KR20110037441A - Pre-crash algorithm based on vehicle sensors for the airbag crash algorithm - Google Patents

Abstract

PURPOSE: A pre-crash airbag control apparatus for an airbag inflation algorithm is provided to properly inflate an airbag depending on the type of a collision. CONSTITUTION: A pre-crash airbag control apparatus for an airbag inflation algorithm comprises own car and front car information acquisition units(100,200), an own car state information estimation unit(300), a laser signal processing unit(400), a front car position estimation unit(500), a pre-crash information generation unit(600), and an airbag inflation algorithm(700). The own car state information estimation unit estimates information about the longitudinal and transverse velocity of an own car before a crash. The laser signal processing unit outputs information about the distance, velocity, and horizontal position of a front car. The front car position estimation unit estimates the trace and position of the front car. The pre-crash information generation unit generates information about the state before the crash. The airbag inflation algorithm inflates an airbag based on the information from the pre-crash information generation unit.

Description

Pre-crash algorithm based on vehicle sensors for the airbag crash algorithm

The present invention relates to a pre-collision airbag control apparatus and method for an airbag deployment algorithm. More particularly, the present invention relates to a pre-collision situation by synthesizing information of sensors existing in a vehicle and estimating the state of the own vehicle and the state of the front vehicle. An apparatus and method for pre-collision airbag control for an airbag deployment algorithm for generating and transmitting information to a collision algorithm for deploying an airbag when a collision occurs, thereby preventing airbag malfunction and deploying the airbag within a required deployment time.

In order to prevent safety accidents, the pre-collision algorithm applied to a vehicle has been studied to avoid a collision by informing a driver of a warning or controlling a brake or steering depending on the possibility of a collision.

However, when a vehicle crash occurs, the information before the collision can be usefully obtained by using sensors such as a radar sensor, an ultrasonic sensor, and a camera used in the pre-collision algorithm. Most of the time, they are rarely used.

In view of this, the present invention uses these sensors to obtain information about the pre-collision situation, and improves the performance of the airbag transfer algorithm by incorporating the information of the sensors into the airbag deployment algorithm during a vehicle collision. will be.

In the case of the existing airbag deployment algorithm when a vehicle crashes, the airbag is deployed by first determining the collision type when a collision occurs and setting a threshold value for the collision signal according to the information. The collision type information is very important. In addition, the part of making a collision type judgment should be quite robust.

However, since the information about the vehicle collision (signal) is generated after the collision occurs and enters the airbag algorithm, the airbag responds to the collision information (signal) entering the airbag algorithm in a sensitive manner. Problems exist where the airbag does not deploy within the required deployment time or under conditions that should not be deployed if the longitudinal and transverse acceleration sensors in the airbag control device module malfunction.

In addition, the classification of the vehicle collision type is not distinguished at the beginning, but also varies depending on the incoming signal over time, so there is also a problem that the airbag can be deployed by judging from the actual collision type while the collision type information is changed. do.

The present invention has been studied to solve the above problems, the front sensing such as radar sensors, cameras, ultrasonic sensors for maintaining the distance to compensate for the problems of the airbag collision algorithm that relies only on the information of the existing airbag-related sensors After generating collision information about the pre-collision situation by using the information of the sensors and various sensors used for the stability control of the vehicle, and then transmits information about the collision type before the collision to the airbag deployment algorithm, It is an object of the present invention to provide a pre-collision airbag control apparatus and method for an airbag deployment algorithm to improve the performance and reliability of the deployment algorithm.

The present invention for achieving the above object is a host vehicle information acquisition unit including a wheel speed sensor, steering angle sensor, yaw speed sensor, longitudinal and transverse acceleration sensor; A front vehicle information acquisition unit including a radar sensor, a camera, and an ultrasonic sensor; A host vehicle state information estimating unit for receiving the detection signals of the sensors of the host vehicle information obtaining unit and estimating information on the longitudinal and lateral speeds of the host vehicle for the pre-collision situation; A laser signal processing unit receiving the signal of the front vehicle information acquisition unit and outputting information of the distance, speed, and lateral position of the front vehicle; A front vehicle position estimator for estimating the trajectory and the position of the front vehicle with respect to the host vehicle by receiving the estimated signal of the host vehicle state information estimator and the correction signal of the radar signal processor; A pre-collision information forming unit which receives the estimated signal of the front vehicle position estimating unit and forms information on a pre-collision situation including whether there is a possibility of collision, a time until the collision, and collision type information; An airbag deployment algorithm that deploys an airbag based on output information of the pre-collision information forming unit; It provides a pre-collision airbag control device for an airbag deployment algorithm, characterized in that configured to include.

