WO1996027514A1 - Dispositif de detection de collision - Google Patents

Dispositif de detection de collision Download PDF

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Publication number
WO1996027514A1
WO1996027514A1 PCT/JP1996/000522 JP9600522W WO9627514A1 WO 1996027514 A1 WO1996027514 A1 WO 1996027514A1 JP 9600522 W JP9600522 W JP 9600522W WO 9627514 A1 WO9627514 A1 WO 9627514A1
Authority
WO
WIPO (PCT)
Prior art keywords
collision
acceleration
collision detection
safety means
components
Prior art date
Application number
PCT/JP1996/000522
Other languages
English (en)
Japanese (ja)
Inventor
Hiroshi Moriyama
Hiroyuki Sada
Original Assignee
Sensor Technology Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sensor Technology Co., Ltd. filed Critical Sensor Technology Co., Ltd.
Priority to US08/894,711 priority Critical patent/US5900807A/en
Publication of WO1996027514A1 publication Critical patent/WO1996027514A1/fr

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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
    • B60R21/01—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
    • B60R21/0132—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

Definitions

  • the present invention relates to an automobile collision detection device.
  • the present invention relates to a device for activating a shelling safety means in accordance with a collision direction.
  • ⁇ collision detection device B that detects both a forward collision and a side collision of a vehicle and activates a front collision airbag and a side collision airbag.
  • ⁇ collision detection device B generally, an acceleration sensor is installed in the front-rear direction and the left-right direction, and the acceleration in the three directions of front and left and right is separately processed to form each airbag. Can be Then, the acceleration information in the three directions is vectorized and processed so that this method can be further developed so that it can be applied to oblique collisions and the like, and so that the side airbag is not deployed at the time of a forward collision.
  • An apparatus has been proposed (see JP-A-6-55993 and JP-A-6-560000).
  • a threshold value is set for the magnitude of the vector f to determine whether or not the hair bag needs to be activated. Furthermore, the direction of the development is determined by the direction.
  • the actual collision concept is complex, and the vector f is sometimes »» Not only the size but also the direction changes with the fi through.
  • the vector f changes as shown by a two-dot chain 40.
  • the determination of the necessity of the operation by the above-described device differs depending on how the threshold values 41 and 42 are set, and the vector directions 'and' are different.
  • the method of setting the threshold value becomes complicated and processing becomes difficult.
  • the present invention has been made in consideration of such problems of the conventional technology, and the purpose is to change not only the magnitude but also the direction of the collision acceleration (of time). Even so, collision detection that can select and operate the appropriate occupant safety measures from two or more kinds of safety measures »] equipment! ! Is to provide. Disclosure of the invention
  • the collision detection device of the present invention is arranged in both groups II, and two or more types of shelling safety devices whose operations differ depending on the type of collision such as a forward collision or a side collision.
  • Collision detection for properly operating the means.
  • Control means for selecting and operating the plurality of shelling safety means in accordance with the direction of the collision, the control means comprising: a forward direction, a left direction, and a right direction of the vehicle imagined as a direction in which the collision is to be detected.
  • a collision detection axis preliminarily projected in at least one direction different from these, and associated with the occupant safety means. Compute components Then, based on the calculated value, the shelling safety means associated with each of the collision detection axes is selected and activated.
  • the collision detection device of the present invention includes a plurality of The occupant safety means, the first acceleration K sensor that detects the longitudinal acceleration of the vehicle, the second acceleration sensor that detects the lateral acceleration of the vehicle, A collision detection axis preset in at least one direction different from the front direction, the left direction, the direction, and these directions of the vehicle, and the acceleration detected by the first and second acceleration sensors to the collision detection axis.
  • An acceleration component calculating means for calculating the components and adding them to calculate the component of the actual B acceleration to each of the collision detection axes, and each of the collision detection axes corresponding to the acceleration from the acceleration components.
  • the acceleration corresponding value component is calculated by comparing the acceleration corresponding value component with a threshold value set corresponding to each collision detection axis.
  • Each corresponding to the known axis Comparing means for outputting an activation signal to the set occupant safety means.
  • the two acceleration sensors are provided separately in the front-rear direction and the left-right direction of the vehicle.
  • the comparing means is provided with a plurality of blocks corresponding to a plurality of groups including one or two or more of the occupant safety means, and the acceleration corresponding value input to each of these blocks is provided.
  • the threshold is set for each of the sum of one or more components.
  • the number of blocks corresponding to the number of groups consisting of one or two or more of the multiplying S safety means is thrown, and the number of blocks is thrown.
  • the threshold may be set for each of the acceleration-corresponding value components input to each of the components, and the plurality of occupant safety means may be selected and activated via an AND or OR circuit.
  • the collision detection device of the present invention having the above structure decomposes the acceleration detected by the acceleration sensors installed in two different directions into components for the collision detection axis. This car By adding the components of each of the accelerations in the front-rear direction and the left-right direction to the respective collision detection axes, the acceleration components in the respective collision detection axes can be obtained.
