EP1976727A1 - Dispositif et procédé de détection d une collision avec un piéton - Google Patents
Dispositif et procédé de détection d une collision avec un piétonInfo
- Publication number
- EP1976727A1 EP1976727A1 EP06830248A EP06830248A EP1976727A1 EP 1976727 A1 EP1976727 A1 EP 1976727A1 EP 06830248 A EP06830248 A EP 06830248A EP 06830248 A EP06830248 A EP 06830248A EP 1976727 A1 EP1976727 A1 EP 1976727A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- impact
- signal
- time offset
- signals
- acceleration sensors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/34—Protecting non-occupants of a vehicle, e.g. pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R21/0133—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value by integrating the amplitude of the input signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0136—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01122—Prevention of malfunction
- B60R2021/01184—Fault detection or diagnostic circuits
- B60R2021/0119—Plausibility check
Definitions
- the invention relates to a device and a method for detecting a pedestrian impact according to the preamble of the independent claim.
- the device according to the invention or the method according to the invention for detecting a pedestrian impact has the advantage that a configuration of at least three acceleration sensors is used, which are attached to the inside of the bumper fascia.
- an acceleration sensor is arranged on the right and left and the third acceleration sensor in the middle.
- the method according to the invention or the device according to the invention is characterized by its robustness.
- impact objects of non-negligible width such as a shopping cart, can be detected, provided that Exceeding the threshold of all three sensors takes place virtually simultaneously or within a very small, possibly time-dependent time interval.
- the invention is based on the idea to determine the impact location by means of at least three sensors. This is due to the fact that the
- Propagation speed of deformation and structure-borne noise in the plastic of the bumper fascia is relatively slow. As a result, an acceleration sensor farther from the impact location will later generate the signal as a sensor mounted near the impact location.
- the respective signals of the acceleration sensors are generated when the signal predetermined or adaptively determined, for example in
- noise thresholds are for example between 3 and 5g.
- the signals it is possible for the signals to be generated even when the signals show certain signal characteristics, ie forms. This can be done, for example, in
- a counter which determines the at least one time offset.
- This counter can be a timer module, which is arranged in the control unit or it is realized by software technology in a microcontroller in the control unit. In this case, the microcontroller is the evaluation circuit.
- the time offset is determined from the first two occurring signals, ie the two acceleration sensors which are arranged closest to the point of impact, and the third acceleration sensor is used with its signal for plausibility.
- the device according to the invention or the inventive method is particularly robust.
- the signals are weighted according to their occurrence. This takes into account the fact that the sensor that first generates the signal, ie closest to the impact location, generates the signal that is most important for the analysis of the impact or the impact object. This will significantly improve the analysis and weaker signals will not be included in the analysis that much.
- the signals can advantageously be summed or integrated over time.
- integration means, such an integration, which is computationally possible.
- a mass determination or estimation of the impact object can be carried out via the momentum set.
- this second sum or the second integral can be advantageously used to determine the penetration depth of the impact object into the vehicle.
- About the depth of penetration can otherwise difficult to distinguish objects, such as soft and heavy as a human being, from hard and light well discriminated. This is because a heavy object penetrates further into the bumper at a given speed than a lighter one.
- FIG. 2 shows a first block diagram
- FIG. 3 is an acceleration time diagram
- Figure 4 is a second block diagram
- FIG. 5 is a flowchart.
- Acceleration sensors for detecting a pedestrian impact have already been proposed. This results in the problem of robust separation of tripping and non-tripping cases.
- an impact offset detection is necessary because the bumper along the vehicle transverse direction changes its rigidity and therefore the signals of the sensors of one and the same impact object at the same speed depends on the offset.
- This problem is solved by the device according to the invention or the inventive method by the use of at least three acceleration sensors, which are arranged on the bumper fascia. In this case, the time offset of the signals of the acceleration sensors is evaluated.
- Figure 1 shows a view of the arrangement of the device according to the invention.
- an arrangement of three acceleration sensors 10, 12 and 13 is provided on the bumper cover 15, which is largely made of plastic.
- the acceleration sensors are screwed, for example via holders with the bumper cover 15.
