to determine the reference deformation amount
A reference deformation amount generating means, and a range in which the deformation speed is lower than the reference speed and the deformation amount is within a range from the first reference deformation amount to the second reference deformation amount within a preset estimation time from the time when the vehicle hits the obstacle. And estimating means for estimating that the obstacle is a specific obstacle when it is within the range, and estimating signal generating means for generating an estimation signal based on the estimation by the estimating means.

[0009] The ratio of the maximum value of the deformation amount to the maximum value of the deformation speed is smaller than that of a specific obstacle such as a pedestrian. A reference speed and a range from the first reference deformation amount to the second reference deformation amount are determined based on the maximum value, and the deformation speed is smaller than the reference speed and the deformation amount is from the first reference deformation amount to the second reference deformation amount. The collision obstacle is assumed to be a specific obstacle when it falls within the range. Lightweight objects are not mistakenly assumed to be specific obstacles. By the way, when the vehicle collides with an obstacle having a low center of gravity, such as being caught in the lower part of the vehicle, the deformable member is deformed so as to be pulled downward and rearward of the vehicle. At this time, the time from the point of collision until the deformation speed reaches its peak after reaching the peak becomes zero, as compared with the case where the obstacle is a specific obstacle such as a pedestrian. Claim 1 utilizes such characteristics, and when the deformation speed and the deformation amount achieve the above predetermined conditions within the estimation time, it is estimated that the colliding obstacle is a specific obstacle. I did it. An obstacle having a low center of gravity is not erroneously estimated as a specific obstacle.

[0010]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that "before", "after",
“Left”, “right”, “up”, and “down” follow the direction viewed from the driver, and Fr indicates the front side, Rr indicates the rear side, L indicates the left side, and R indicates the right side. Also, the drawings should be viewed in the direction of reference numerals.

FIG. 1 is a perspective view of a vehicular secondary collision countermeasure device according to the present invention. The vehicle secondary collision countermeasure device 10 is provided with an engine room 12 at a front portion of a vehicle 11 and closes an upper opening of the engine room 12 with a front-opening hood 13.
The rear end of the hood 13 is attached to the vehicle body frame 14 so as to be opened and closed by left and right hood holding mechanisms 20.
The front portion of the hood 13 can be locked to the vehicle body frame 14 by a hood lock 15. In the figure, reference numeral 16 denotes a windshield.

FIG. 2 is a system diagram of the vehicular secondary collision countermeasure device according to the present invention, and shows the front half of the vehicle 11 as viewed from the left. The vehicular secondary collision countermeasure device 10 is a device that takes a secondary collision countermeasure by raising the hood 13 when the vehicle 11 collides with the obstacle S1, and includes a left and right hood holding mechanism 20 (only left in FIG. (The same applies hereinafter.)
And the left and right actuators 30 used when lifting the rear part of the closed hood 13. Further, the vehicle secondary collision countermeasure device 10 includes a vehicle obstacle estimation device 40. Details of the vehicle obstacle estimation device 40 will be described later.

The hood holding mechanism 20 normally functions as a hinge for opening and closing the hood 13, and when the obstacle S1 collides with the vehicle 11, the hood 13 is extended by an extended link.
Is a hinge that also serves as a connecting link mechanism that determines the ascending position of the rear part. The actuator 30 receives an electric actuator drive command signal (estimated signal) S from a control unit 44 described later.
i, the gas generating agent is ignited by an ignition device (not shown) to generate a large amount of gas, and the piston 31 rises by a predetermined stroke due to the rapid pressure increase of the gas.
3 to lift the rear.

FIG. 3 is a side sectional view of a front portion of a vehicle according to the present invention.
Bumper face 4 that covers the front of this front bumper 41
2 shows that the bumper sensor 43 has been attached to the inner surface of FIG.
The bumper sensor 43 is an acceleration sensor. Note that a plurality (for example, three) of bumper sensors 43 may be arranged in the vehicle width direction as shown in FIG. When a plurality of bumper sensors 43 are provided, the control unit 44 performs a control action based on the detection signals of these bumper sensors 43.
For example, the control unit 44 calculates an average value of the plurality of detection signals, and controls the actuator 30 based on the average value, or controls the actuator 30 based on the largest signal among the plurality of detection signals.

FIG. 4 is a block diagram and operation diagram of the bumper face and the bumper sensor according to the present invention. Bumper face 4
Reference numeral 2 denotes a deformable member that is deformed in response to an impact force when the vehicle 11 hits the obstacle S1, and is, for example, a resin product. The bumper face 42 indicated by the imaginary line is the obstacle S1.
Deforms as indicated by the solid line in response to the impact force applied.
At this time, the acceleration of the deformed portion of the bumper face 42 can be detected by the bumper sensor 43 attached to the bumper face 42. Then, by integrating the deformation acceleration detected by the bumper sensor 43, the deformation speed of the bumper face 42 can be known. Further, by performing calculations such as integration based on the deformation speed of the bumper face 42, the amount of deformation of the bumper face 42 can be known. For example, the deformation speed of the bumper face 42 is multiplied by the time interval detected by the bumper sensor 43, and the multiplied value is multiplied, whereby the ever-changing deformation amount of the bumper face 42 can be known.

The vehicle obstacle estimating device 40 is configured to control the obstacle S1
When the vehicle 11 collides with the vehicle, the type of the obstacle S1 is estimated, and an estimation signal Si is issued to the vehicle secondary collision countermeasure device 10. Specifically, the vehicle obstacle estimation device 40 includes a bumper face 42 as a deformable member,
The control unit 44 includes a bumper sensor 43 and a control unit 44 that issues an estimation signal Si to the actuator 30 of the vehicular secondary collision countermeasure device 10 based on a signal from the bumper sensor 43. Control unit 4
4 is a microcomputer, for example.

FIG. 5 is an operation diagram of the bumper face and the bumper sensor according to the present invention. An obstacle S2 whose ground height H2 at the center of gravity Gv is lower than the ground height H1 at the front end of the bumper face 42 (hereinafter, referred to as "low center of gravity obstacle S2").
When the vehicle 11 collides with the vehicle 11, the low center of gravity obstacle S <b> 2 may be caught in the lower part of the vehicle 11. In this case, the bumper face 42 is deformed by the entangled low center of gravity obstacle S2 so as to be pulled downward and rearward of the vehicle 11.

Next, a first embodiment of the vehicle obstacle estimating apparatus will be described with reference to FIGS. FIG. 6 is a block diagram of a vehicle obstacle estimating device (first embodiment) according to the present invention. The vehicle obstacle estimating device 40 of the first embodiment includes:
It is characterized by having the following configurations (1) to (11). (1) Bumper face 42 as a deformable member. (2) Deformation speed detecting means 51 for detecting the deformation speed Vb of the bumper face 42. (3) Deformation detecting means 52 for detecting the deformation Sb of the bumper face 42. (4) Deformation speed maximum value updating means 55 which determines the larger one of the deformation speed Vb and the maximum value of the old deformation speed detected earlier than this value as the deformation speed maximum value Vm.

