JP5227419B2 - 車両用の安全手段を駆動制御する方法および装置 - Google Patents
車両用の安全手段を駆動制御する方法および装置 Download PDFInfo
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- 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
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- 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
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- 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
- B60R21/01332—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 frequency or waveform analysis
- B60R21/01336—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 frequency or waveform analysis using filtering
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- 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
- B60R21/01332—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 frequency or waveform analysis
- B60R21/01338—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 frequency or waveform analysis using vector analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- 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
- B60R2021/0002—Type of accident
- B60R2021/0004—Frontal collision
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- 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
- B60R2021/0002—Type of accident
- B60R2021/0006—Lateral collision
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- 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
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
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- 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
- B60R2021/0104—Communication circuits for data transmission
- B60R2021/01047—Architecture
- B60R2021/01054—Bus
- B60R2021/01068—Bus between different sensors and airbag control unit
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- 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
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- 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
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01259—Brakes
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- 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
- B60R2021/01327—Angular velocity or angular acceleration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
- B60T2201/024—Collision mitigation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
Description
本発明は、車両用の安全手段を駆動制御するための方法ないしは相応の装置に関する。
独立請求項の特徴部分に記載されている構成を有する、車両用安全手段を駆動制御するための本発明の方法ないし本発明の装置は、これらの従来技術に対して、次のような利点を有している。すなわち、主に、ヨー加速度が、安全手段に対する駆動制御信号を形成するために使用される、という利点を有している。ヨー加速度は、例えばヨーレートに比べて、ヨーレートが含むことのできない、驚くほど多くの情報を示す。このような付加的な情報によって、殊に連続衝突の衝突シーンにおいて、効果的な保護が得られる。ここで例えばこのような場合には、次のことが考慮されるべきである。すなわち、乗員保護手段のトリガが必要ないほど弱い衝突である第1の非トリガ衝突が存在しているのだが、生じ得る危険な連続衝突を生起させ得る、高軸(Hochachse)を中心としたモーメントが誘導している、ということが考慮されるべきである。これは、ヨー加速度の評価によって効果的に実現される。
が生成される。このために、上述したように、最小分散評価部が、導出のために時間の後に使用される。このようなヨー加速度
は、次にベクトル形成器VE内に入る。同じように、ベクトル形成器内にヨーレートωz自身も入力される。さらに、第2の変換器W2内で、ヨーレートωzが、積分または累積によって、ヨー角αzに計算し直されることが可能である。これは同じようにベクトルVE内に入る。加速度センサ装置BSESPによって生成された、さらなる信号、例えば加速度信号axおよびayないしazが積分器l1内で速度vx、vy、vzに積分され、同じようにベクトルVEに入る。さらに、横揺れレートセンサ装置WRS−ESPから、横揺れレートωx並びに積分された横揺れレート、すなわち横揺れレート角αxがベクトルVE内に入る。図示された成分よりも多くのまたは少ない成分がベクトルVE内に入ってもよい。縦揺れレートおよびここから導出される量が相応に考慮されてもよい。
がブロック500内に入り、ヨー加速度および場合によっては別のセンサ信号に基づいて、駆動制御アルゴリズム501が制御されなければならないかが定められる。「はい」の場合には制御される。これは例えば、アルゴリズム501内の少なくとも1つの閾値を制御することによって行われる、または妥当性判断部としてまたは機能のスイッチオンおよびスイッチングとしても行われる。駆動制御アルゴリズム自体は衝突信号、例えば加速度ax、ayまたはその積分された値vx、vyまたはその積分された値、すなわち前進移動(Vorverlagerungen)を処理する。外に出されている加速度センサPASおよびPPSまたは固体伝播音センサ装置からの信号も駆動制御アルゴリズム501内で処理され、駆動制御信号502が形成される。ここでは駆動制御アルゴリズムが二次元であってよく、例えば、前進移動および速度低減がダイヤグラム内で相互に調べられる。
に依存して検出するために、ブロック700内で修正される。従って、信号PAS−KORおよびPPS−KORが存在する。回転運動によって、信号成分が線形加速度センサ内で誘起される。これは回転加速度によって再び計算される。この修正によって、場合によっては過度に低い、加速度センサの測定値が閾値比較時に悪影響を及ぼすことが回避される。従って、ヨー加速度に基づいた補償が有利である。
Claims (11)
- 前記少なくとも1つのヨー加速度信号の形成において、最小二乗評価機器が使用されることを特徴とする、請求項1記載の方法。