  • the acceleration in each of the collision detection axes is a component corresponding to the acceleration obtained by performing processing such as time BB integration on the detected acceleration. Then, based on the component of the acceleration in each of the collision detection axes to each of the collision detection axes, the riding safety means set in advance corresponding to each of the collision detection axes is operated, and the collision detection axis fixed to this RR is operated.
  • the threshold value can be easily set. Even if the magnitude and the direction of the actual acceleration change to a complex value, a collision in the direction of the collision detection axis is detected as long as the component of each collision detection axis exceeds the threshold value. An appropriate occupant safety means set in advance corresponding to the detection axis can be operated.
  • the component of the actual K acceleration to each of the collision detection axes can be easily calculated by multiplying the acceleration detected by the acceleration sensor by a factor. Furthermore, since a collision detection axis is provided in the diagonal direction in addition to the front and left and right directions of the vehicle, the sensitivity to diagonal collision is lower than in the conventional case where collision detection is performed only in the front and left and right directions of the vehicle. improves.
  • the directions B of the acceleration sensors are orthogonal to each other, and the collision in the front-rear direction and the left-right direction of the vehicle is performed. Since it coincides with the detection axis, the calculation for obtaining the acceleration in these directions is not required, and the configuration is simplified. Further, if the threshold value is set to the sum of one or more of the acceleration corresponding value components, the ratio corresponding to the acceleration corresponding value component at a specific collision detection axis is set to another value.
  • Acceleration in the collision detection axis is evaluated by adding to the corresponding value component, so that a collision in a range extending between the two collision detection axes can be detected substantially uniformly.
  • the comparing means is configured to activate the occupant safety means via an AND or OR circuit, wherein the threshold value is assigned to each of the acceleration corresponding value components, a load at a specific collision detection axis is determined. Since not only the angle-corresponding component but also the acceleration-corresponding value components on the other collision detection axes are evaluated, it is possible to detect collisions in a range that straddles both collision detection axes ⁇ almost uniformly.
  • FIG. 1 is a top view showing a device E of the collision detection device of the present invention
  • FIG. 2 is a block diagram showing a configuration of a control system for collision detection and concealment of the present invention.
  • FIGS. 4A and 4B are vector diagrams showing the arrangement of the collision detection shaft in the present invention
  • FIGS. 4A and 4B are vector diagrams showing a modification of the collision detection shaft in the present invention.
  • 5E1 is a block diagram showing a configuration of another control system of the present invention
  • 60th is a vector diagram showing a collision detection method of the conventional collision detection device S. Best mode for carrying out the invention »
  • FIG. 1 is a top view showing the port arrangement of the collision detection device of the present invention
  • FIG. 20 is a block diagram showing the configuration of the control system
  • FIG. 3 is a vector showing the concealment of the collision detection axis.
  • Figures 40 (a) and 4 (b) are vector diagrams showing modified examples of the collision detection axis.
  • the driver's seat airbag 5 is located at the center section of the steering 1
  • the passenger seat airbag 6 is located inside the instrument panel 2
  • the side airbags 7 and 8 are located at the left and right site doors 3.
  • Riding safety hand a is concealed.
  • the driver airbag 5 and the passenger airbag 6 are for frontal collisions, and the side airbags are for side collisions.
  • a pretensioner or the like may be equipped for collision from the front.
  • a control device 4 and first and second acceleration sensors S1 and S2 are arranged at the center of the vehicle.
  • the first and second acceleration sensors S 1 and S 2 are composed of pressure sensors, and are assigned to the vehicle in the front-rear direction and the left-right direction, respectively.
  • the output is output at No. 5.
  • the acceleration sensors S1 and S2 may be configured to be able to detect both directions with one unit.
  • the longitudinal acceleration G y and the lateral acceleration G x of the vehicle detected by the first acceleration sensor S 1 and the second acceleration sensor S 2 are represented by a control device 4 including a computing unit such as a CPU.
  • the activation signals 31 to 33 are output to the frontal collision airbags 5, 6 and the left and right side airbags 7, 8. It has become.
  • the configuration of the control device 4 will be described.
  • the components of the aforementioned longitudinal acceleration Gy and left and right acceleration Gx to the collision detection axes A1 to A5 shown in FIG. G 1 -G5 is calculated for each.
  • the collision detection axes A1 to A5 are: a right collision detection axis A1, a diagonally right collision detection axis A2, a front-rear collision detection axis A3, and a diagonally left A collision detection axis A4 and a left collision detection axis A5 are respectively set.
  • the integrating means 17 which is the acceleration corresponding value component calculating means
  • the time integration of the second floor can be performed instead of the time kind of 1 Erasmus
  • the calculated value is the amount of speed change in the first-order time integration and the movement amount in the 2-PI time integration.
  • the comparison means indicated by reference numeral 23 includes the books 24, 25, 2 corresponding to the right side airbag 8, the forward collision airbags 5, 6, and the left side airbag 7, respectively. 6 are provided.
  • Components f2 and f4 are input to two blocks 24 and 25, and blocks 25 and 26, respectively.