(5) Reference speed generating means 71 for determining a value corresponding to a value obtained by multiplying the maximum deformation speed Vm by a speed constant less than 1.0 set in advance as a reference speed Vt0. (6) First reference deformation amount generating means 72 for determining a value corresponding to a value obtained by multiplying the deformation speed maximum value Vm by a preset first deformation amount constant as the first reference deformation amount St1. (7) A second reference deformation amount generation unit 73 that determines a value corresponding to a value obtained by multiplying the maximum deformation speed Vm by a preset second deformation amount constant larger than the first deformation amount constant as the second reference deformation amount St2.

(8) Acceleration determining means 74 for determining that the deformation acceleration Gb detected by the bumper sensor 43 has exceeded a preset reference acceleration Gt. (9) An acceleration determination timer 75 that holds the determination signal of the acceleration determination means 74 for a preset elapsed time Td. (10) Within the elapsed time Td of the acceleration determination timer 75, that is, within the estimated time Td set in advance from the time when the vehicle hits the obstacle S1 (see FIG. 4), the deformation speed Vb is smaller than the reference speed Vt0, and Estimating means 76 for estimating a specific obstacle (for example, a pedestrian) when the deformation amount Sb falls within a range from the first reference deformation amount St1 to the second reference deformation amount St2. (11) Estimation signal generation means 79 for generating an estimation signal Si based on the estimation by the estimation means 76.

The deformation speed detecting means 51 includes a bumper sensor 4
3 and a combination of the deformation speed calculating means 53. The deformation amount detecting means 52 includes a combination of the deformation speed detecting means 51 and the deformation amount calculating means 54. Deformation speed maximum value updating means 5
5 includes an update timer 56 for determining a predetermined update time for updating the deformation speed maximum value Vm. Bumper sensor 4
The configuration of the combination of the acceleration determination unit 74, the acceleration determination unit 74, and the acceleration determination timer 75 generates a collision determination signal indicating that the vehicle has collided for a predetermined estimated time Td from the time when the vehicle hits the obstacle S1 (see FIG. 4). It forms a collision determination means.

FIGS. 7A to 7F are graphs (part 1) of deformation speed / deformation graphs of the bumper face of the vehicle obstacle estimating apparatus (first embodiment) according to the present invention. The case where the obstacle is a specific obstacle such as a person is shown. Hereinafter, FIG.
This will be described with reference to FIG.

(A) shows the time Ti (ms, millisecond) on the horizontal axis.
Shows the operation of the acceleration determination timer 75. The acceleration determination timer 75 holds the determination result “1” for a predetermined elapsed time Td (time corresponding to the reference time Ti) from when the deformation acceleration Gb exceeds a preset reference acceleration Gt.

FIG. 3B shows the change in the deformation speed Vb of the bumper face colliding with a specific obstacle, with the horizontal axis representing time Ti (ms) and the vertical axis representing the bumper face deformation velocity Vb (km / h). . Here, Vs, Vm, and Vt0 are defined as follows. Vs: Vb estimated start reference speed (a value almost immediately after collision; for example, a value slightly exceeding zero) Vm: Vb maximum deformation speed Vt0; Vb reference speed (Vt0 = 0.3 × Vm) 0.3 is a rate constant. According to (b), after the deformation speed Vb exceeds the estimated start reference speed Vs and increases to the deformation speed maximum value Vm, the deformation speed Vb decreases to the reference speed Vt0 or less. (C) shows the deformation speed V
The result of determining whether or not b is smaller than the reference speed Vt0 is shown. The determination result is “1” only when the deformation speed Vb is lower than the reference speed Vt0.

(D) shows the change in the amount of deformation of the bumper face colliding with a specific obstacle, with the horizontal axis representing time Ti (ms) and the vertical axis representing the deformation amount Sb (mm) of the bumper face.
However, the deformation amount of the bumper face is a value calculated based on the deformation speed Vb in (b). Also, St1, St
2 is defined as follows. St1: First reference deformation amount of Sb (St1 = 1.0 × V
m) St2; second reference deformation amount of Sb (St2 = 1.5 × V
m) Note that the unit of the deformation speed Vb is km in 1.0 and 1.5.
/ H and a deformation amount constant when the unit of the deformation amount Sb is mm. According to (d), after the deformation amount Sb increases beyond the first reference deformation amount St1, it decreases before reaching the second reference deformation amount St2, and becomes smaller than the first reference deformation amount St1 again. It turns out that it has.
(E) shows that the deformation amount Sb is the second from the first reference deformation amount St1.
The result of determining whether or not it falls within the range up to the reference deformation amount St2 is shown. The determination result is "1" only when the deformation amount Sb is within the range from St1 to St2.

(F) shows the result of the judgment (a) and (c)
9 shows an obstacle estimation result based on a logical product of the determination result of (e) and the determination result of (e). When the determination results in (a), (c) and (e) are all “1”, the obstacle estimation result is “1”.
Is determined. According to (f), at time Tf, it can be estimated that the obstacle is a specific obstacle.

FIGS. 8A to 8F are graphs (part 2) of the deformation speed and deformation amount of the bumper face of the vehicle obstacle estimating apparatus (first embodiment) according to the present invention. The case of the object is shown. However, how to read this figure and the definition of each symbol are the same as those in FIG. Hereinafter, description will be made with reference to FIG. (A) shows the operation of the acceleration determination timer 75. (B) shows a change in the deformation speed Vb of the bumper face colliding with the light object. (C) shows the deformation speed determination result. The determination result is “1” only when the deformation speed Vb is lower than the reference speed Vt0.

(D) shows a change in the amount of deformation of the bumper face colliding with a light-weight object. It can be seen that the deformation amount Sb does not reach the first reference deformation amount St1. This is because the deformation time is short because the deformation speed Vb becomes zero in a short time after decreasing from the deformation speed maximum value Vm. (E) shows the deformation amount determination result. Since the deformation amount Sb is not within the range from St1 to St2, the determination result is “0”. (F)
Indicates an obstacle estimation result based on the logical product of the determination results of the above (a), (c), and (e). Since the determination result of (e) is “0”, the obstacle estimation result is “0”, and it is estimated that the obstacle is not a specific obstacle.

FIGS. 9A to 9F are graphs (part 3) of deformation speed / deformation graphs of the bumper face of the vehicle obstacle estimating apparatus (first embodiment) according to the present invention. The case where the obstacle is the low center of gravity obstacle S2 shown in FIG. 5 will be described. However, how to read this figure and the definition of each symbol are the same as those in FIG. Hereinafter, description will be made with reference to FIG.

