DE102016209902A1 - Method for controlling a passenger protection device of a vehicle and control unit - Google Patents

Abstract

The invention relates to a method for controlling a passenger protection device (116) of a vehicle (100). In this case, initially an environment sensor signal (106) representing a hazard situation (108) detected by at least one environmental sensor (104) of the vehicle (100) is read in. Using the environmental sensor signal (106), a probability of a repeated occurrence of the dangerous situation (108) is subsequently determined. Then, depending on the probability, a drive signal (114) for activating the personal protection device (116) is generated.

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

Vehicles are known in which certain functions of a personal protection device of the vehicle can be activated in advance upon detection of a critical situation by means of environment sensors in order to prevent a collision or reduce the impact of the collision in the event of an unavoidable collision.

Disclosure of the invention

Against this background, with the approach presented here, a method for activating a personal protection device of a vehicle, furthermore a control device, which uses this method, and finally a corresponding computer program according to the main claims are presented. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

A method is presented for activating a personal safety device of a vehicle, the method comprising the following steps:
Reading an environmental sensor signal representing a hazardous situation detected by at least one environmental sensor of the vehicle;
Determining a likelihood of recurring the hazard situation using the environmental sensor signal; and
Generating a drive signal for driving the personal protection device as a function of the probability.

Under a personal protection device, for example, a system of active, passive or integrated security can be understood. For example, the personal protection device may include restraining means such as airbags or belt tensioners, a pedestrian protection system or adaptive crash structures. The personal protection device can also be designed to automatically steer or decelerate the vehicle in the event of an imminent collision. An environment sensor may, for example, be understood as a radar, ultrasound or video sensor for detecting the surroundings of the vehicle. A dangerous situation can be understood as a situation that can be defined by a specific distance of the vehicle to an object, for example to an object crossing a roadway of the vehicle, or a relative speed between the vehicle and the dangerous situation. Depending on the distance or relative speed, the dangerous situation may be a critical or uncritical situation for the vehicle. For example, the dangerous situation may be a critical situation if the distance falls below a critical distance threshold value or the relative speed exceeds a critical speed threshold value, so that an imminent collision between the vehicle and the object can be assumed. For example, in the step of determining the probability can be determined in the form of a probability value by which a repetition of the danger situation can be assessed. In this case, for example, a type of the object representing the dangerous situation can be recognized and the probability value can be determined on the basis of the type of object. The activation signal can be generated in the step of generating, for example, if the repeated occurrence of the dangerous situation is determined to be probable in the step of determining.

The approach presented here is based on the knowledge that a personal protection device of a vehicle can be activated early on the basis of a recognition of a possible repetition of an already detected, potentially critical situation of the vehicle. Thus, it is possible, for example, to prepare a safety system or a system for partially or highly automated driving, also called PAD or HAD system, to a situation already recognized at an earlier point of time with increased criticality and thus an increased risk of collision by a short-term change of an airbag deployment threshold is made or active systems for early application of a brake system of the vehicle with a suitable brake pressure, also called pre-fill activated. For example, by changing the trigger thresholds for pedestrian protection systems and active or passive safety systems, such as for functions such as IDF, Pre-Set or ISS, in still uncritical situations an accident detection can be optimized and thus a potential of the systems can be improved. In the case of an active system, it is thus possible to respond very quickly to an expected critical situation or to warn the driver particularly quickly accordingly.

According to one embodiment, in the step of generating, the drive signal may be generated if, in the step of determining, the repeated occurrence is determined to be greater than a probability threshold value. As a result, the personal protection device can already be activated, pre-activated, before an actual repeated occurrence or be pre-parameterized, thus reducing the risk of collision.

According to a further embodiment, the method may comprise a step of classifying at least one object representing the dangerous situation using the environmental sensor signal. Here, in the step of determining the probability can be determined depending on a result of classifying. Classifying can be understood to mean a process in which the object can be assigned to a specific class of objects based on certain predefined characteristics. For example, when classifying the object, depending on its size, shape, movement speed, direction of movement, movement speed change, or change of movement direction of the object, it can be assigned to a class "wild animal" or "child". By means of this embodiment, the probability of the repeated occurrence of the dangerous situation as a function of a type of object representing the dangerous situation can be determined. As a result, the personal protection device can be controlled with great accuracy and reliability.