The present invention for achieving the above object comprises the steps of acquiring the host vehicle information from the wheel speed sensor, steering angle sensor, yaw speed sensor, longitudinal and transverse acceleration sensors; Acquiring vehicle information from a laser sensor; Estimating longitudinal and lateral velocities of the host vehicle based on the acquired host vehicle information; Obtaining information of a distance, a speed and a lateral position of the front vehicle based on the obtained front vehicle information; Estimating the trajectory and angle of the front vehicle with respect to the own vehicle using longitudinal and lateral speeds of the own vehicle, distance, relative speed, and lateral position information of the front vehicle; Forming collision type information as information on the pre-collision situation using the estimated trajectory and angle of the front vehicle; Passing the collision type information to an airbag deployment algorithm for deploying an airbag; It provides a pre-collision airbag control method for the airbag deployment algorithm, characterized in that consisting of.

In a preferred embodiment, the acquired front vehicle information includes a presence of a front vehicle, a distance from the front vehicle, a transverse position and a relative speed of the front vehicle.

In another preferred embodiment, the longitudinal speed of the host vehicle is obtained by using a kinematic model, and the lateral velocity of the host vehicle is obtained by using a bicycle model representing a vehicle lateral motion.

In addition, the output signal of the preceding vehicle information is processed by using a relative velocity signal having a relatively high resolution to improve the distance signal having a low resolution and to reduce the phase delay characterized in that the sensor fusion method.

In another preferred embodiment, the collision type information calculates the position of the vehicle ahead, the possibility of collision, the collision speed, the anticipated transverse position when the collision occurs, the angle of travel of the vehicle ahead. , Is formed from the calculated information.

In particular, the collision type information is characterized in that it is formed divided into a frontal collision, offset collision and oblique collision.

Through the above problem solving means, the present invention provides the following effects.

According to the present invention, by generating information on the pre-collision state through the estimation of the state of the own vehicle and the state of the front vehicle by synthesizing the information of the sensors present in the vehicle, generating and transmitting to the collision algorithm for deploying the airbag when a collision occurs, By ensuring that the deployment of airbags is appropriately deployed according to the type of collision, the existing airbag deployment algorithms use collision information generated after a collision, which makes them very sensitive to signals coming in with a collision. It can solve the problem that the sensor in the device module malfunctions, and the airbag is not deployed within the required deployment time or under the condition that it should not be deployed, and also it is judged differently from the actual collision type while the collision type information is changed. Door to which the airbag can be opened The problem can be solved.

In addition, the present invention can improve the performance of the airbag collision algorithm without incurring additional mounting costs in writing the pre-collision algorithm, and improves the reliability of the pre-collision information, thereby improving the forward collision sensor currently used in the airbag collision algorithm. In return, cost savings can be achieved.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram showing a pre-collision airbag control apparatus for an airbag deployment algorithm according to the present invention, and FIG. 2 is a schematic diagram showing sensors of a pre-collision airbag control apparatus for an airbag deployment algorithm according to the present invention.

The present invention determines a collision type when a collision occurs in a vehicle, sets a threshold value for a collision signal according to the information, and deploys an airbag, and uses a collision information generated after a collision to control the front collision sensor or the airbag. When the sensor in the device module malfunctions, and it is determined to be different from the actual collision type to solve the problem that the airbag can be opened, for this purpose, the vehicle information acquisition unit 100 and the preceding vehicle information acquisition unit 200 The pre-collision information can be obtained by using and reflected in the airbag deployment algorithm.

The host vehicle information acquisition unit 100 is a sensor in a vehicle used for stability control of the vehicle, and includes a wheel speed sensor 18, a steering angle sensor 19, a yaw speed sensor 10, a longitudinal and a lateral acceleration sensor. (11) (12).

The front vehicle information acquisition unit 200 uses a radar sensor 13 as a front detection sensor that can detect whether the front vehicle is detected, the distance with the front vehicle, the lateral position with the front vehicle, the relative speed with the front vehicle, and the like. In addition, a camera and an ultrasonic sensor can be used.