(A) shows the operation of the acceleration determination timer 75. (B) shows a change in the deformation speed Vb of the bumper face that has collided with the obstacle with a low center of gravity. (C) shows the deformation speed determination result. The determination result when the deformation speed Vb is lower than the reference speed Vt0 is “1”. (D) shows a change in the deformation amount of the bumper face that has collided with the obstacle with the low center of gravity.
It is understood that the deformation amount Sb increases beyond the first and second reference deformation amounts St1 and St2. This is because it takes a relatively long time for the deformation speed Vb to decrease from the deformation speed maximum value Vm to zero, and thus the deformation time is long. In this case, when the deformation amount Sb falls within the range from St1 to St2, the deformation speed Vb in (b) becomes the reference speed Vt.
0 or more.

(E) shows the result of the deformation amount determination. The determination result is "1" only when the deformation amount Sb is within the range from St1 to St2. (F) shows the obstacle estimation result based on the logical product of the above determination results (a), (c) and (e). There is no case where the determination results of (a), (c) and (e) are all “1”. Therefore, the obstacle estimation result is “0”, and it is estimated that the obstacle is not a specific obstacle.

Next, a control flow when the control unit 44 (see FIG. 6) is a microcomputer will be described with reference to FIG.
This will be described with reference to FIG. In the figure, STxxx indicates a step number. Step numbers that are not particularly described proceed in numerical order. Hereinafter, description will be made with reference to FIG. FIG. 10 is a control flowchart (part 1) of the control unit (first embodiment) according to the present invention.

ST101: Initialize all values (maximum deformation speed Vm = 0, F = 0). ST102: The deformation acceleration Gb (deformation acceleration Gb) of the bumper face 42 detected by the bumper sensor 43 is read. ST103: It is determined whether or not the acceleration determination timer 75 is inactive. If YES, the process proceeds to "ST104" and N
If O, the process proceeds to “ST107”.

ST104: It is determined whether or not the deformation acceleration Gb has exceeded a preset reference acceleration Gt. If YES, the process proceeds to "ST105", and if NO, the process proceeds to "ST10".
Go to 7 ". ST105: Reset the elapsed time Td of the acceleration determination timer 75. ST106: Start the acceleration determination timer 75. ST107: The deformation speed Vb of the bumper face 42 is calculated from the deformation acceleration Gb. For example, the deformation speed Vb is obtained by integrating the deformation acceleration Gb. ST112: The deformation amount Sb of the bumper face 42 is calculated from the deformation speed Vb by integration or the like. For example, the deformation speed Vb
Is multiplied by the time interval detected by the bumper sensor 43, and the multiplication value is integrated to obtain the deformation amount Sb. Thereafter, the process proceeds to the out connector B2.

FIG. 11 is a control flowchart (No. 2) of the control section (first embodiment) according to the present invention.
This indicates that the process proceeds from “ST112” of No. 0 to “ST117” via the out connector B2 and the in connector B2 of FIG. ST117: It is determined whether or not the deformation speed Vb has reached a predetermined minute estimation start reference speed Vs. If YES, the process proceeds to "ST118", and if NO, the process proceeds to "ST119". ST118: Determine whether or not the update timer 56 is inactive. If YES, proceed to "ST120"; if NO, proceed to "ST123". ST119: Judge whether flag F = 1 or not, YE
If it is S, the process proceeds to "ST123". If it is NO, the process returns to "ST02" via the out connector B1 and the in connector B1 of FIG. ST120: Reset the elapsed time Tc of the update timer 56. ST121: Start the update timer 56. ST122: The flag F is set to "1".

ST123: It is determined whether or not the elapsed time Tc since the start of the update timer 56 has not reached the predetermined reference time Th. If YES, proceed to "ST124", if NO, proceed to "ST126". Go to ". ST124: Determine whether or not deformation speed Vb is greater than maximum value Vm of the old deformation speed detected earlier than this, YES
If “NO”, the process proceeds to “ST125”, and if “NO”, “ST1”.
27 ". ST125: The deformation speed Vb is determined as the deformation speed maximum value Vm, and the process proceeds to "ST127". ST126: The update timer 56 is stopped, and "ST1
27 ".

ST127: A reference speed Vt0 is set according to the maximum deformation speed Vm. Specifically, a value obtained by multiplying the deformation speed maximum value Vm by a preset speed constant Cv of less than 1.0 is determined as the reference deformation amount Vt0 (Vt0 = Vm × C
v). The speed constant Cv is set to, for example, 0.3. ST128: The first reference deformation amount St1 is set according to the deformation speed maximum value Vm. Specifically, the deformation speed maximum value Vm
Is multiplied by a preset first deformation amount constant Cs1 to the first
It is determined as the reference deformation amount St1 (St1 = Vm × Cs1). ST129: Set the second reference deformation amount St2 according to the deformation speed maximum value Vm. Specifically, the deformation speed maximum value Vm
Is multiplied by a second deformation amount constant Cs2 larger than the first deformation amount constant Cc1 to determine a second reference deformation amount St2 (St2 = Vm × Cs2), and the process proceeds to the out-coupler B3. When the unit of the deformation speed Vb is km / h and the unit of the deformation amount Sb is mm, the first deformation amount constant Cs
1 is set to 1.0, for example, and the second deformation constant C
For example, s2 is set to 1.5.

FIG. 12 is a control flowchart (part 3) of the control unit (first embodiment) according to the present invention.
1 indicates that the process has proceeded from “ST129” to “ST130” via the out connector B3 and the in connector B3 in the figure. ST130: Deformation speed Vb is predetermined reference speed Vt0
It is determined whether or not the value is smaller than “ST13”.
The process proceeds to “ST133” if NO. ST131: Determine whether or not the deformation amount Sb falls within the range from the first reference deformation amount St1 to the second reference deformation amount St2. If YES, proceed to “ST132”; if NO, “ST133”. Proceed to. ST132: It is determined whether or not the elapsed time Td since the start of the acceleration determination timer 75 has not reached the predetermined reference time Ti. If YES, the process proceeds to "ST141".
If NO, the process proceeds to "ST134".

ST133: It is determined whether or not the elapsed time Td since the start of the acceleration determination timer 75 has reached a predetermined reference time Ti. If YES, the process proceeds to "ST134". The process returns to "ST102" via the child B1 and the input connector B1 of FIG. ST134: The acceleration determination timer 75 is stopped, and the process goes through the out connector B1 and the in connector B1 of FIG.
Return to "2." ST141: Obstacle S1 with which the vehicle 11 shown in FIG. 4 has collided
Estimates that it is a specific obstacle, issues an estimation signal Si (for example, an actuator drive command signal Si), and ends the control.

