KR102515548B1 - Ignition control system of curtain airbag in case of rollover of vehicle - Google Patents

Abstract

The present invention curtain airbag; A roll rate sensor for measuring a roll state of the vehicle; Acceleration sensor for measuring vehicle acceleration; a rollover type determiner configured to determine a rollover type of the vehicle by receiving information measured from the roll rate sensor and the acceleration sensor; an ignition timing determination unit for determining an ignition timing of the curtain airbag by comparing a threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determination unit with measured information values of the sensors; and a side-slip angle calculation unit that calculates a side-slip angle of the vehicle, wherein the ignition timing determination unit receives the side-slip angle information from the side-slip angle calculation unit and determines whether the oversteering or understeering of the vehicle is different for each type of rollover. An ignition control system for a curtain airbag in a vehicle rollover situation including a threshold value adjusting unit for adjusting the threshold value is provided.

Description

Ignition control system of curtain airbag in case of rollover of vehicle}

The present invention relates to automobiles, and more particularly, to an airbag ignition control system and a control method thereof.

An airbag for a vehicle is a device that protects a vehicle occupant from an impact by momentarily inflating an air bag around the occupant (eg, a steering wheel or an instrument panel) during a vehicle collision, and is a representative occupant protection device along with a seat belt.

Recent airbags are composed of frontal airbags that deploy from the front of a driver's seat and front passenger seat toward the face of an occupant, and curtain airbags that deploy toward the side of an occupant in response to a side collision.

In the event of a collision with the vehicle, when the collision detection sensor of the airbag detects the collision, the airbag control unit (ACU) determines whether the collision is for airbag deployment, and the ignition device of the inflator (gas generator) activate When the ignition device is operated, the gunpowder explodes to generate gas, and the generated gas is instantly injected into the air bag at high speed to inflate the air bag.

Meanwhile, when the vehicle rolls over while tilting to the side, a curtain airbag is deployed to prevent the heads of the driver and passenger from escaping to the outside of the vehicle.

1 is a front view showing a situation in which a vehicle overturns due to a curb jamming, FIG. 2 captures the movement of a dummy inside the vehicle when the overturning situation of FIG. 1 occurs, and FIG. 3 is a curb jamming test. The results are shown graphically.

Curb stone refers to a boundary stone installed adjacent to the boundary of a sidewalk and a roadway to separate a sidewalk and a roadway for the convenience of pedestrian safety, road surface drainage, line of sight, boundary of road land, and maintenance. Usually, the curb has a height of 25 cm or less, and the curb serves to protect pedestrians and cyclists from cars and change the direction of vehicles leaving the roadway.

If, as shown in FIG. 1 , a wheel may be caught on a curb due to a sharp steering change (hereinafter referred to as a curb jam) and may lead to an overturning process.

Measured values of the roll rate (RX) sensor and acceleration sensors (low-g Y, low-g Z) located inside the airbag control unit (ACU) located in the center of the vehicle to deploy the curtain airbag in a vehicle rollover situation Use When the measured values of the above-described sensors exceed a predetermined deployment threshold, an ignition signal is applied to deploy the curtain airbag.

Looking specifically at the curb-hung rollover situation, as shown in FIG. 2, (A) the head of the occupant moves to the outside of the vehicle at the beginning of the curb-hung, and (B) the occupant's head returns to the inside of the vehicle in the middle of the curb-hung. see movement

However, as shown in FIG. 3, the curb jam signals (ie, sensor measurement values) do not exceed the deployment threshold until (B) the middle of the curb jam. Therefore, (A) it is necessary to deploy in the initial curb-hung situation, that is, to protect the occupant's head when the occupant's head is turned to the outside of the vehicle.

An object of the present invention is to provide an ignition control system for a curtain airbag in a vehicle rollover situation capable of adjusting a deployment time point of a curtain airbag by adjusting a deployment threshold value for each type of vehicle rollover.