- 前記駆動制御信号を出力するために、データの送信および受信をする通信インタフェース(IF3)を設ける、請求項1記載の方法。
- 前記駆動制御信号を、妥当性検査部または閾値制御部としての駆動制御アルゴリズム(800)によって使用する、請求項1記載の方法。
- 前記少なくとも1つの別のセンサ信号としてヨー角(αz)を使用する、請求項6記載の方法。
- 前記駆動制御信号に依存して、前記別のセンサ信号の少なくとも1つを評価する、請求項1から7までのいずれか1項記載の方法。
- 前記少なくとも1つのヨー加速度信号を形成する最小二乗評価機器をさらに有することを特徴とする、請求項9記載の装置。
- 前記センサ装置(EPS−S)は、前記評価回路(μC)を備えた制御機器(ABSG)内に組み込まれている、請求項9または10記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102007059414.5 | 2007-12-10 | ||
DE102007059414A DE102007059414A1 (de) | 2007-12-10 | 2007-12-10 | Verfahren und Anordnung zur Ansteuerung von Sicherheitsmitteln für ein Fahrzeug |
PCT/EP2008/064331 WO2009074391A1 (de) | 2007-12-10 | 2008-10-23 | Verfahren und anordnung zur ansteuerung von sicherheitsmitteln für ein fahrzeug |
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JP2011506170A JP2011506170A (ja) | 2011-03-03 |
JP5227419B2 true JP5227419B2 (ja) | 2013-07-03 |
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JP2010537345A Expired - Fee Related JP5227419B2 (ja) | 2007-12-10 | 2008-10-23 | 車両用の安全手段を駆動制御する方法および装置 |
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Country | Link |
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US (1) | US20100292887A1 (ja) |
EP (1) | EP2229293B1 (ja) |
JP (1) | JP5227419B2 (ja) |
KR (1) | KR20100095578A (ja) |
CN (1) | CN101888941B (ja) |
DE (1) | DE102007059414A1 (ja) |
ES (1) | ES2390634T3 (ja) |
RU (1) | RU2010128007A (ja) |
WO (1) | WO2009074391A1 (ja) |
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DE10360666A1 (de) * | 2003-12-23 | 2005-07-28 | Robert Bosch Gmbh | Vorrichtung zur koordinierten Steuerung wenigstens des Antriebs- und des Bremssystems eines Kraftfahrzeugs |
DE102004004491A1 (de) | 2004-01-29 | 2005-08-18 | Robert Bosch Gmbh | Vorrichtung zur Bestimmung einer Drehgeschwindigkeit |
US7409290B2 (en) * | 2004-04-17 | 2008-08-05 | American Gnc Corporation | Positioning and navigation method and system thereof |
DE102004021174A1 (de) | 2004-04-30 | 2005-11-24 | Daimlerchrysler Ag | Verfahren zum Steuern einer sicherheitsrelevanten Komponente eines Kraftfahrzeugs und Kraftfahrzeug mit einem präventiv auslösenden Sicherheitssystem |
DE102004042959A1 (de) * | 2004-09-02 | 2006-03-09 | Robert Bosch Gmbh | Passagierschutzeinrichtung in einem Fahrzeug |
JP4387287B2 (ja) | 2004-11-05 | 2009-12-16 | 三菱電機株式会社 | 車両の事故解析装置 |
WO2007044744A2 (en) * | 2005-10-11 | 2007-04-19 | Ford Global Technologies, Llc. | Enhanced yaw stability control to mitigate a vehicle's abnormal yaw motion due to a disturbance force applied to vehicle body |
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2007
- 2007-12-10 DE DE102007059414A patent/DE102007059414A1/de not_active Withdrawn
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2008
- 2008-10-23 JP JP2010537345A patent/JP5227419B2/ja not_active Expired - Fee Related
- 2008-10-23 ES ES08860273T patent/ES2390634T3/es active Active
- 2008-10-23 WO PCT/EP2008/064331 patent/WO2009074391A1/de active Application Filing
- 2008-10-23 EP EP08860273A patent/EP2229293B1/de not_active Not-in-force
- 2008-10-23 RU RU2010128007/11A patent/RU2010128007A/ru not_active Application Discontinuation
- 2008-10-23 KR KR1020107012658A patent/KR20100095578A/ko not_active Application Discontinuation
- 2008-10-23 US US12/734,768 patent/US20100292887A1/en not_active Abandoned
- 2008-10-23 CN CN2008801198205A patent/CN101888941B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
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CN101888941B (zh) | 2013-03-27 |
CN101888941A (zh) | 2010-11-17 |
RU2010128007A (ru) | 2012-01-20 |
ES2390634T3 (es) | 2012-11-14 |
JP2011506170A (ja) | 2011-03-03 |
EP2229293B1 (de) | 2012-09-12 |
WO2009074391A1 (de) | 2009-06-18 |
DE102007059414A1 (de) | 2009-06-18 |
US20100292887A1 (en) | 2010-11-18 |
KR20100095578A (ko) | 2010-08-31 |
EP2229293A1 (de) | 2010-09-22 |
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