"ST117", "ST119" and "S
According to the configuration of the combination of “T122”, when the deformation speed Vb once reaches the predetermined estimated start reference speed Vs,
The estimation of the type of the obstacle S1 (see FIG. 4) is started. Once the deformation speed Vb reaches the estimation start reference speed Vs, the estimation of the type of the obstacle S1 can be continued regardless of the size of the deformation speed Vb thereafter.

According to the configuration of the combination of "ST117" to "ST126", the deformation speed Vb is equal to the estimated start reference speed Vs.
The maximum deformation speed Vm corresponding to the type of the obstacle S1 is updated by updating the maximum deformation speed Vm to the maximum value each time the deformation speed Vb increases during the time from when the vehicle speed reaches the reference time Th to when the vehicle reaches the reference time Th. Can be set. The reference time Th is used to eliminate the setting of the deformation speed maximum value Vm due to the noise-like deformation acceleration Gb due to vibration during running or the like and the transient deformation acceleration Gb affecting proper control of the control unit 44. Set, for example 500
ms.

Here, the components of the vehicle obstacle estimating device 40 shown in FIG. 6 and the control unit 44 shown in FIGS.
The relationship with each step will be described. “ST102” and “ST107” correspond to the deformation speed calculating means 53.
“ST104” corresponds to the acceleration determination unit 74. "S
The configuration of the combination of “T103”, “ST105”, and “ST106” corresponds to the acceleration determination timer 75. "ST11
"2" corresponds to the deformation amount calculating means 54. "ST117"
~ ST126 corresponds to the deformation speed maximum value updating means 55 and the updating timer 56. "ST12
"7" corresponds to the reference speed generating means 71. "ST12
"8" corresponds to the first reference deformation amount generating means 72. "ST
129 "corresponds to the second reference deformation amount generating means 73.
The configuration of the combination of “ST130” to “ST134” corresponds to the estimation unit 76. “ST141” corresponds to the estimation signal generation means 79.

By the way, the above "ST127" to "ST1"
29 ”, Vt can be obtained by referring to the following maps shown in FIGS. 13 and 14 according to the deformation speed maximum value Vm.
0, St1, St2 can be set.

FIGS. 13A and 13B are explanatory diagrams (first embodiment) of the reference speed setting according to the present invention. (A) is a diagram showing the relationship between the maximum deformation speed Vm and the reference speed Vt0, where the horizontal axis indicates the maximum deformation speed Vm and the vertical axis indicates the reference speed Vt0, and indicates the reference speed Vt0 according to the maximum deformation speed Vm. . The line Vt0 is based on a calculation formula of the reference speed Vt0 = Vm × Cv. (B) is a map created based on the above (a), and is a reference speed Vt0 according to the deformation speed maximum value Vm.
Is shown. As described above, the map is set in the memory of the control unit 44 (see FIG. 6) in advance, and the reference speed Vt0 can be set by referring to the map according to the deformation speed maximum value Vm in “ST127”. . The reference speed Vt0 set by referring to the map is a value corresponding to the value obtained by the above formula (a).

FIGS. 14A and 14B are explanatory diagrams (first embodiment) for setting the reference deformation amount according to the present invention. (A) is a diagram showing a relationship between the maximum deformation speed Vm and the reference deformation amount St, with the horizontal axis representing the maximum deformation speed Vm and the vertical axis representing the reference deformation amount St. The second reference deformation amounts St1 and St2 are shown. The line St1 is the reference deformation amount St1 =
Based on the calculation formula of Vm × Cs1, the line St2 is based on the calculation formula of the reference deformation amount St2 = Vm × Cs2. (B) is a map created based on the above (a), and the first and second reference deformation amounts St1, St2 according to the deformation speed maximum value Vm.
Is shown. As described above, the map is set in advance in the memory of the control unit 44 (see FIG. 6), and in the above “ST128” and “ST129”, the first map is referred to according to the maximum deformation speed value Vm.・ Second reference deformation amount St
1, St2 can be set. The first and second reference deformation amounts St1 and St2 set by referring to the map are values corresponding to the values obtained by the calculation formula (a).

The above description will be described together. As is clear from FIGS. 7 and 8, generally, the time from the start of the collision until the deformation velocity Vb reaches the peak after reaching the peak becomes zero as the obstacle becomes lighter. Since the deformation speed Vb becomes zero in a shorter time for a lighter obstacle, the deformation time is shorter. As a result, the ratio of the maximum value of the deformation amount Sb to the maximum value Vm of the deformation speed Vb is smaller for a lighter obstacle than a specific obstacle such as a pedestrian.

The vehicle obstacle estimating apparatus 40 of the first embodiment shown in FIG. 6 utilizes such characteristics, and the bumper face 4 when the vehicle hits the obstacle S1.
2 is detected and the deformation speed Vb and the deformation amount Sb are detected.
Maximum deformation speed Vm when b increases and reaches a peak
Is calculated, and the reference speed V is determined based on the maximum deformation speed Vm.
From t0 and the first reference deformation amount St1, the second reference deformation amount St
2, the deformation speed Vb is smaller than the reference speed Vt0 and the deformation amount Sb is within the second reference deformation amount St1 within the preset estimation time Td from the time when the vehicle hits the obstacle. When it falls within the range up to the reference deformation amount St2, it is assumed that the colliding obstacle S1 is a specific obstacle. Therefore, a light object is not erroneously estimated as a specific obstacle. Obstacle S1
Can be more accurately estimated.

As shown in FIG. 5, when the vehicle 11 collides with an obstacle S2 having a low center of gravity such as a small animal caught in the lower part of the vehicle 11, the bumper face 42
To be pulled downward and rearward. FIG.
As shown in (b), the time from the time of collision to the time when the deformation speed Vb of the bumper face 42 reaches the peak and becomes zero after the collision is determined by the time when the obstacle is a specific obstacle such as a pedestrian. Longer than in some cases. This is illustrated in FIG.
This can be understood by comparing FIG. 9B with FIG.

In consideration of this point, in the first embodiment, the deformation speed Vb is smaller than the reference speed Vt0 and the deformation amount Sb is from the first reference deformation amount St1 to the second reference deformation amount St2 within the estimated time Td. The condition was set to be within the range up to. When this condition is achieved, it is assumed that the colliding obstacle is a specific obstacle. Therefore, the low center of gravity obstacle S2
Is not erroneously assumed to be a particular obstacle. With respect to the estimated time Td from the time when the vehicle hits the obstacle S1, an optimum value that can be used to distinguish between a case where the vehicle collides with a specific obstacle such as a pedestrian and a case where the vehicle collides with the low center of gravity obstacle S2 is determined. Just set it.