Furthermore, in the step of determining, the repeated occurrence may be determined to be greater than a probability threshold if, in the classifying step, the object is recognized as a wild animal or child, in particular as a wild animal or child crossing a roadway and / or driving trajectory of the vehicle. As a result, collisions with wild animals or children can be prevented or at least mitigated.

The method may further comprise a step of defining a temporal and / or local hazard zone associated with the hazardous situation using the environmental sensor signal. In this case, in the step of generating the drive signal can be generated in particular when the vehicle drives into the danger zone. For example, the danger zone may be defined by a first position at which the vehicle enters the danger zone and a second position arranged at a distance from the first position at which the vehicle leaves the danger zone again. Additionally or alternatively, the danger zone may be a time interval that may be defined by a first time when the vehicle enters the danger zone and a second point in time when the vehicle leaves the danger zone again. For example, the danger situation may be locally or temporally defined by the danger zone. By this embodiment, a particularly accurate and robust location- or time-dependent control of the personal protection device can be ensured.

According to a further embodiment, in the step of generating a further drive signal for driving the personal protection device can be generated when the vehicle moves out of the danger zone. This allows repeated activation of the personal protection device when driving through the danger zone.

In addition, the method may include a step of checking in which it is possible to check whether a driver of the vehicle changes his driving behavior when entering the danger zone. Such a change in driving behavior can be determined, for example, by a change in the head posture, the movement of the head, a changed eye opening degree or the like. Accordingly, in the step of generating, the drive signal may be generated depending on a result of the check. Thereby, the personal protection device can be controlled depending on a reaction of the driver.

It is also advantageous if in the step of generating the drive signal is generated to change at least one threshold for activating the personal protection device. The threshold value may be, for example, a trigger threshold for triggering an airbag or belt tensioner. For example, the drive signal may be generated to lower the threshold depending on the likelihood. This can ensure that the personal protection device is activated early in the event of an imminent collision.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit.

The approach presented here also creates a control unit which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be achieved quickly and efficiently.

For this purpose, the control unit can have at least one arithmetic unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading sensor signals from the sensor or for outputting control signals to the actuator and / or or at least a communication interface for reading in or outputting data that is in a communication protocol are embedded. The arithmetic unit may be, for example, a signal processor, a microcontroller or the like, wherein the memory unit may be a flash memory, an EPROM or a magnetic memory unit. The communication interface can be designed to read or output data wirelessly and / or by line, wherein a communication interface that can read or output line-bound data, for example, electrically or optically read this data from a corresponding data transmission line or output to a corresponding data transmission line.

In the present case, a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control unit may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control unit. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

In an advantageous embodiment, the control unit is used to control a brake system, a steering system or an engine of the vehicle. For this purpose, the control unit can access, for example, sensor signals such as environment sensor signals or brake and steering sensor signals. The control takes place via corresponding actuators such as steering or brake actuators.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. It shows:

1 a schematic representation of a vehicle with a control unit according to an embodiment;

2 a schematic representation of a vehicle when driving on a roadway with a dangerous situation at different times;

3 a schematic representation of a hazardous situation for evaluation by a control unit according to an embodiment;

4 a schematic representation of a hazardous situation for evaluation by a control unit according to an embodiment;

5 a schematic representation of a control device according to an embodiment; and

6 a flowchart of a method according to an embodiment.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a vehicle 100 with a control unit 102 according to an embodiment. The control unit 102 is with an environment sensor 104 connected, which is adapted to an environment of the vehicle 100 and to capture an environment sensor signal representing the environment 106 to the control unit 102 to send. The environmental sensor signal 106 for example, represents one in front of the vehicle 100 danger situation 108 , where the vehicle 100 in 1 in a still uncritical distance to the dangerous situation 108 located. The danger situation 108 includes at least one object 110 , here an example on the edge of a roadway 112 of the vehicle 100 child lying about, the roadway 112 to cross.