- Behind the acceleration sensors 10, 12 and 13, a bending beam 14 of the vehicle is provided.
- the dashed lines indicate the spread of
- the sensor 10 is the first to provide a signal to
- the sensor 10 If there is an impact at the point of impact B, the sensor 10 in turn delivers the first signal and thus the start t ⁇ .
- the sensor 12 provides its signal with the time offset
- Distance d is the distance from the sensor 12 to the impact point P.
- the sensor 12 now supplies the first signal and thus the time start t ⁇ .
- the sensor 10 provides its signal with the time offset
- Atl3 2 can be used in the offset determination, that is the distance d.
- Figure 2 illustrates in a block diagram how the signals and the counter cooperate.
- block 20 for example, upon impact at point A, acceleration sensor 10 generates its signal.
- the timer 21 is started.
- the timer measures the time offset AtIl 1 until the sensor 12 generates its signal in block 22.
- the timer will continue to measure the time offset Atl3 2 in block 23 until the acceleration sensor 13 also generates its signal in block 24.
- FIG. 3 visualizes this in an acceleration time diagram.
- the curve 3.1 here represents the acceleration signal of the sensor 10 in the event of an impact at the impact point A.
- the signal 31 exceeds the noise threshold 30.
- the timer is started at the instant t.sub. ⁇ . This measures the time offset At 1 to also the signal of the sensor 12, which is designated here by the reference numeral 32, the noise threshold 30 exceeds.
- the timer continues to count the time offset At 2 until the signal 33 of the sensor 13 exceeds the noise threshold 30.
- FIG. 4 shows in a further block diagram the device according to the invention.
- the acceleration sensors 10, 12 and 13 are connected via two-wire lines to a control unit ECU.
- the acceleration sensors 10, 12 and 13 transmit their data as digital signals, for example by Manchester coding to the
- Control unit ECU It is possible that the acceleration sensors 10, 12 and 13 already have preprocessing in their components.
- the acceleration sensors 10, 12 and 13 can already check the noise threshold itself or the test takes over the control unit ECU by means of the microcontroller ⁇ C.
- the ECU ECU interface modules and other components such as a
- the microcontroller ⁇ C evaluates the signals of the acceleration sensors 10, 12 and 13 according to the invention and controls pedestrian protection means FGS in dependence thereon. To determine the time offset, the microcontroller ⁇ C uses a timer module 40. Alternatively, it is possible for the timer to be simulated by the microcontroller .mu.C itself by means of software.
- step 500 the sensor closest to the point of impact generates its signal.
- signal generation means that the signal is above the predetermined threshold, here the noise threshold.
- the counter is then started in step 501.
- the timer module 40 which is started by the microcontroller .mu.C.
- the sensors 12 and 13 also generate the second and third signals, respectively.
- the time offset is determined. Based on the time offset, it is possible to determine the impact site and the impact itself. This is done in step 503.
- the determination of the first integral of the acceleration signal takes place here as an option-this is not necessarily the case-in order to estimate the mass of the impact object via the pulse set, which is carried out in method step 504.
- the signal the first occurring signal is preferably used.
- the second integral is formed here in method step 505 in order to determine the penetration depth of the impact object. It is then possible to carry out a characterization of the impact object.