Thus, the type of the obstacle S1 can be more accurately estimated. Further, a value corresponding to a value obtained by multiplying a maximum value of the deformation speed Vm, which differs depending on the type of the obstacle S1, by a predetermined constant is determined by the reference deformation amount St0 and the first
Since the second reference deformation amounts St1 and St2 are determined, the obstacle S
Irrespective of the collision speed to the obstacle 1, the type of the obstacle S1 can be more accurately estimated.

Next, a second embodiment of the vehicle obstacle estimating apparatus will be described with reference to FIGS. FIG. 15 is a block diagram of a vehicle obstacle estimating device (second embodiment) according to the present invention. Obstacle Estimation Device for Vehicle 40 of Second Embodiment
Is characterized by adding the following configurations (1) to (6) to the vehicle obstacle estimating apparatus 40 of the first embodiment shown in FIG. (1) Deformation speed judging means 61 (hereinafter, simply referred to as "speed judging means 61") for judging that the deformation speed Vb has exceeded a preset judgment reference speed Vc. (2) A speed determination timer 62 for holding the determination signal of the speed determination means 61 for a predetermined time. (3) The deformation amount Sb is equal to the first and second reference deformation amounts St1, St.
Deformation amount determination means 63 for determining that a predetermined determination reference deformation amount Sc different from 2 has been exceeded.

(4) A deformation amount determination timer 6 for holding the determination signal of the deformation amount determination means 63 for a predetermined time.
4. (5) An estimation timer 77 that holds the estimation signal of the estimation means 76 for a predetermined time. (6) When all signals from the speed determination timer 62, the deformation amount determination timer 64, and the estimation timer 77 are received, the obstacle S
Additional estimating means 78 for additionally estimating that 1 is a specific obstacle (for example, a pedestrian). The estimated signal generating means 79 of the second embodiment generates an estimated signal Si based on the additional estimation of the additional estimating means 78.

When the speed judging means 61 judges that the deformation speed Vb has exceeded a predetermined judgment reference speed Vc different from the reference speed Vt0, the speed judging signal is added via the speed judging timer 62 to the additional estimating means. It is issued at 78. When the deformation amount determination means 63 determines that the deformation amount Sb has exceeded a predetermined determination reference deformation amount Sc different from the first and second reference deformation amounts St1 and St2, the deformation amount determination means 63 determines the determination signal by a deformation amount determination. Additional estimating means 78 via timer 64
It originates in

Therefore, the additional estimating means 78 includes a judgment signal of the speed judging means 61 (a signal of the speed judging timer 62), a judging signal of the deformation judging means 63 (a signal of the deformation judging timer 64), and When all the estimation signals (signals of the estimation timer 77) are received, it is further estimated that the obstacle S1 is a specific obstacle. As is clear from the above description, the determination / estimation signals of the respective means 61, 63, 76 are transmitted to the speed determination timer 62,
4 and by the estimation timer 77 for a certain period of time. That is, the signals of the timers 62, 64, and 77 are aligned for a certain period of time. By doing so, the additional estimation by the additional estimation means 78 can be performed more reliably. In addition, if the additional estimation can be performed reliably even if the determination / estimation signals of the speed determination unit 61, the deformation amount determination unit 63, and the estimation unit 76 are directly transmitted to the additional estimation unit 78, each of the timers 62, 64, 77 is used. Is optional.

FIGS. 16 (a) to 16 (j) are graphs (part 1) of the deformation speed / deformation graph of the bumper face of the vehicle obstacle estimating apparatus (second embodiment) according to the present invention. The case where the obstacle is a specific obstacle such as a person is shown. However, how to read this figure and the definition of each symbol are the same as those in FIG. Hereinafter, description will be made with reference to FIG.

(A) shows the operation of the acceleration determination timer 75. The acceleration determination timer 75 holds the determination result “1” for a predetermined elapsed time Td (time equivalent to a reference time Ti described later) from the time when the deformation acceleration Gb exceeds a preset reference acceleration Gt. (B) shows a change in the deformation speed Vb of the bumper face colliding with a specific obstacle. It can be seen that the deformation speed Vb exceeds the determination reference speed Vc on the way to the deformation speed maximum value Vm. Note that the determination reference speed Vc has a relationship of Vt0 <Vc based on, for example, a case where the obstacle is a specific obstacle. (C)
Shows the operation of the speed determination timer 62. From the time when the deformation speed Vb exceeds the determination reference speed Vc, the determination result "1" is obtained for an elapsed time T1 (a time corresponding to a reference time Ts1 described later).
Hold.

(D) shows that the deformation speed Vb is equal to the reference speed Vt0.
It shows the result of determining whether or not smaller than. Deformation speed Vb
Is smaller than the reference speed Vt0, the determination result is “1”. (E) shows a change in the amount of deformation of the bumper face colliding with a specific obstacle. It can be seen that the deformation amount Sb exceeds the criterion deformation amount Sc in the middle of the increase. The determination reference deformation amount Sc has a relationship of Sc <St1, for example, based on a case where the obstacle is a specific obstacle. (F) shows the operation of the deformation amount determination timer 64. From the time when the deformation amount Sb exceeds the determination reference deformation amount Sc, the determination result “1” is held for an elapsed time T2 (a time corresponding to a reference time Ts2 described later). (G) shows the deformation amount determination result. The determination result is "1" only when the deformation amount Sb is within the range from St1 to St2.

(H) shows the result of the determination in (a) and (d)
9 shows an obstacle estimation result based on a logical product of the determination result of (g) and the determination result of (g). When the determination results of (a), (d) and (g) are all “1”, the obstacle estimation result is “1”.
And it is estimated that the obstacle is a specific obstacle.
(I) shows the operation of the estimation timer 59. In the above (h), the estimation result “1” is held for an elapsed time T3 (time equivalent to a reference time Ts3 described later) from the time when the obstacle estimation result becomes “1”. (J) is an additional estimating means 7
8 shows the obstacle addition estimation result of FIG. When the determination results of (c), (f), and (i) are all “1”, the obstacle addition estimation result is “1”, and it is additionally estimated that the obstacle is a specific obstacle. .

FIGS. 17A to 17J are graphs (part 2) of the deformation speed and deformation amount of the bumper face of the vehicle obstacle estimating apparatus (second embodiment) according to the present invention. The case of a lightweight object will be described. However, how to read this figure and the definition of each code are the same as those in FIG. Hereinafter, description will be made with reference to FIG.

(A) shows the operation of the acceleration determination timer 75. (B) shows a change in the deformation speed Vb of the bumper face colliding with the light object. (C) is a speed determination timer 6
2 shows the operation of FIG. Since the deformation speed Vb does not exceed the determination reference speed Vc, the determination result is “0”. (D) indicates that the determination result when the deformation speed Vb is lower than the reference speed Vt0 is “1”.