  • books 24 to 26 the following ift calculation is performed. That is, in block 24, the sum of the time integrated values f1 and f2 calculated in blocks 18 and 19 is compared with a predetermined threshold value TH1, and the time integrated values f1 and f2 are calculated.
  • the start signal 31 is output to the right side airbag 8.
  • the sum of the time integrated values f2 to f4 calculated in block 19 to block 21 is compared with a predetermined threshold TH2, and the sum of the time integrated values f2 to f4 is When the threshold value TH2 is exceeded, the activation signal 32 is output to the airbags 5 and 6 for forward collision.
  • blocks 2 1 and 2 2 The sum of the calculated hourly integral values f4 and f5 is compared with a predetermined threshold value TH3, and the sum of the hourly minute values f4 and f5 exceeds the »threshold value TH3. And the start signal 33 are output to the left side airbag 7.
  • the control concealment includes the collision detection axis A1 in the right direction of the vehicle, the collision detection axis A2 in the diagonal right direction, the collision detection axis A3 in the front-back direction, and the collision detection axis A4 in the diagonal direction.
  • the components of the accelerations Gy and GX to the respective collision detection axes A1 to A5 are calculated, for example, as follows.
  • the component G3 of the collision detection axis A3 is the value of the acceleration Gy itself, that is, G3-Gy.
  • an appropriate predetermined coefficient weighted or the like may be used instead of the above-described sine and cosine.
  • the thresholds fllTH1 to TH3 are set, for example, under the following conditions.
  • the thresholds TH1 to TH3 are set to values small enough to detect collisions in the directions along the respective collision detection axes A1 to A5.
  • the threshold TH1 is set for the collision detection axes A2, A3, A4
  • f 2> TH l, f 3> TH l, and f 4> TH 1 are set, respectively.
  • a collision is detected in a direction along the collision detection glaze where the component of the time integral value is input to each threshold value, and a direction extending between the collision detection axes is detected.
  • the collisions are detected in substantially the same manner because the components to the collision detection axes are added.
  • the components f 2 and f 4 of the time integration values for the diagonal collision detection axes A 2 and A 4 are input to the two thresholds, respectively (TH].
  • TH 2, TH 2 and TH 3 For this reason, the threshold ffiTH2 responds to a collision in a direction very close to the left or right by adding the components f2 and f4 of the collision detection axes A2 and A4, which are these boundaries.
  • the threshold values TH1 and TH3 are set so large that the airbags 5 and 6 do not operate. By adding 4, the value is set to a value large enough that the corresponding airbags 8, 7 do not operate.
  • the threshold value TH1 is set so that f1 + f2 ⁇ TH1 for a collision in a direction very close to the forward direction.
  • the threshold value is appropriately selected within a range in which the above two conditions are dropped.
  • the threshold values TH1 to TH3 may be appropriately weighted in consideration of impact absorption S of the vehicle body at the time of a collision.
  • FIGS. 2 and 3 for example, if a collision having an acceleration G as shown in FIG. 3 occurs, Gy and Gx are detected by the first and second acceleration sensors SI and S2. Based on this, the components fl to f5 of the integrated value for each detection axis as shown in the figure are calculated. Then, in the block 25 of the comparison means, all of the values f2 to f4 are added to become equal to or larger than the threshold value TH2, the activation signal 32 is output, and the front-impact airbags 5, 6 are deployed.
  • f1 and f2 are added, Since the collision is in the heading direction, the threshold value is less than TH1 and the activation signal 31 is not output, and the right site 'airbag 8 is not deployed. Also, in block 26, f4 and f5 are added, but since f5 is the value of A, it naturally falls below the threshold TH3 and the activation signal 33 is not output, and the left side airbag 8 is not activated. Does not expand. The same applies to the case where a collision having an acceleration G in another direction occurs, and the description is omitted. As described above, according to the above-described apparatus, when a collision occurs by a simple calculation, the bag arranged in the vehicle is activated according to the collision direction.
  • FIGS. 4 (a) and 4 (b) a modification will be described with reference to FIGS. 4 (a) and 4 (b).
  • Fig. 4 (a) when the angle of the oblique collision detection axes A2 'and A4' with respect to the vehicle front-rear direction (92'K 'is reduced,
  • the rear collision detection axis A6 must be further set, and the headrest of the vehicle must be equipped with a rear collision airbag.
  • the collision detection device can respond to a rearward collision.
  • the number of collision detection axes is not limited to the above example, and can be set in any number and directions, and the number of collision detection axes is increased.
  • the safety measures can be activated by determining the direction and extent of the collision more accurately, and by operating the pretensioner simultaneously with the detection of the collision, the safety of the riding g can be more reliably obtained. In this case, forward collision, side collision, rear collision Activate all of.
  • the thresholds TH 1 to TH 3 are set to the values obtained by adding the components of the time integration values to a plurality of predetermined collision detection axes by the comparing means 23.
  • a comparison means is provided for each collision detection axis, a threshold value is set for each of them, and the activation signal is transmitted by an OR or AND condition corresponding to the air bag. 6, 7, 8 May be output. Even with such a configuration, the same effect as described above can be obtained. Available deer on draft
  • the collision detection device of the present invention calculates the components of both accelerations from the two acceleration sensors with respect to each of the collision detection axes, and associates the components with the respective collision detection axes based on the calculated values. Since the occupant safety means is selected and activated, even if the acceleration of the collision changes not only in magnitude but also in the direction with time g3 ⁇ 4, two or more types of ride safety g This is the best collision detection device that can select and operate safety measures.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