The control unit 102 is designed to be detected using the environmental sensor signal 106 a probability of repeated occurrence of the dangerous situation 108 to investigate. This generates the control unit 102 as a function of the determined probability, a drive signal 114 for controlling a personal protection device 116 of the vehicle 100 , The personal protection device 116 includes an example of a belt tensioner 118 and an airbag 120 ,

In one embodiment, the controller is 102 Designed to provide thresholds for integrated safety functions, such as airbag control unit, IDF or pre-set functions, for pedestrian protection systems, or for passive or active safety systems such as a pre-fill of a vehicle brake system 100 upon detection of the still uncritical danger situation 108 by means of the environment sensor 104 and a danger of a later repetition of the then critical danger situation 108 to change. The functions mentioned may be components of the personal protection device 116 be.

This has the advantage that active systems faster and passive systems more stable and thus more effective on the expected critical hazard situation 108 Can react or a driver of the vehicle 100 can be warned early. Furthermore, the control unit 102 be configured to prepare or execute an escalation level for a function for partially or highly automated driving. The escalation level can be about a handover of the vehicle 100 to the driver, initiating an emergency stop, increasing a level of criticality, or changing a trajectory plan for semi or highly automated driving.

The approach described here is based on the recognition of certain situations with objects such as children or animals with still considered uncritical behavior as well as on the recognition of a possibly resulting critical behavior of further, following objects. As previously mentioned, this look-ahead may then serve as an input to integrated safety functions, to pedestrian protection systems, to other passive or active safety systems, or to semi-automated or highly automated driving. This can also be used in time-critical situations in which the environmental sensor of the vehicle 100 is no longer able to detect an unavoidable collision and to ensure timely triggering of corresponding actuators, a faster, more stable use of active and passive safety systems in the field of integrated safety can be achieved.

The environment sensor 104 For example, it is implemented as a radar, ultrasound or video sensor for detecting the vehicle surroundings and is designed to collide environmental information, such as critical objects, for certain functions of the personal safety device 116 are relevant to capture. This should be the environment sensor signal 106 , which may be a non-ideal sensor signal, may be conditioned to provide reliable detection and classification of objects around the vehicle 100 to be able to ensure.

The personal protection device 116 For example, it may include pre-crash functions acting on an interface between active and passive security, which may be the environment sensor 104 can be used to detect a potential collision with a relevant object in a critical situation. In the case of an unavoidable collision, the drive signal 114 on the one hand serve the activation thresholds on an airbag control unit for controlling the airbag 120 also known as pre-set, and so the reliability and robustness of a deployment decision to trigger the airbag 120 to improve. On the other hand, the drive signal 114 serve reversible retaining means of passive safety, such as pre-fire functions, for example, to control the belt tensioner 118 or irreversible passive safety restraining means, such as pre-triggering functions, for driving various airbags or adaptive crash structures of the vehicle 100 , to activate and so reduce an accident severity. In the case of an unavoidable collision, a collision type or severity can be positively influenced, for example, by evasive movements, also called pre-crash alignment, or by braking interventions in order to optimally protect vehicle occupants by means of the available restraint means.

2 shows a schematic representation of a vehicle 100 when driving on a carriageway 112 with a dangerous situation 108 at different times. In the vehicle 100 For example, it is a preceding by means of 1 described vehicle. Shown is an exemplary representation of a system comprising the control unit and the personal protection device using the example of the functions Pre-Set and Pre-Fill. You can see different positions of the vehicle 100 on the roadway 112 relative to the danger situation 108 as well as to a dangerous situation 108 associated danger zone 200 , which are locally by an entrance threshold 202 and an exit threshold 204 is limited. The danger zone 200 has been defined, for example, by the controller using the environmental sensor signal, the controller being the danger zone 200 depending on the embodiment defined as a local or temporal zone.

At a first time t_1 is the vehicle 100 at a relatively large distance from the danger situation 108 coming from the control unit of the vehicle 100 is recognized as a relevant but still uncritical situation. At a second time t_2 following the first time t_1, the vehicle is located shortly before the entry threshold 202 , This is due to the imperfect environment sensor of the vehicle 100 no criticality recognizable. At the two times t_1, t_2, the respective values for the functions Pre-Set and Pre-Fill are equal to zero.