(E) shows that the deformation amount Sb does not exceed the first and second reference deformation amounts St1 and St2 and the judgment reference deformation amount Sc. (F) shows the operation of the deformation amount determination timer 64. Since the deformation amount Sb does not exceed the determination reference deformation amount Sc, it indicates that the determination result is “0”. (G) indicates that the determination result is “0” because the deformation amount Sb is not within the range from St1 to St2. (H)
The obstacle estimation result is shown. Since the determination result of (g) is “0”, the obstacle estimation result is “0”, and it is estimated that the obstacle is not a specific obstacle. (I) shows the operation of the estimation timer 77. The judgment result is “0”. (J) shows an obstacle addition estimation result of the additional estimation means 78. (C),
Since the determination results of (f) and (i) are all “0”, the obstacle addition estimation result is “0”, and it is additionally estimated that the obstacle is not a specific obstacle.

FIGS. 18A to 18J are graphs (part 3) of the deformation speed and deformation amount of the bumper face of the vehicle obstacle estimating apparatus (second embodiment) according to the present invention. The case where the obstacle is the low center of gravity obstacle S2 shown in FIG. 5 will be described.
However, how to read this figure and the definition of each code are the same as those in FIG. Hereinafter, description will be made with reference to FIG.

(A) shows the operation of the acceleration determination timer 75. (B) shows a change in the deformation speed Vb of the bumper face colliding with the obstacle S2 having a low center of gravity. While the deformation speed Vb is increasing to the deformation speed maximum value Vm, the determination reference speed Vc
It turns out that it exceeds. (C) shows the operation of the speed determination timer 62. From the time when the deformation speed Vb exceeds the judgment reference speed Vc, the judgment result “1” is held for the elapsed time T1. (D) indicates that the determination result is "1" only when the deformation speed Vb is lower than the reference speed Vt0.

(E) shows that the deformation amount Sb exceeds the criterion deformation amount Sc in the middle of increasing. (F) shows the operation of the deformation amount determination timer 64. From the time when the deformation amount Sb exceeds the determination reference deformation amount Sc, the determination result “1” is held for the elapsed time T2. (G) indicates that the determination result is "1" only when the deformation amount Sb falls within the range from St1 to St2. (H) shows the obstacle estimation result. When the determination results of (a) and (d) are both “1”, the determination result of (g) is “0”, so that the obstacle estimation result is “0”, indicating that the obstacle is not a specific obstacle. presume. (I) shows the operation of the estimation timer 59. The judgment result is “0”. (J) shows an obstacle addition estimation result of the additional estimation means 78. Since the determination result of (i) is “0”, the obstacle addition estimation result is “0”, and it is additionally estimated that the obstacle is not a specific obstacle.

Next, a control flow when the control unit 44 (see FIG. 15) of the second embodiment is a microcomputer will be described with reference to FIGS. In the figure, ST
Xxx indicates a step number. Step numbers that are not particularly described proceed in numerical order. Hereinafter, description will be made with reference to FIG. FIG. 19 shows a control unit (second
6 is a control flowchart (part 1) of the embodiment).

ST101 to ST107: Same as ST101 to ST107 in FIG. ST108: It is determined whether or not the speed determination timer 62 is inactive. If YES, the process proceeds to "ST109" and NO
If so, the process proceeds to “ST112”. ST109: It is determined whether or not the deformation speed Vb has exceeded the determination reference speed Vc. If YES, the process proceeds to "ST110", and if NO, the process proceeds to "ST112". ST110: Reset the elapsed time T1 of the speed determination timer 62. ST111: Start the speed determination timer 62.

ST112: The amount of deformation Sb is calculated. Same as “ST112” in FIG. ST113: It is determined whether or not the deformation amount determination timer 64 is inactive. If YES, the process proceeds to "ST114" and N
If it is O, the process proceeds to the out connector C2. ST114: It is determined whether or not the deformation amount Sb has exceeded the determination reference deformation amount Sc. If YES, the process proceeds to "ST115", and if NO, the process proceeds to the out connector C2. ST115: Reset the elapsed time T2 of the deformation amount determination timer 64. ST116: Start the deformation amount determination timer 64, and proceed to the out connector C2.

FIG. 20 is a control flowchart (No. 2) of the control unit (second embodiment) according to the present invention.
9 shows that the process has proceeded from “ST116” to “ST117” via the out connector C2 and the in connector C2 in FIG. ST117 to ST129; "ST117" in FIG.
~ Same as "ST129". Note that "ST11
If "9" is NO, the process returns to "ST02" via the out connector C1 and the in connector C1 in FIG. Also, "ST1
From 29 ", proceed to the out connector C3.

FIG. 21 is a control flowchart (No. 3) of the control unit (second embodiment) according to the present invention.
This indicates that the process proceeds from “ST129” of No. 0 to “ST130” via the out-connector C3 and the in-connector C3 of FIG. ST130 to ST134; "ST130" in FIG.
~ Same as "ST134". Note that "ST13
If "3" is NO, the process returns to "ST102" via the out-connector C1 and the in-connector C1 in FIG. "ST13
4 ”through the out connector C1 and the in connector C1 in FIG. 19, and returns to“ ST102 ”.

ST135: It is determined whether or not the estimation timer 77 is inactive. If YES, the process proceeds to "ST136", and if NO, the process proceeds to "ST138". ST136: Reset the elapsed time T3 of the estimation timer 77. ST137: The estimation timer 77 is started. ST138: It is determined whether or not the elapsed time T1 since the start of the speed determination timer 62 has not reached the predetermined reference time Ts1, and if YES, the process proceeds to "ST139".
If NO, the process proceeds to "ST142".

ST139: It is determined whether or not the elapsed time T2 from the start of the deformation amount determination timer 64 has not reached a predetermined reference time Ts2.
The process proceeds to “40”, and if NO, proceeds to “ST142”. ST140: It is determined whether or not the elapsed time T3 since the start of the estimation timer 77 has not reached a predetermined reference time Ts3. If YES, the process proceeds to "ST141", and NO
If so, the process proceeds to “ST142”. ST141: Same as "ST141" in FIG. ST142: Speed determination timer 62, deformation amount determination timer 6
4, and the estimation timer 77 is stopped, and the out connector C1
Then, the process returns to “ST102” via the input connector C1 in FIG.

Here, each component of the vehicle obstacle estimating device 40 shown in FIG. 15 and the control unit 4 shown in FIGS.
The relationship with each step of No. 4 will be described. “ST109” corresponds to the speed determination unit 61. "ST108", "ST
The configuration of the combination of “110” and “ST111” corresponds to the speed determination timer 62. “ST114” corresponds to the deformation amount determining means 63. "ST113", "ST115",
The configuration of the combination of “ST116” is the deformation amount determination timer 64
Is equivalent to The configuration of the combination of “ST135” to “ST137” corresponds to the estimation timer 77. "ST138"-
The configuration of the combination of “ST140” corresponds to the additional estimation unit 78.