The present invention curtain airbag; A roll rate sensor for measuring a roll state of the vehicle; Acceleration sensor for measuring vehicle acceleration; a rollover type determiner configured to determine a rollover type of the vehicle by receiving information measured from the roll rate sensor and the acceleration sensor; an ignition timing determination unit for determining an ignition timing of the curtain airbag by comparing a threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determination unit with measured information values of the sensors; and a side-slip angle calculation unit that calculates a side-slip angle of the vehicle, wherein the ignition timing determination unit receives the side-slip angle information from the side-slip angle calculation unit and determines whether the oversteering or understeering of the vehicle is different for each type of rollover. An ignition control system for a curtain airbag in a vehicle rollover situation including a threshold value adjusting unit for adjusting the threshold value is provided.

The side slip angle calculation unit may be provided inside the vehicle attitude control system (ESC).

The side slip angle calculation unit and the ignition timing determination unit may exchange information through CAN communication.

The roll rate sensor, the acceleration sensor, the rollover type determination unit, and the ignition timing determination unit may be provided inside an airbag control unit (ACU).

The rollover type determining unit may determine the rollover type using roll angular velocity (RX), lateral acceleration (Low-g Y), and vertical acceleration (Low-g Z).

The rollover type determiner may determine the rollover type of the vehicle as at least one of a curb-caught, ramp mode, and ditch mode.

Depending on the rollover type, an airbag deployment threshold may be set differently.

The threshold adjusting unit determines oversteering when the side slip angle is large and adjusts the deployment threshold downward by a first adjustment value, and determines understeering when the side slip angle is small, and sets the deployment threshold to a second adjustment value can be adjusted upwards.

The first adjustment value and the second adjustment value may be set differently by calibration using test data for each type of overturn.

The ignition timing determiner may compare the deployment threshold adjusted for each type of rollover with the measured roll angular velocity and roll angle signal values, and determine the ignition timing of the curtain airbag when the deployment threshold exceeds the deployment threshold.

On the other hand, the present invention roll rate sensor for measuring the roll (Roll) state of the vehicle (Roll Rate Sensor); Acceleration sensor for measuring vehicle acceleration; a rollover type determiner configured to determine a rollover type of the vehicle by receiving information measured from the roll rate sensor and the acceleration sensor; a side slip angle calculator provided inside the vehicle attitude control system (ESC) to calculate a side slip angle of the vehicle; and a threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determining unit is compared with measured information values of the sensors to determine an ignition timing of the curtain airbag, and lateral sliding angle information from the lateral sliding angle calculation unit. Provided is an ignition control system for a curtain airbag in a vehicle rollover situation including an ignition control adjustment determining unit configured to receive and adjust the threshold value for each rollover type according to oversteering or understeering of the vehicle.

The rollover type determining unit may determine the rollover type using roll angular velocity (RX), lateral acceleration (Low-g Y), and vertical acceleration (Low-g Z).

The ignition control adjustment determination unit may compare the deployment threshold value for each type of rollover with the measured roll angular velocity and roll angle signal values, and determine that the curtain airbag is ignited when the deployment threshold value is exceeded.

The ignition control adjustment determiner may determine oversteering when the side slip angle is large and adjust the deployment threshold value downward, and determine understeering when the side slip angle is small and adjust the deployment threshold value upward.

The side slip angle calculation unit and the ignition control adjustment determination unit may exchange information through CAN communication.

The roll rate sensor, the acceleration sensor, the rollover type determination unit, and the ignition control adjustment determination unit may be provided inside an airbag control unit (ACU).

The airbag control unit may further include a rollover determination shaping unit for receiving information from the acceleration sensor and shaping a result of the ignition control adjustment determination unit.

The airbag control unit may further include an ignition shaping unit for shaping an ignition command by the rollover determination shaping unit and the ignition control adjustment determination unit.

On the other hand, the present invention provides a roll rate sensor for measuring the roll state of the vehicle, an acceleration sensor for measuring the acceleration of the vehicle, and inputting information measured from the roll rate sensor and the acceleration sensor an airbag control unit (ACU) having a rollover type determination unit that receives and determines a rollover type of the vehicle; a side slip angle calculator provided inside the vehicle attitude control system (ESC) to calculate a side slip angle of the vehicle; and is provided in the airbag control unit (ACU) to determine an ignition timing of the curtain airbag by comparing a threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determination unit with measured information values of the sensors, An ignition control system for a curtain airbag in a vehicle rollover situation including an ignition control adjustment determining unit configured to receive side slip angle information from the side slip angle calculation unit and adjust the threshold value for each roll type according to oversteering or understeering of the vehicle. provides

The ignition control adjustment determination unit compares the deployment threshold adjusted for each rollover type with the measured roll angular velocity and roll angle signal values, and determines that the curtain airbag is ignited when the deployment threshold is exceeded, and if the lateral sliding angle is large, When it is determined that oversteering occurs, the deployment threshold value is adjusted downward, and when the side slip angle is small, it is determined that understeering is determined and the deployment threshold value is adjusted upward.