Dispositif de détection de collision placé dans un véhicule et destiné à actionner au moins deux organes de sécurité (5, 6, 7, 8) pour les occupants fonctionnant différemment selon les formes de collisions, telles que les collisions frontales ou les collisions latérales. Ledit dispositif comprend deux détecteurs d'accélération (S1, S2) placés respectivement dans des directions différentes et un organe de commande (4) destiné à actionner sélectivement la pluralité de dispositifs de sécurité (5, 6, 7, 8) pour les occupants selon les directions de collision lorsque ledit dispositif détecte une collision sur la base d'accélérations respectives (Gx, Gy) détectées par les détecteurs d'accélération (S1, S2). L'organe de commande (4) possède des axes (A1-A5) de détection de collision fixés au préalable dans des directions qui sont présumées être des directions dans lesquelles les collisions sont détectées, telles que l'avant, la gauche, la droite et au moins une direction différente des trois directions susmentionnées et qui correspondent aux organes de sécurité pour les occupants. Ledit organe calcule des composantes (G1, G2, G3, G4, G5) des accélérations détectées (Gx, Gy) correspondant aux axes (A1-A5) de détection de collision respectifs et choisit et actionne des organes de sécurité (5, 6, 7, 8) qui correspondent aux axes respectifs de détection de collision sur la base des valeurs calculées (G1, G2, G3, G4, G5).
PCT/JP1996/000522 1995-03-07 1996-03-05 Dispositif de detection de collision WO1996027514A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US08/894,711 US5900807A (en) 1995-03-07 1996-03-05 Collision detection device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7721395 1995-03-07
JP7/77213 1995-03-07