To summarize the above description, the vehicle obstacle estimating apparatus 40 of the second embodiment includes (1) a speed determining means 61 and a speed determining timer 62, and (2) a deformation amount determining means 63 and a deformation. It is characterized by having an amount determination timer 64. As is clear from FIGS. 16 and 17, generally, the deformation speed Vb and the deformation amount Sb of the bumper face 42 have a characteristic that the larger the collision speed with the heavy obstacle, the greater the deformation. For example, when the vehicle collides with a specific obstacle such as a pedestrian, the deformation speed Vb and the deformation amount Sb are larger than when the vehicle collides with a lighter obstacle.

In order to utilize such characteristics, the second embodiment is provided with a speed determining means 61 and a deformation amount determining means 63. The value of the criterion speed Vc and the amount of deformation criterion Sc are determined to be optimal values that can be used to determine whether a collision with a specific obstacle such as a pedestrian or a collision with a lighter obstacle is possible. Just set it. Based on the estimation result of the estimation unit 76 and the determination result of the speed determination unit 61, the type of the obstacle S1 is additionally estimated by the additional estimation unit 78.
As compared with the first embodiment, the type of the obstacle can be more accurately estimated. Further, based on the estimation result of the estimation unit 76 and the determination result of the deformation amount determination unit 63, the type of the obstacle S1 is additionally estimated by the additional estimation unit 78. Can be more accurately estimated. Furthermore, based on the estimation result of the estimation unit 76, the determination result of the speed determination unit 61, and the determination result of the deformation amount determination unit 63, the type of the obstacle S1 is additionally estimated by the additional estimation unit 78. As compared with the first embodiment, the type of the obstacle can be more accurately estimated.

Next, the operation of the vehicular secondary collision countermeasure device 10 having the above configuration will be described with reference to FIGS. FIG.
2 is an operation diagram (part 1) of the vehicular secondary collision countermeasure device according to the present invention.
Indicates a closed normal state. At this time, the hood holding mechanism 20 is in a folded state. The hood 13 can swing up and down with the pin 21 as a fulcrum. By opening the hood 13 as indicated by the imaginary line, maintenance and inspection work of the equipment 17 stored in the engine room 12 can be performed.

FIG. 23 is an operation diagram (part 2) of the vehicular secondary collision countermeasure device according to the present invention, and shows a normal state in which the hood 13 is lowered and the engine room 12 is closed. Control unit 4
4 sends an actuator drive command signal (estimated signal) Si to the actuator 30 when it is estimated that the colliding obstacle S1 is a specific obstacle. Actuator 3
0 starts the lifting operation and pushes up the rear rear surface 13a of the hood 13 by projecting the piston 31 at high speed.

FIG. 24 is an operation diagram (part 3) of the vehicular secondary collision countermeasure device according to the present invention, in which the hood 13 is shown by imaginary lines by projecting the piston 31 by a predetermined maximum height at a high speed. Indicates that the object has been pushed up from the original height to the height indicated by the solid line. The hood 13 is further lifted by inertia. As the hood 13 rises, the hood holding mechanism 20 also stands up.

FIG. 25 is an operation diagram (part 4) of the vehicular secondary collision countermeasure device according to the present invention, and shows that the hood holding mechanism 20 has reached the fully opened position and has stopped swinging. Therefore, the hood 13 cannot be lifted any more.
As a result, the rear part of the hood 13 moves from the original position indicated by the imaginary line to the position indicated by the solid line by a predetermined amount (100 to 200 mm).
It just lifted. The hood holding mechanism 20 holds the hood 13 at a raised position.

The distance from the hood 13 lifted by a predetermined amount to a device 17 such as an engine housed in the engine room 12 is large. As a result, the amount of downward deformation of the hood 13 increases. For this reason, when the obstacle S1 colliding with the vehicle 11 collides with the hood 13, the lifted hood 13 is largely deformed as indicated by the imaginary line, so that the impact force can be sufficiently absorbed. . Therefore, the device 17 can be protected from the obstacle S1, and the impact on the obstacle S1 can be sufficiently reduced.

To summarize the above description, the vehicle obstacle estimating apparatus 40, when estimating that the obstacle S1 colliding with the vehicle 11 is a specific obstacle, sends the vehicle secondary collision An estimation signal Si is issued to the countermeasure device 10. The secondary collision countermeasure device 10 for a vehicle takes the estimated signal Si and raises the hood 13 to take more appropriate and quick secondary collision countermeasures. The hood 13 sufficiently absorbs the impact force on the device 17 and the obstacle S1.

FIG. 26 is a system diagram of a vehicular secondary collision countermeasure device (modification) according to the present invention. The vehicular secondary collision countermeasure device 90 of the modified example takes a secondary collision countermeasure by activating an airbag 92 provided near the hood 13 when the vehicle 11 collides with the obstacle S1. The vehicle obstacle estimating apparatus 40 estimates that the colliding obstacle S1 is a specific obstacle, and issues an estimation signal Si from the control unit 44 to the airbag module 91, whereby the airbag 92 is inflated. it can. And the airbag 9
By inflating 2 and taking measures against secondary collision, the airbag 92 can sufficiently absorb the impact force on the device 17 (see FIG. 25) stored in the engine room 12 and the obstacle S1.

In the embodiment of the present invention, the following (1) to (4) may be used. (1) The deformable member is not limited to the bumper face 42 and may be any member provided in the vehicle 11 so that the vehicle 11 is deformed according to the impact force applied to the obstacle S1. (2) The deformation speed detecting means 51 only needs to detect the deformation speed Vb of a deformable member such as the bumper face 42.
What is necessary is just to detect the deformation amount Sb of the deformable member such as 2. For example, the deformation speed Vb of the deformable member can be directly detected by the deformation speed sensor, or the deformation amount Sb of the deformable member can be directly detected by the deformation amount sensor. Further, the deformation speed Vb may be calculated by differentiating the deformation amount Sb detected by the deformation amount sensor.

(3) In the vehicle obstacle estimation device 40, the reference acceleration Gt, the estimation start reference speed Vs, the judgment reference speed Vc, the judgment reference deformation amount Sc, the speed constant Cv, the first
Second deformation amount constants Cs1, Cs2, reference times Th, Ti,
Each value of Ts1 to Ts3 is arbitrary, and may be determined by appropriately setting a standard of a specific obstacle. (4) The control unit 44 of the second embodiment includes a speed determination unit 61
In addition, the speed determination timer 62, the deformation amount determination means 63 and the deformation amount determination timer 64 only need to have at least one of them.