According to the ignition control system of a curtain airbag in a vehicle rollover situation of the present invention, the deploying threshold of the vehicle rollover type is adjusted using information on the lateral slip angle of the vehicle stability control system (ESC) to quickly deploy the curtain airbag. It can be adjusted slowly to further protect occupants.

1 is a front view showing a situation in which a vehicle overturns due to a curb jamming.
FIG. 2 captures the movement of a dummy inside the vehicle when the rollover situation of FIG. 1 occurs.
Figure 3 is a graph showing the results of the curb jamming test.
4 and 5 are block diagrams of an ignition control system of a curtain airbag in a vehicle rollover situation according to an embodiment of the present invention.
6 shows an example of a formula for measuring a side slip angle inside a vehicle attitude control system (ESC).
7 shows an understeer or oversteer situation of a vehicle.
8 is a block diagram of an ignition control system of a curtain airbag in a vehicle rollover situation according to another embodiment of the present invention.

Hereinafter, embodiments will be clearly revealed through the accompanying drawings and description of the embodiments. In the description of the embodiment, each layer (film), region, pattern or structure is “on” or “under” the substrate, each layer (film), region, pad or pattern. In the case where it is described as being formed in, "up / on" and "under / under" include both "directly" or "indirectly" formed through another layer. do. In addition, the criterion for the upper/upper or lower/lower of each layer will be described based on the drawings.

In the drawings, sizes are exaggerated, omitted, or schematically illustrated for convenience and clarity of explanation. Also, the size of each component does not fully reflect the actual size. Also, like reference numerals denote like elements throughout the description of the drawings. Hereinafter, embodiments will be described with reference to the accompanying drawings.

4 and 5 are configuration diagrams of an ignition control system for a curtain airbag in a vehicle rollover situation according to an embodiment of the present invention, and FIG. 6 is an example of a formula for measuring a side slip angle inside a vehicle stability control system (ESC) , and FIG. 7 shows an understeer or oversteer situation of a vehicle.

As shown in FIG. 4, the ignition control system of a curtain airbag in a vehicle rollover situation according to an embodiment of the present invention includes an airbag control unit 10 mounted on a vehicle, a frontal collision sensor 21, and a side collision sensor. (22, 23), front airbags (31, 32), side airbags (33, 34).

The airbag control unit 10 may include various components therein to determine a timing necessary for ignition of the airbags 31, 32, 33, and 34 and command deployment of the airbags 31, 32, 33, and 34. .

The front collision sensor 21 is located on the bumper of the vehicle and can detect a frontal collision of the vehicle as an acceleration signal, and the side collision sensors 22 and 23 are mounted on the side of the vehicle to detect a side collision as an acceleration signal. there is.

The airbag control unit 10 receives information from the aforementioned frontal collision sensors 21 and side collision sensors 22 and 23, determines the ignition timing of the front airbags 31 and 32 and the side airbags 33 and 34, and ignites them. can decide

On the other hand, as shown in FIG. 2, the inside of the airbag control unit 10 includes a roll rate sensor 100, an acceleration sensor 200, and a rollover type determination to control the side airbags 33 and 34 when the vehicle rolls over. A unit 500, an ignition timing determining unit 300, and a threshold value adjusting unit 400 may be further included.

The roll rate sensor 100 may measure a roll state of the vehicle, that is, a rocking motion of the vehicle in an axial direction.

The acceleration sensor 200 may measure vehicle acceleration. In order to determine the overturning type of the vehicle, the acceleration sensor 200 may include a lateral acceleration sensor 210 (Low-g Y) and a vertical direction acceleration sensor 220 (Low-g Z).

The rollover type determination unit 500 may receive information measured from the roll rate sensor 100 and the acceleration sensor 200 to determine the rollover type of the vehicle.