The vehicle drives at a third time t_3 following the second time t_2 100 in the danger zone 200 one. At this time, using the environmental sensor signal, the controller determines a high probability of repeated occurrence of the danger situation 108 in the danger zone 200 , Accordingly, the controller sets the two values for the functions Pre-Set and Pre-Fill to one. At a fourth time t_4 following the third time t_3, in a first case an actual repeated occurrence of the dangerous situation occurs 108 to a critical situation, which at a fourth time t_4 subsequent fifth time t_5 for collision of the vehicle 100 leads. This case is in 2 indicated by a left arrow. Due to the fact that the two functions pre-set and pre-fill were already activated at time t_3, the collision takes place with reduced accident severity. In a second case, the in 2 indicated by a right arrow, the danger situation occurs 108 at the fourth time t_4 not repeated, but remains uncritical, so that at the fifth time t_5 no collision takes place. Accordingly, the control unit sets the previously set values for the functions Pre-Set and Pre-Fill when the exit threshold is exceeded 204 through the vehicle 100 to zero, such as by generating a corresponding further drive signal for driving the personal protection device.

3 shows a schematic representation of a dangerous situation 108 for evaluation by a control device according to an embodiment, such as a control device, as described above with reference to FIG 1 and 2 is described. Shown is a possible scenario for the detection of wild animals in the distance, here from three deer 300 . 302 . 304 , one after another, the roadway 112 cross. The crossing of the first deer 300 still uncritical danger situation 108 can lead to critical and unavoidable accidents when the first deer 300 the other deer 302 . 304 follow, that is, when the danger situation 108 repeated at a later time, in which the vehicle is at a closer distance to the position of the dangerous situation 108 located. This is relatively likely, because where a pack animal crosses the road, often followed by a second or third pack animal. In contrast, a stable and timely triggering of the personal protection device can be ensured by a corresponding adjustment of tripping thresholds of the personal protection device by the controller.

4 shows a schematic representation of a hazardous situation for evaluation by a control device according to an embodiment, such as a control device, as described above with reference to 1 to 3 is described. In contrast to 3 is the dangerous situation 108 in 4 by three children 400 . 402 . 404 represents that are about to cross a zebra 406 on the roadway 112 to cross. The second child 402 and the third child 404 follow the first child 400 after and through a near the crosswalk 406 parked vehicle 408 covered. In case of sudden pedestrians on the road 112 in the distance, it can be assumed, in particular with children playing, that at this point even more pedestrians, especially children, are still crossing the roadway 112 race when the first child 400 the roadway 112 has left again and the vehicle in the zone of the originally recognized danger situation 108 retracts. Also in this case can be achieved by a corresponding adjustment of tripping thresholds of the personal protection device by means of the control unit that actuators for pedestrian protection systems are activated in good time and thus the pedestrian protection systems can develop their protective function optimally.

5 shows a schematic representation of a control device 102 according to an embodiment. At the control unit 102 For example, it is a preceding by means of 1 to 4 described control unit. The control unit 102 includes a read-in unit 510 for reading in the surroundings sensor signal representing the dangerous situation 106 , To the reading unit 510 is an investigative unit 520 which is adapted to be detected using the environmental sensor signal 106 a probability value representing a probability of a repeated occurrence of the dangerous situation 525 to investigate. The determination unit 520 sends the probability value 525 to a generating unit 530 , which is designed to be using the probability value 525 the drive signal 114 to generate the personal protection device of the vehicle.

According to one embodiment, the controller comprises 102 an optional classification unit 540 which is designed to be out of the environmental sensor signal 106 to extract at least one object representing the dangerous situation and to associate it with a certain object class, such as "wild animal" or "child", and, as a result of the assignment, an object class value representing the object class 545 to the investigative unit 520 to send. Here is the discovery unit 520 trained to the probability value 525 using the object class value 545 to investigate. For example, the discovery unit generates 520 a high probability value 525 if the object class value 545 represents the class "wild animal" or "child".

6 shows a flowchart of a method 600 according to an embodiment. The procedure 600 for driving a personal protection device of a vehicle can, for example, in connection with a preceding on the basis of 1 to 5 described control unit are performed. This is done in one step 610 the environment sensor signal representing the hazardous situation is read. In a further step 620 the likelihood of repeated occurrence of the hazard situation is determined using the environmental sensor signal. Finally, in one step 630 the drive signal for driving the personal protection device in dependence on the in step 620 generated probability generated.