- the integrals here by means of the Microcontroller ⁇ C are performed, other summation techniques can be used. It should be understood that the integration is meant to be what a computer can do.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Air Bags (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
L’invention concerne un procédé ou un dispositif de détection d’une collision avec un piéton, au moins trois capteurs d’accélération (10, 12, 13) étant prévus, lesquels sont chacun montés sur le côté intérieur de l’habillage (15) du pare-chocs et génèrent chacun un signal. La collision avec un piéton est détectée en fonction d'un décalage dans le temps entre au moins deux des trois signaux. Le lieu de la collision est identifié au moyen dudit ou desdits décalages dans le temps.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006001366.2A DE102006001366B4 (de) | 2006-01-11 | 2006-01-11 | Vorrichtung und Verfahren zur Detektion eines Fußgängeraufpralls |
PCT/EP2006/069151 WO2007087916A1 (fr) | 2006-01-11 | 2006-11-30 | Dispositif et procédé de détection d’une collision avec un piéton |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1976727A1 true EP1976727A1 (fr) | 2008-10-08 |
Family
ID=37709494
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06830248A Withdrawn EP1976727A1 (fr) | 2006-01-11 | 2006-11-30 | Dispositif et procédé de détection d une collision avec un piéton |
Country Status (6)
Country | Link |
---|---|
US (1) | US8948961B2 (fr) |
EP (1) | EP1976727A1 (fr) |
JP (1) | JP2009523087A (fr) |
CN (1) | CN101356079B (fr) |
DE (1) | DE102006001366B4 (fr) |
WO (1) | WO2007087916A1 (fr) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007002274B4 (de) | 2007-01-16 | 2019-08-14 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Offseterkennung einer Kollision für ein Fußgängerschutzsystem |
DE602009000726D1 (de) * | 2008-02-21 | 2011-03-31 | Keihin Corp | Vorrichtung zur Erkennung eines Zusammenstoßes mit einem Fußgänger und System zum Schutz von Fußgängern |
DE102008013780B3 (de) * | 2008-03-12 | 2010-07-15 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur besseren Erkennung einer Art und/oder Schwere einer Kollision eines Fahrzeugs mit einem Gegenstand |
DE102008039957A1 (de) * | 2008-08-27 | 2010-03-04 | Continental Automotive Gmbh | Verfahren zur Ermittlung eines Unfallschwerekriteriums mittels eines Beschleunigungssignals und eines Körperschallsignals |
DE102009045757A1 (de) * | 2009-10-16 | 2011-04-21 | Robert Bosch Gmbh | Verfahren und Steuergerät zur Klassifizierung eines Kollisionsverlaufs eines Fahrzeugs |
US8463486B2 (en) * | 2010-09-27 | 2013-06-11 | Robert Bosch Gmbh | Impact sensing and identification system for pedestrian protection device |
JP5573788B2 (ja) * | 2011-07-12 | 2014-08-20 | 株式会社デンソー | 走行支援装置 |
DE102012224451B4 (de) * | 2012-12-27 | 2023-09-28 | Robert Bosch Gmbh | Verfahren zum Betreiben einer Fahrzeuginsassensicherheitseinrichtung eines Kraftfahrzeug sowie entsprechende Fahrzeuginsassensicherheitseinrichtung |
JP5949786B2 (ja) | 2014-01-08 | 2016-07-13 | トヨタ自動車株式会社 | 歩行者衝突検知システム |
DE102014201382A1 (de) * | 2014-01-27 | 2015-07-30 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Fahrerassistenzsystems und Fahrerassistenzsystem |
JP6149758B2 (ja) * | 2014-02-21 | 2017-06-21 | トヨタ自動車株式会社 | 歩行者衝突検知システム |
US9260072B2 (en) * | 2014-03-26 | 2016-02-16 | Ford Global Technologies, Llc | Pedestrian protection sensing system for vehicle having metal bumpers |
DE102014207626B4 (de) * | 2014-04-23 | 2022-09-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bestimmen eines Aufprallorts eines Objekts auf einem Fahrzeug |