Publications (1)

Publication Number Publication Date
WO1996027514A1 true WO1996027514A1 (fr) 1996-09-12

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Application Number Title Priority Date Filing Date
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WO (1) WO1996027514A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0771701A3 (fr) * 1995-11-06 1997-06-11 Toyota Jidosha Kabushiki Kaisha Procédé et dispositif de contrôle du déclenchement d'un système de retenue passif
JP2003327073A (ja) * 2002-05-13 2003-11-19 Nissan Motor Co Ltd 車両の乗員保護装置
GB2394584A (en) * 2002-10-21 2004-04-28 Autoliv Dev Vehicle safety arrangement
US7643919B2 (en) 2003-07-17 2010-01-05 Autoliv Development Ab Crash detection system
US8116947B2 (en) 2002-10-21 2012-02-14 Autoliv Development Ab Safety arrangement for a vehicle using separate sensing and control units

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4186967B2 (ja) 2005-07-27 2008-11-26 トヨタ自動車株式会社 側面衝突検出センサを備えたボディー構造

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JPH04252757A (ja) * 1991-01-29 1992-09-08 Honda Motor Co Ltd 衝突判断回路
JPH0656000A (ja) * 1992-08-04 1994-03-01 Toyota Motor Corp 衝突検出装置
JPH0655993A (ja) * 1992-08-04 1994-03-01 Toyota Motor Corp 車両用エアバッグ作動制御装置
JPH0672282A (ja) * 1992-08-28 1994-03-15 Tokai Rika Co Ltd 車両の緊急状態判定装置
JPH06115405A (ja) * 1992-10-02 1994-04-26 Toyoda Gosei Co Ltd 乗員保護装置用制御装置
JPH06191376A (ja) * 1990-09-27 1994-07-12 Kansei Corp 車両用乗員保護装置

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JPH06191376A (ja) * 1990-09-27 1994-07-12 Kansei Corp 車両用乗員保護装置
JPH04252757A (ja) * 1991-01-29 1992-09-08 Honda Motor Co Ltd 衝突判断回路
JPH0656000A (ja) * 1992-08-04 1994-03-01 Toyota Motor Corp 衝突検出装置
JPH0655993A (ja) * 1992-08-04 1994-03-01 Toyota Motor Corp 車両用エアバッグ作動制御装置
JPH0672282A (ja) * 1992-08-28 1994-03-15 Tokai Rika Co Ltd 車両の緊急状態判定装置
JPH06115405A (ja) * 1992-10-02 1994-04-26 Toyoda Gosei Co Ltd 乗員保護装置用制御装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0771701A3 (fr) * 1995-11-06 1997-06-11 Toyota Jidosha Kabushiki Kaisha Procédé et dispositif de contrôle du déclenchement d'un système de retenue passif
US5961562A (en) * 1995-11-06 1999-10-05 Toyota Jidosha Kabushiki Kaisha Apparatus for and method of controlling activation of passive restraint
JP2003327073A (ja) * 2002-05-13 2003-11-19 Nissan Motor Co Ltd 車両の乗員保護装置
GB2394584A (en) * 2002-10-21 2004-04-28 Autoliv Dev Vehicle safety arrangement
US8116947B2 (en) 2002-10-21 2012-02-14 Autoliv Development Ab Safety arrangement for a vehicle using separate sensing and control units
US7643919B2 (en) 2003-07-17 2010-01-05 Autoliv Development Ab Crash detection system

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