The detection information of the right and left collision detection sensors 14 and 15, which are conventional collision detection sensors for airbag deployment, and the longitudinal and transverse acceleration sensors 16 and 17 in the airbag module are information after the vehicle collision. And at the same time is passed to the airbag deployment algorithm.

Meanwhile, the pre-collision airbag control apparatus of the present invention includes a vehicle-state information estimator 300 which receives detection signals of the sensors of the vehicle-vehicle information acquisition unit 100 and estimates vehicle-vehicle information using vehicle dynamics. The host vehicle state information estimating unit 300 includes a wheel speed sensor 18, a steering angle sensor 19, a yaw speed sensor 10, longitudinal and lateral acceleration sensors, which are sensors used for vehicle stability control of the own vehicle. 11) (12) is used to estimate the longitudinal and lateral velocity of the own vehicle, that is, the information about the longitudinal and lateral velocity of the own vehicle for the pre-collision situation.For this, the bicycle model and the kinematic model based on the vehicle dynamics This can be used.

In addition, the airbag control device before the collision of the sensor information of the front vehicle information acquisition unit 200, that is, the information of the front sensor, such as the radar sensor 13, camera, ultrasonic sensor used to maintain the distance between the vehicle. And a radar signal processor 400 estimating schematic information of the front vehicle.

At this time, the radar signal processing unit 400 is a sensor fusion to correct the low resolution signal with a high resolution signal to compensate for the signal delay due to the phase delay phenomenon and low resolution of the radar signal of the front vehicle information acquisition unit 200 The technique is applied.

In addition, the pre-collision airbag control apparatus of the present invention receives the estimated signal of the own vehicle state information estimator 300 and the correction signal of the radar signal processing unit 400, the state information of the front vehicle, that is, the track of the front vehicle with respect to the own vehicle and And a front vehicle position estimator 500 for estimating the position.

In more detail, the front vehicle position estimator 500 combines the estimated signal of the host vehicle state information estimator 300 and the correction signal of the radar signal processor 400 to form collision information before collision. Form the coordinate system of to estimate the trajectory over time of the vehicle ahead.

In addition, the pre-collision airbag control apparatus of the present invention includes a pre-collision information forming unit 600 which receives the estimated signal of the front vehicle position estimating unit 500 and forms information about the pre-collision situation, and thus the collision The former information forming unit 600 forms information on the possibility of a collision, a time until the collision, and a collision type information as information on a pre-collision situation, and transfers the pre-collision information to the airbag collision algorithm, that is, the airbag deployment algorithm 700. By doing so, it is possible to prevent malfunction during airbag deployment and to satisfy the operation in which the airbag is deployed within a predetermined deployment time.

As such, the detection information of the right and left collision detection sensors 14 and 15, which are conventional collision detection sensors for airbag deployment, and the longitudinal and transverse acceleration sensors 16 and 17 in the airbag module, are almost simultaneously with the vehicle collision. Before passing to the airbag deployment algorithm 700, the estimated signal of the own vehicle state information estimator 300 and the correction signal of the radar signal processor 400 are combined to form a trajectory of the front vehicle, and the possibility of collision and collision of the vehicle before the collision. The classification of the types generates information about the crash situation before the crash, and passes the information to the airbag collision algorithm 700 to prevent malfunctions that occurred during the deployment of existing airbags, and the airbags within a predetermined deployment time. It can satisfy the operation developed.

Here, the airbag control method proceeds based on the pre-collision airbag control apparatus of the present invention having the above configuration as follows.

As shown in Fig. 1, as an input element used in the present invention, a detection signal of the host vehicle information acquisition unit 100 and a detection signal of the preceding vehicle information acquisition unit 200 are obtained.

That is, signals detected by five sensors related to the host vehicle information, such as wheel speed sensor 18, steering angle sensor 19, yaw speed sensor 10, longitudinal and transverse acceleration sensors 11, 12, The detection signal of the radar sensor 13 related to the front vehicle information is used.

Next, the obtained detection signal of the host vehicle information obtaining unit 100 is input to the host vehicle state information estimating unit 300, and the host vehicle state information estimating unit 300 estimates the longitudinal and lateral speeds of the host vehicle. The longitudinal velocity of is obtained by using a kinematic model, and the lateral velocity of the own vehicle is obtained by modifying the bicycle model, which is a representative model representing the vehicle lateral motion.