According to one embodiment, in step 630 generates the drive signal to briefly change a triggering threshold or a pre-fill function of the personal protection device only in the moment in which the vehicle passes the position of the previously recognized danger situation or the previously detected object.

Optionally, the change only takes place if, during an identical movement of a comparable object at a later time, a critical situation can occur.

Another possible condition for generating the drive signal in step 630 is that the driver does not react when reaching the dangerous situation, such as in the form of a speed reduction. For example, if a speed reduction is not recognized, it can be assumed that the driver has already recognized the potentially critical situation and has already responded adequately and sufficiently from his overview. In this case, the generation of the drive signal can be suppressed, for example.

The procedure 600 Can be used to analyze any situation that can be detected by an environmental sensor in a still uncritical state and can be repeated at a later, then critical time.

Optionally, when a critical situation is detected, additional road users, such as a follow-up traffic, can be warned accordingly in an additional step. In addition to any car2car or car2x communication channels, a corresponding warning can be made, for example, by activation of a brake light, also flashing, or a hazard warning light.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Claims (11)

Procedure ( 600 ) for controlling a personal protection device ( 116 ) of a vehicle ( 100 ), the process ( 600 ) includes the following steps: reading in ( 610 ) of an environmental sensor signal ( 106 ), which is one of at least one environmental sensor ( 104 ) of the vehicle ( 100 ) recorded danger situation ( 108 represents; Determine ( 620 ) a probability of a repeated occurrence of the dangerous situation ( 108 ) using the environmental sensor signal ( 106 ); and generating ( 630 ) of a drive signal ( 114 ) for activating the personal protection device ( 116 ) depending on the probability. Procedure ( 600 ) according to claim 1, characterized in that in the step of generating ( 630 ) the drive signal ( 114 ) is generated when in the step of determining ( 620 ) the repeated occurrence is determined to be greater than a probability threshold value. Procedure ( 600 ) according to one of the preceding claims, characterized by a step of classifying at least one of the dangerous situations ( 108 ) representing object ( 110 ; 300 . 302 . 304 ; 400 . 402 . 404 ) using the environmental sensor signal ( 106 ), wherein in the step of determining ( 620 ) the probability is determined depending on a result of classifying. Procedure ( 600 ) according to claim 3, characterized in that in the step of determining ( 620 ) the repeated occurrence is determined to be greater than a probability threshold value if in the classifying step the object ( 110 ; 300 . 302 . 304 ; 400 . 402 . 404 ) as a wild animal ( 300 . 302 . 304 ) or child ( 110 ; 400 . 402 . 404 ), in particular as a roadway ( 112 ) and / or driving trajectory of the vehicle ( 100 ) crossing wild animal ( 300 . 302 . 304 ) or child ( 110 ; 400 . 402 . 404 ), is recognized. Procedure ( 600 ) according to one of the preceding claims, characterized by a step of defining one of the dangerous situations ( 108 ) associated temporal and / or local danger zone ( 200 ) using the environmental sensor signal ( 106 ), in particular wherein in the step of generating ( 630 ) the drive signal ( 114 ) is generated when the vehicle ( 100 ) into the danger zone ( 200 ) into it. Procedure ( 600 ) according to claim 5, characterized in that in the step of generating ( 630 ) a further drive signal for driving the personal protection device ( 116 ) is generated when the vehicle ( 100 ) from the danger zone ( 200 ). Procedure ( 600 ) according to claim 5 or 6, characterized by a step of checking whether a driver of the vehicle ( 100 ) when entering the danger zone ( 200 ) changes its driving behavior, wherein in the step of generating ( 630 ) the drive signal ( 114 ) is generated depending on a result of the check. Procedure ( 600 ) according to one of the preceding claims, characterized in that in the step of generating ( 630 ) the drive signal ( 114 ) is generated to at least a threshold for activating the personal protection device ( 116 ) to change. Control unit ( 102 ) with units ( 510 . 520 . 530 . 540 ), which are adapted to the process ( 600 ) according to any one of the preceding claims and / or to control. Computer program that is adapted to the procedure ( 600 ) according to any one of claims 1 to 8 and / or to control. A machine-readable storage medium storing the computer program of claim 10.

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