[0084]

According to the present invention, the following effects are exhibited by the above configuration. Claim 1 uses the fact that the ratio of the maximum value of the deformation amount to the maximum value of the deformation speed is smaller for a lighter obstacle than a specific obstacle such as a pedestrian. According to the first aspect, the deformation speed and the deformation speed of the deformable member when the vehicle hits an obstacle are detected, and the maximum deformation speed when the deformation speed increases and reaches a peak is determined. The reference speed and the range from the first reference deformation amount to the second reference deformation amount are determined based on the maximum speed value, and the deformation speed is within a predetermined estimated time from the time when the vehicle hits an obstacle. When the deformation speed is lower than the reference speed and the deformation amount falls within the range from the first reference deformation amount to the second reference deformation amount, it is possible to estimate that the colliding obstacle is a specific obstacle. Therefore, a light object is not erroneously estimated as a specific obstacle.

When the vehicle collides with an obstacle having a low center of gravity, such as a small animal caught in the lower part of the vehicle, the deformable member is deformed so as to be pulled downward and rearward of the vehicle.
At this time, the time from the point of collision until the deformation speed of the deformable member reaches the peak after reaching the peak becomes zero is longer than when the obstacle is a specific obstacle such as a pedestrian.
In order to utilize such characteristics, when the deformation speed and the deformation amount satisfy the above-mentioned predetermined conditions within the estimated time, the collision obstacle is estimated to be a specific obstacle. did. Therefore, an obstacle having a low center of gravity, such as a small animal getting caught in the lower part of the vehicle, is not erroneously estimated as a specific obstacle. Thus, the type of the obstacle can be more accurately estimated.

[Brief description of the drawings]

FIG. 1 is a perspective view of a vehicular secondary collision countermeasure device according to the present invention.

FIG. 2 is a system diagram of a vehicular secondary collision countermeasure device according to the present invention.

FIG. 3 is a side sectional view of a vehicle front part according to the present invention.

FIG. 4 is a configuration diagram and operation diagram of a bumper face and a bumper sensor according to the present invention.

FIG. 5 is an operation diagram of a bumper face and a bumper sensor according to the present invention.

FIG. 6 is a block diagram of a vehicle obstacle estimating apparatus (first embodiment) according to the present invention;

FIG. 7 is a graph showing the deformation speed and deformation amount of the bumper face of the vehicle obstacle estimating apparatus according to the present invention (first embodiment) (part 1).

FIG. 8 is a graph (part 2) of a deformation speed and deformation amount of a bumper face of the vehicle obstacle estimating apparatus according to the present invention (first embodiment).

FIG. 9 is a graph showing a deformation speed / deformation amount of a bumper face of the vehicle obstacle estimating apparatus (first embodiment) according to the present invention (part 3);

FIG. 10 is a control flowchart (part 1) of a control unit (first embodiment) according to the present invention;

FIG. 11 is a control flowchart (part 2) of the control unit (first embodiment) according to the present invention;

FIG. 12 is a control flowchart (part 3) of the control unit (first embodiment) according to the present invention;

FIG. 13 is an explanatory diagram of a reference speed setting according to the present invention (first embodiment).

FIG. 14 is an explanatory diagram of setting a reference deformation amount according to the present invention (first embodiment);

FIG. 15 is a block diagram of a vehicle obstacle estimating device (second embodiment) according to the present invention;

FIG. 16 is a graph showing a deformation speed / amount of deformation of a bumper face of the vehicle obstacle estimating apparatus (second embodiment) according to the present invention (part 1);

FIG. 17 is a graph showing a deformation speed / amount of deformation of the bumper face of the vehicle obstacle estimating apparatus (second embodiment) according to the present invention (part 2);

FIG. 18 is a graph showing a deformation speed / deformation amount of a bumper face of a vehicle obstacle estimating apparatus (second embodiment) according to the present invention (part 3);

FIG. 19 is a control flowchart (part 1) of a control unit (second embodiment) according to the present invention;

FIG. 20 is a control flowchart (part 2) of the control unit (second embodiment) according to the present invention;

FIG. 21 is a control flowchart (part 3) of the control unit (second embodiment) according to the present invention;

FIG. 22 is an operation diagram (part 1) of the vehicular secondary collision countermeasure device according to the present invention.

FIG. 23 is an operation diagram (part 2) of the vehicular secondary collision countermeasure device according to the present invention.

FIG. 24 is an operational view of the vehicular secondary collision countermeasure device according to the present invention (part 3).

FIG. 25 is an operation diagram (part 4) of the vehicular secondary collision countermeasure device according to the present invention.

FIG. 26 is a system diagram of a vehicular secondary collision countermeasure device (modified example) according to the present invention.

FIG. 27 is an explanatory diagram created based on FIGS. 4 and 7 of JP-A-11-28994.

FIG. 28 is a load sensor output characteristic diagram created based on FIG. 6 of JP-A-11-28994.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Secondary collision countermeasure apparatus for vehicles, 11 ... Vehicle, 13 ... Hood, 40 ... Obstacle estimation apparatus for vehicles, 42 ... Deformable member (bumper face), 44 ... Control part, 51 ... Deformation speed detection means, 52 ... Deformation amount calculating means, 55 ... Deformation speed maximum value updating means, 57 ... Reference deformation amount generating means, 61 ... Speed judging means, 62 ... Speed judgment timer, 63 ... Deformation amount judging means, 64 ... Deformation amount judgment timer, 71 ... reference speed generating means, 76 ... estimating means, 77 ... estimating timer, 78 ... additional estimating means, 79 ... estimated signal generating means, S1, S2 ... obstacles.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B62D 25/12 B62D 25/10 E

Claims (1)

[Claims] 1. A vehicle obstacle estimation device for estimating the type of an obstacle when the vehicle collides with the obstacle, comprising: A deformable member that deforms according to the impact force of
A deformation speed detecting means for detecting the deformation speed of the deformable member, a deformation amount detecting means for detecting the deformation amount of the deformable member, and comparing the deformation speed with the maximum value of the old deformation speed detected earlier. A deformation speed maximum value updating means for determining a larger one as a deformation speed maximum value, and a reference speed for defining a value corresponding to a value obtained by multiplying the deformation speed maximum value by a preset speed constant of less than 1.0 as a reference speed. Generating means, first reference deformation amount generating means for determining a value corresponding to a value obtained by multiplying the deformation speed maximum value by a preset first deformation amount constant as a first reference deformation amount, Second reference deformation amount generating means for determining a value corresponding to a value obtained by multiplying a second predetermined deformation amount constant larger than the first deformation amount constant as a second reference deformation amount, and a time point at which the vehicle hits the obstacle Within the estimated time set in advance from Estimating means for estimating a specific obstacle when the deformation speed is lower than the reference speed and the deformation amount falls within a range from the first reference deformation amount to the second reference deformation amount; An obstacle estimating device for a vehicle, comprising: an estimation signal generation unit that emits an estimation signal based on the estimation by the estimation unit.