In addition, the obtained detection signal of the front vehicle information acquisition unit 200 and the signal of the radar sensor 13 related to the front vehicle information may output the presence or absence of the front vehicle, the distance to the front vehicle, the lateral position and the relative speed of the front vehicle as outputs. This output signal enters the laser signal processing unit 400.

In this case, since all of the output signals entered into the laser signal processing unit 400 have a phase delay, and the distance signal obtained by the time difference of the output signal and the relative speed signal using the Doppler effect are the same radar signals in different ways. Since the measurement, the laser signal processing unit 400 uses a sensor fusion method according to Equation 1 below to improve the distance signal having a low resolution and to reduce the effect of the phase delay by using a relative speed signal having a relatively high resolution. This is applied to obtain information of the distance, speed and transverse position of the vehicle ahead of the phased host vehicle.

Next, the front vehicle position estimating unit 500 receives the estimated signal of the own vehicle state information estimating unit 300 and the correction signal of the radar signal processing unit 400, so as to determine the state information of the front vehicle, that is, the front vehicle for the own vehicle. The trajectory and position of are estimated.

That is, the algorithm of the front vehicle position estimator 500 estimates state information of the front vehicle by using longitudinal and lateral speeds of the host vehicle, distance of the front vehicle, relative speed, and lateral position information.

Referring to Figure 3 attached to the algorithm method for estimating the state information of the front vehicle,

The longitudinal and lateral velocities of the own vehicle, which are obtained based on the current position of the vehicle (29: the position of the vehicle in the current sample) and the previous position of the vehicle (28: the position of the vehicle in the previous sample), are represented by t _TTC in Equation 3 below. It is used to calculate the longitudinal and lateral movement distances (20: home movement distance during the sampling time) of the host vehicle during the sampling time 23 by integrating for each sampling time 23, as shown in FIG. When forming an orthogonal coordinate system having the mounting point, that is, the center point of the front bumper or grill as the origin point (29: the position of the own vehicle in the current sample), the coordinate movement per sampling time of the origin point (20: during the sampling time) as shown in Equation 2 below. Origin moving distance).

Further, the distance of the front vehicle obtained through the radar sensor, that is, the distance of the front vehicle obtained based on the front vehicle position 21 in the previous sample and the front vehicle position 22 in the current sample, and the lateral position information 22 : The front vehicle position in the current sample) in the Cartesian coordinate system formed based on the own vehicle information, so that the trajectory (25: estimated front vehicle position) and angle of the front vehicle with respect to the host vehicle as shown in Equations 3 and 4 below. 24: estimated front vehicle travel angle) is estimated.

Next, the pre-collision information forming unit 600 forms information on the pre-collision situation by using the trajectory and angle of the front vehicle estimated by the algorithm of the front vehicle position estimator 500 as described above.

That is, the pre-collision information forming unit 600 predicts the position of the front vehicle until the collision with the host vehicle, as shown in FIG. 4, and predicts the possibility of collision, the collision speed, and the collision. Information such as the lateral position, the advancing angle of the front vehicle, and the like is calculated, and the calculated information is integrated to form the collision type information 30.

More specifically, as shown in FIG. 5, after determining whether or not the collision is based on the estimated transverse position 26 of the front vehicle and the estimated traveling angle 27 of the front vehicle, the front collision and offset are determined. Generates collision type information 30 that is divided into three types of collisions and oblique collisions.

The collision type information 30 thus obtained is transmitted to the airbag deployment algorithm 700 for deploying the airbag to deploy the airbag according to the collision type obtained before the collision occurs.

1 is a schematic diagram showing a pre-collision airbag control apparatus for an airbag deployment algorithm according to the present invention;

Figure 2 is a schematic diagram showing the sensors of the airbag control device before the collision for the airbag deployment algorithm according to the present invention,

3 is a schematic diagram illustrating an algorithm for estimating a trajectory of a front vehicle in a coordinate system of a host vehicle in a pre-collision airbag control method for an airbag deployment algorithm according to the present invention;

4 is a flowchart illustrating a collision probability determination algorithm in a pre-collision airbag control method for an airbag deployment algorithm according to the present invention;

5 is a flowchart illustrating a collision type determination algorithm in the pre-collision airbag control method for the airbag deployment algorithm according to the present invention.