CN104361648B (zh) * | 2014-10-10 | 2017-02-01 | 江苏科技大学 | 一种具有信号灯提示其他车辆的行车记录仪及其控制方法 |
US10427631B1 (en) * | 2017-02-13 | 2019-10-01 | Zoox, Inc. | Vehicular adaptation for impact mitigation |
WO2022038744A1 (fr) * | 2020-08-20 | 2022-02-24 | 日本電信電話株式会社 | Procédé d'analyse de choc, procédé d'extraction de caractéristique, dispositif d'analyse de choc et programme |
US12025632B2 (en) | 2021-09-30 | 2024-07-02 | Geotab Inc. | Low-power acceleration detection in a telematics device |
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US5583771A (en) * | 1994-08-04 | 1996-12-10 | Delco Electronics Corp. | Method and apparatus for distinguishing between deployment events and non-deployment events in an SIR system |
US6561301B1 (en) * | 1998-02-24 | 2003-05-13 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Collision discriminating apparatus for vehicles |
JP2000255373A (ja) * | 1999-03-02 | 2000-09-19 | Mitsubishi Electric Corp | 車両衝突検出装置 |
JP3857029B2 (ja) * | 2000-09-19 | 2006-12-13 | 本田技研工業株式会社 | 車両用センサシステム |
JP2002178872A (ja) * | 2000-12-08 | 2002-06-26 | Toyota Motor Corp | 衝突形態判定装置及び乗員保護装置の起動制御装置 |
CA2433598C (fr) * | 2002-06-25 | 2009-07-28 | Honda Giken Kogyo Kabushiki Kaisha | Systeme de determination des collisions |
US7475587B2 (en) * | 2003-01-16 | 2009-01-13 | Methode Electronics, Inc | Omni-directional crash sensor |
DE10308881B3 (de) * | 2003-02-28 | 2004-09-02 | Siemens Ag | Steueranordnung und Verfahren zur Funktionsüberprüfung einer derartigen Steueranordnung für Insassenschutzmittel in einem Kraftfahrzeug |
JP3925653B2 (ja) | 2003-07-24 | 2007-06-06 | トヨタ自動車株式会社 | 車両の衝突保護装置 |
DE10348386A1 (de) | 2003-10-17 | 2005-05-19 | Robert Bosch Gmbh | Vorrichtung zur Ansteuerung von Personenschutzmitteln |
JP4148473B2 (ja) | 2003-10-29 | 2008-09-10 | 株式会社デンソー | 車両用衝突物体判別装置 |
DE10357352A1 (de) * | 2003-12-09 | 2005-07-07 | Robert Bosch Gmbh | Vorrichtung zur Ansteuerung von Personenschutzmitteln |
JP4254590B2 (ja) * | 2004-03-22 | 2009-04-15 | 株式会社デンソー | 車両衝突解析システム |
JP4394502B2 (ja) * | 2004-03-31 | 2010-01-06 | 富士重工業株式会社 | 車両の衝突物判定装置 |
DE102005012949A1 (de) | 2005-03-21 | 2006-09-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Unterscheiden von Aufprallarten, insbesondere zum Erkennen eines Fußgängeraufpralls, und Bestimmen der Aufprallschwere für ein Sicherheitssystem eines Kraftfahrzeugs |
DE102005013595A1 (de) | 2005-03-24 | 2006-09-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Erzeugung eines Auslösesignals für eine Insassenschutzvorrichtung |
DE102005038591A1 (de) | 2005-08-16 | 2007-02-22 | Robert Bosch Gmbh | Kontaktsensorik für ein Fahrzeug |
DE102005046928A1 (de) | 2005-09-30 | 2007-04-12 | Siemens Ag | Vorrichtung und Verfahren zur Lokalisierung einer Kollision eines Objektes an einem Kraftfahrzeug |
-
2006
- 2006-01-11 DE DE102006001366.2A patent/DE102006001366B4/de not_active Expired - Fee Related
- 2006-11-30 EP EP06830248A patent/EP1976727A1/fr not_active Withdrawn
- 2006-11-30 WO PCT/EP2006/069151 patent/WO2007087916A1/fr active Application Filing
- 2006-11-30 US US12/160,707 patent/US8948961B2/en not_active Expired - Fee Related
- 2006-11-30 JP JP2008549799A patent/JP2009523087A/ja active Pending
- 2006-11-30 CN CN2006800509142A patent/CN101356079B/zh not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO2007087916A1 * |
Also Published As
Publication number | Publication date |
---|---|
JP2009523087A (ja) | 2009-06-18 |
DE102006001366A1 (de) | 2007-07-12 |
DE102006001366B4 (de) | 2019-03-07 |
CN101356079A (zh) | 2009-01-28 |
US8948961B2 (en) | 2015-02-03 |
WO2007087916A1 (fr) | 2007-08-09 |
CN101356079B (zh) | 2012-06-20 |
US20100191401A1 (en) | 2010-07-29 |
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