The rollover type determination unit 500 determines the roll angular velocity (RX), lateral acceleration (Low-g Y), and vertical acceleration (Low-g Z) of the vehicle from the roll rate sensor 100 and the acceleration sensor 200 described above. It is possible to determine the overturn type using

For example, the rollover type determination unit 500 may determine the rollover type of the vehicle as at least one of curb-hung, ramp mode, and ditch mode. Depending on the type of rollover, the airbag deployment threshold is set differently, so that the deployment time of the curtain airbags 33 and 34 may vary according to various rollover situations. That is, by determining the rollover type prior to determining the ignition timing, it is possible to compare the corresponding deployment threshold with the measured values of the sensors.

In this embodiment, the case of curb jamming among the types of overturning is exemplified, and the present invention will be applicable to the various types of overturning described above.

The ignition timing determination unit 300 compares the threshold values necessary for ignition of the curtain airbags 33 and 34 for each rollover type determined by the rollover type determination unit 500 with the measured information values of the above-described sensors, and the curtain airbag 33 , the ignition timing of 34) can be determined.

On the other hand, in the vehicle, the vehicle attitude control device 20 (ESC) recognizes this when the vehicle moves differently from the driver's desire and controls the braking of the wheels separately to help the driver maintain the desired direction and stabilize the vehicle posture. , Electronic Stability Control System) is installed. The vehicle attitude control device 20 is referred to as an electronic body posture control device, an electronic stability control device, an electronically controlled driving stability device, a vehicle body posture device, and the like.

The vehicle attitude control system 20 (ESC) determines the vehicle state and the road surface state through a plurality of sensors such as each wheel speed sensor, brake pressure sensor, steering angle sensor, yaw rate sensor, lateral acceleration sensor, and longitudinal acceleration sensor, Accordingly, the vehicle attitude is stably controlled by performing turning and braking operations on the inner and outer wheels, respectively. That is, the vehicle attitude control device 20 (ESC) can control the vehicle not to slip by immediately intervening if the vehicle moves against the driver's intention.

To this end, a side slip angle calculator 600 for calculating a side slip angle of the vehicle is included in the vehicle attitude control device 20 . The side slip angle calculation unit 600 may exchange information with the ignition timing determination unit 300 provided in the airbag control unit 10 through CAN communication.

As shown in FIG. 6 , the side slip angle calculation unit 600 may calculate the side slip angle of the vehicle by using a calculation formula presented as a bicycle model, for example. In addition, since the lateral sliding angle can be obtained using various lateral sliding angle calculation information of known technologies, a detailed description thereof will be omitted.

Meanwhile, the vehicle posture control apparatus 20 determines oversteering or understeering of the vehicle through the side slip angle calculated by the side slip angle calculation unit 600 in order to determine whether the vehicle moves against the driver's intention.

As shown in FIG. 7, oversteering refers to a case in which the vehicle during operation has a steering angle higher than the driver's intention and turns inward, and understeering refers to a phenomenon in which the vehicle departs outward due to a steering angle lower than the driver's intention. says

The above-described ignition timing determiner 300 may receive information on the side slip angle from the side slip angle calculation unit 600 and detect oversteering or understeering of the vehicle by the side slip angle calculation unit 600 .

In the case of oversteering, since the lateral slip angle is large, the possibility of the vehicle overturning increases, and in the case of understeering, the lateral slip angle decreases, so the possibility of the vehicle overturning decreases.

Accordingly, the threshold value adjusting unit 400 determines that oversteering occurs when the side sliding angle is large, and adjusts the deployment threshold value downward by the first adjustment value, so that the airbag can be deployed more quickly than a preset ignition timing.

In addition, the threshold adjuster 400 may determine understeering when the lateral slip angle is small, and may deploy the airbag more slowly than a predetermined ignition timing by increasing the deployment threshold by a second adjustment value.

Here, the first adjustment value and the second adjustment value may be set differently by calibration using test data for each type of rollover. Therefore, the threshold adjustment unit 400 may adjust the deployment threshold for each rollover type determined by the rollover type determination unit 500 described above.