<Explanation of symbols for the main parts of the drawings>

10: yaw speed sensor

11: longitudinal acceleration sensor

12: lateral acceleration sensor

13: laser sensor

14, 15: collision detection sensor

16: longitudinal acceleration sensor in airbag module

17: transverse acceleration sensor in airbag module

18: wheel speed sensor

19: steering angle sensor

20: homing distance for sampling time

21: Forward vehicle position from previous sample

22: Forward vehicle position in the current sample

23: sampling time

24: estimated forward vehicle travel angle

25: estimated front vehicle position

26: estimated transverse position at the collision of the front vehicle

27: estimated driving angle of the forward vehicle

28: Own vehicle position in the previous sample

29: Position of the vehicle in the current sample

30: collision type information

100: vehicle information acquisition unit

200: vehicle information acquisition unit

300: vehicle status information estimation unit

400: radar signal processing unit

500: front vehicle position estimation unit

600: information forming unit before the collision

700: Airbag Deployment Algorithm

Claims (7)

A host vehicle information acquisition unit 100 including a wheel speed sensor 18, a steering angle sensor 19, a yaw speed sensor 10, longitudinal and lateral acceleration sensors 11, 12; A front vehicle information acquisition unit 200 including a radar sensor 13, a camera, and an ultrasonic sensor; A host vehicle state information estimating unit (300) for receiving the detection signals of the sensors of the host vehicle information obtaining unit (100) and estimating information on the longitudinal and lateral velocities of the host vehicle for the pre-collision situation; A laser signal processing unit 400 receiving the signal of the front vehicle information acquisition unit 200 and outputting information of the distance, speed, and lateral position of the front vehicle; A front vehicle position estimator 500 for receiving the estimated signal of the host vehicle state information estimator 300 and the correction signal of the radar signal processor 400 to estimate the trajectory and position of the front vehicle with respect to the host vehicle; A pre-collision information forming unit 600 which receives the estimated signal of the front vehicle position estimator 500 and forms information on a pre-collision situation including whether there is a possibility of collision, a time until the collision, and collision type information; An airbag deployment algorithm 700 for deploying an airbag based on output information of the pre-collision information forming unit 600; Pre-collision airbag control device for an airbag deployment algorithm, characterized in that configured to include. Acquiring host vehicle information from a wheel speed sensor, a steering angle sensor, a yaw speed sensor, a longitudinal and a lateral acceleration sensor; Acquiring vehicle information from a laser sensor; Estimating longitudinal and lateral velocities of the host vehicle based on the acquired host vehicle information; Obtaining information of a distance, a speed and a lateral position of the front vehicle based on the obtained front vehicle information; Estimating the trajectory and angle of the front vehicle with respect to the own vehicle using longitudinal and lateral speeds of the own vehicle, distance, relative speed, and lateral position information of the front vehicle; Forming collision type information as information on the pre-collision situation using the estimated trajectory and angle of the front vehicle; Passing the collision type information to an airbag deployment algorithm for deploying an airbag; Pre-collision airbag control method for an airbag deployment algorithm, characterized in that consisting of. The method according to claim 2, The acquired front vehicle information includes a presence of a front vehicle, a distance from the front vehicle, a transverse position and a relative speed of the front vehicle. The method according to claim 2, The longitudinal velocity of the host vehicle is calculated using a kinematic model, and the lateral velocity of the host vehicle is calculated using a bicycle model representing a vehicle lateral motion. The method according to claim 2 or 3, Collision for the airbag deployment algorithm, wherein the output signal of the preceding vehicle information is processed by using a relative velocity signal having a relatively high resolution, using a sensor fusion technique for improving a distance signal having a low resolution and reducing a phase delay. Full airbag control method. The method according to claim 2, The collision type information calculates the position of the vehicle ahead, whether or not there is a collision, the collision speed, the anticipated transverse position when the collision occurs, and the traveling angle of the vehicle ahead, and is formed from the calculated information. A pre-collision airbag control method for an airbag deployment algorithm, characterized in that the. The method according to claim 6, The collision type information is classified into frontal collisions, offset collisions, and inclined collisions are formed before the collision airbag control method for the airbag deployment algorithm.

Images