Therefore, the ignition timing determining unit 300 compares the deployment threshold adjusted for each type of rollover with the measured roll angular velocity and roll angle signal values, and determines that the curtain airbags 33 and 34 are ignited when the deployment threshold is exceeded. You can command deployment.

According to the ignition control system of the curtain airbags (33, 34) in the case of a vehicle rollover situation of the present invention, the deployment threshold is adjusted for each type of vehicle rollover using the lateral slip angle information of the vehicle attitude control system (ESC). The deployment time of the curtain airbags 33 and 34 can be adjusted quickly or slowly to more safely protect occupants.

8 is a block diagram of an ignition control system of a curtain airbag in a vehicle rollover situation according to another embodiment of the present invention. In this embodiment, description will be made focusing on parts different from the above-described embodiment.

Unlike the above-described embodiments, in this embodiment, the airbag control unit 10 includes an ignition control adjustment/determination unit (Rollover Main Component). The ignition control adjustment determining unit 301 may integrally perform the functions of the ignition timing determining unit 300 and the threshold value adjusting unit 400 of the above-described embodiment.

That is, the ignition control adjustment determination unit 301 determines the threshold values required for ignition of the curtain airbags 33 and 34 for each rollover type determined by the rollover type determination unit 500 (Threshold Determination Component) and the measured information values of the sensors described above. By comparison, the ignition timing of the curtain airbags 33 and 34 can be determined. In addition, side slip angle information may be received from the side slip angle calculation unit 600 and a deployment threshold may be adjusted for each type of rollover according to oversteering or understeering of the vehicle.

Similarly, the rollover type determiner 500 may determine the rollover type using the roll angular velocity (RX), the lateral acceleration (Low-g Y), and the vertical acceleration (Low-g Z).

The ignition control adjustment determiner 301 may determine oversteering when the lateral slip angle is large and adjust the deployment threshold downward, and determine understeering if the lateral slip angle is small and adjust the deployment threshold upward.

The ignition control adjustment determining unit 301 compares the deployment threshold adjusted for each rollover type with the measured roll angular velocity and roll angle signal values, and determines that the curtain airbags 33 and 34 are ignited when the deployment threshold is exceeded. there is.

On the other hand, the airbag control unit 10 of this embodiment receives information from the acceleration sensors 200 and checks the result of the ignition control adjustment determination unit 301, that is, the rollover determination shaping unit 700 (rollover safing) for shaping. Component) may be further included.

Therefore, if the result values of the ignition control adjustment determination unit 301 and the rollover determination shaping unit 700 all match, the ignition deployment command step is performed. If the result values do not match, ignition deployment may not be performed.

In addition, the airbag control unit 10 may further include an ignition shaping unit 800 (Safety Controller) for shaping an ignition command by the rollover determination shaping unit 700 and the ignition control adjustment determination unit 301. there is. Accordingly, stability against ignition of the airbag can be further increased.

As described above, according to embodiments of the curtain airbag ignition control system in a vehicle rollover situation of the present invention, the deployment threshold value is adjusted for each vehicle rollover type using the lateral slip angle information of the vehicle stability control system (ESC) to control the curtain airbag By adjusting the deployment time quickly or slowly, passengers can be more safely protected.

Features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. illustrated in each embodiment can be combined or modified with respect to other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, contents related to these combinations and variations should be construed as being included in the scope of the present invention.

10: Airbag Control Unit (ACU) 20: Vehicle Stability Control System (ESC)
21: front collision sensor 22, 23: side collision sensor
31, 32: front airbag 33, 34: curtain airbag
100: roll rate sensor 200: acceleration sensor
210: lateral acceleration sensor 220: vertical acceleration sensor
300: ignition timing determination unit 301: ignition control adjustment determination unit
400: Threshold adjustment unit 500: Overturn type determination unit
600: lateral slip angle calculation unit 700: rollover determination shaping unit
800: ignition shaping unit

Claims (20)

curtain airbags;
A roll rate sensor for measuring a roll state of the vehicle;
Acceleration sensor for measuring vehicle acceleration;
a rollover type determiner configured to determine a rollover type of the vehicle by receiving information measured from the roll rate sensor and the acceleration sensor;
an ignition timing determination unit for determining an ignition timing of the curtain airbag by comparing a threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determination unit with measured information values of the sensors;
Including; a side slip angle calculation unit for calculating the side slip angle of the vehicle,
The ignition timing determining unit includes a threshold value adjusting unit that receives the side slip angle information from the side slip angle calculation unit and adjusts the threshold value for each rollover type according to oversteering or understeering of the vehicle,
The roll rate sensor, the acceleration sensor, the rollover type determination unit, the ignition timing determination unit, and the threshold adjustment unit are provided inside an airbag control unit (ACU),
The airbag control unit receives the information measured from the acceleration sensor and checks a result determined based on the threshold value adjusted by the threshold value adjustment unit. According to claim 1,
The side slip angle calculation unit is an ignition control system of a curtain airbag in a vehicle rollover situation provided inside a vehicle attitude control device (ESC). According to claim 2,
The ignition control system of a curtain airbag in a vehicle rollover situation in which the side slip angle calculation unit and the ignition timing determination unit exchange information through CAN communication. delete According to claim 1,
The rollover type determination unit determines the rollover type using roll angular velocity (RX), lateral acceleration (Low-g Y), and vertical acceleration (Low-g Z). According to claim 5,
The rollover type determination unit determines the rollover type of the vehicle as at least one of a curb-hung, ramp mode, and ditch mode. According to claim 6,
An ignition control system for a curtain airbag in a vehicle rollover situation in which an airbag deployment threshold is set differently according to the rollover type. According to claim 7,
The threshold adjustment unit determines that oversteering occurs when the side sliding angle is large and adjusts the deployment threshold downward by a first adjustment value;
An ignition control system for a curtain airbag in a vehicle rollover situation, determining understeering when the lateral slip angle is small, and increasing a deployment threshold by a second adjustment value. According to claim 8,
The ignition control system of a curtain airbag in a vehicle rollover situation in which the first adjustment value and the second adjustment value are set differently by calibration using test data for each rollover type. According to claim 9,
The ignition timing determination unit compares the roll angular velocity and the roll angle signal values with the roll angular velocity and roll angle signal values adjusted for each rollover type, and determines the ignition timing of the curtain airbag when the roll angular velocity and roll angle signal values are exceeded. ignition control system. A roll rate sensor for measuring a roll state of the vehicle;
Acceleration sensor for measuring vehicle acceleration;
a rollover type determiner configured to determine a rollover type of the vehicle by receiving information measured from the roll rate sensor and the acceleration sensor;
a side slip angle calculator provided inside the vehicle attitude control system (ESC) to calculate a side slip angle of the vehicle; and
A threshold value required for ignition of the curtain airbag for each rollover type determined by the rollover type determination unit is compared with measured information values of the sensors to determine an ignition timing of the curtain airbag, and lateral sliding angle information is obtained from the lateral sliding angle calculation unit. An ignition control adjustment determination unit configured to adjust the threshold value for each type of rollover according to oversteering or understeering of the vehicle by receiving the transmission,
The roll rate sensor, the acceleration sensor, the rollover type determination unit, and the ignition control adjustment determination unit are provided inside an airbag control unit (ACU),
The airbag control unit,
and a rollover determination shaping unit for receiving information from the acceleration sensor and shaping a result of the ignition control adjustment determination unit. According to claim 11,
The rollover type determination unit determines the rollover type using roll angular velocity (RX), lateral acceleration (Low-g Y), and vertical acceleration (Low-g Z). According to claim 12,
The ignition control adjustment determining unit compares the roll angular velocity and the roll angle signal values measured with the roll angular velocity and roll angle signal values for each type of rollover type, and determines that the curtain airbag is ignited when the roll angular velocity and roll angle signal values are exceeded. control system. According to claim 13,
The ignition control adjustment determining unit determines that oversteering occurs when the side slip angle is large and adjusts the deployment threshold value downward;
An ignition control system for a curtain airbag in a vehicle rollover situation that determines understeering when the side slip angle is small and adjusts a deployment threshold value upward. According to claim 14,
The ignition control system of a curtain airbag in a vehicle rollover situation in which the side slip angle calculation unit and the ignition control adjustment determination unit exchange information through CAN communication. delete delete According to claim 11,
The airbag control unit,
and an ignition shaping unit for shaping an ignition command by the rollover determination shaping unit and the ignition control adjustment determination unit. delete delete

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