WO2008052609A1 - Procédé de commande d'un moyen de protection de passagers pour un véhicule comprenant une unité de détection de l'environnement à anticipation - Google Patents

Procédé de commande d'un moyen de protection de passagers pour un véhicule comprenant une unité de détection de l'environnement à anticipation Download PDF

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Publication number
WO2008052609A1
WO2008052609A1 PCT/EP2007/006947 EP2007006947W WO2008052609A1 WO 2008052609 A1 WO2008052609 A1 WO 2008052609A1 EP 2007006947 W EP2007006947 W EP 2007006947W WO 2008052609 A1 WO2008052609 A1 WO 2008052609A1
Authority
WO
WIPO (PCT)
Prior art keywords
braking
deceleration
vehicle
occupant protection
protection means
Prior art date
Application number
PCT/EP2007/006947
Other languages
German (de)
English (en)
Inventor
Werner Bernzen
Dominic Reutter
Original Assignee
Daimler Ag
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 Daimler Ag filed Critical Daimler Ag
Publication of WO2008052609A1 publication Critical patent/WO2008052609A1/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
    • B60R21/0134—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 imminent contact with an obstacle, e.g. using radar systems
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on 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
    • B60R2021/01204—Actuation parameters of safety arrangents
    • B60R2021/01252—Devices other than bags
    • B60R2021/01259—Brakes
    • 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
    • B60R2021/01311—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 monitoring the braking system, e.g. ABS
    • 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
    • B60T2201/022—Collision avoidance systems
    • B60W2420/408—

Definitions

  • In vehicles with a predictive environment detection unit can be prevented by an autonomous braking process, which is a triggered without driver activity braking in many cases, or mitigated consequences of an accident.
  • the braking deceleration required for partial braking is determined by means of an environmental detection system, e.g. a radar unit, an ultrasonic measuring unit or an optical detection unit determined.
  • an environmental detection system e.g. a radar unit, an ultrasonic measuring unit or an optical detection unit determined.
  • the presence of a critical situation, in particular an impending collision is determined on the basis of the distance and the relative speed to an obstacle. If it is too late for targeted partial braking, autonomous emergency braking with full braking force can reduce at least impact energy prior to the crash event.
  • DE 36 37 165 A1 or DE 101 21 956 C1 also discloses methods for activating an occupant protection system for a vehicle.
  • the determined required braking deceleration is compared with a maximum possible deceleration and an occupant protection means is put into operation as soon as the necessary braking deceleration exceeds the maximum possible braking deceleration.
  • the coupling to the vehicle longitudinal deceleration is based solely on the physical effect of the autonomous brake intervention and not on internal control variables that lead to the triggering of an autonomous braking intervention depends.
  • a time delay between the initiation of the autonomous braking and the release of the occupant protection means can be effected.
  • This setting is self-adaptive insofar as in autonomous partial braking with high braking deceleration or even in autonomous emergency braking, the threshold for the vehicle longitudinal deceleration is exceeded very quickly and the occupant protection means are triggered without delay, as the more critical situation indeed requires.
  • the longitudinal deceleration threshold value is reduced if a braking operation is additionally requested by the driver during an autonomous braking process. This is an indication that the driver is on the critical situation is prepared and, moreover, the critical situation is worsening. With the reduction of the longitudinal deceleration threshold, the occupant protection means is triggered earlier and can therefore exert protective effect at an earlier point in time.
  • Occupant protection 5 on.
  • occupant protection means 5 e.g. an electric belt Aufrollstraffer, with the pre-impact belt slack removed and the occupant can be brought or held in a defined position.
  • the occupant protection means 5 are reversible, i. they can be brought several times from an initial state into an active state and set back again.
  • the driving dynamics control system 2 determines by means of an associated sensor S2 FahrzugsSchschal, including the vehicle longitudinal deceleration a x but also eg the driving speed, the wheel speeds of the vehicle 1, etc.
  • a sensor S2 for example, a longitudinal acceleration sensor, a steering angle sensor, a lateral acceleration sensor and wheel speed sensors are provided optionally evaluated in combination to determine further driving condition data.
  • oversteer of the vehicle 1 is also identified if the rear breaks out and a dangerous driving state could occur.
  • Environment detection system 3 is identified, for example, an approaching, forward obstacle and displayed a possible collision, which makes a partial or emergency braking required.
  • the environmental detection system 3 determines a necessary target braking deceleration a, which is necessary in order to prevent the collision or to dampen its consequences.
  • corresponding braking torques for a partial or emergency braking can be specified as follows:
  • the radar 3 supported braking system 6 triggers an autonomous partial or emergency braking if the driver does not respond to an imminent collision.
  • Vehicle dynamics control system 2 or in the case of partial or emergency braking, the desired braking deceleration a of
  • a high value of the manipulated variable G is an indicator for a strong oversteer or threatening strong oversteer of the vehicle and / or a strong deceleration a is an indicator for emergency braking and can lead to the setting of a control signal SS to activate the occupant protection means 5, for example by the Threshold for the longitudinal delay is reduced.
  • each autonomous braking intervention is constantly checked whether the wheels - for example, both front wheels - are controlled by an antilock braking system ABS to prevent blocking.
  • ABS antilock braking system
  • it is checked whether the ABS function of the vehicle dynamics control system 2 is activated for at least 0.15 s. If this is the case, then the predetermined desired braking deceleration a is checked for compatibility with the actual friction coefficient ⁇ as described above.
  • the vehicle longitudinal deceleration a x is determined and monitored for an undershooting of a predetermined threshold value of, for example, 5 m / s 2 .
  • Vehicle longitudinal delay a x can, for example, by means of an acceleration sensor or with the help of the vehicle reference speed, in the brake control system is determined. If the vehicle longitudinal deceleration a x is, for example, 4 m / s 2 , then a coefficient of friction ⁇ is below 0.5 and thus a particularly smooth roadway is present. In one embodiment of the invention, this already leads to the triggering of an occupant protection means. Further details on the design of a parallel tripping path in an ABS intervention can be found in the aforementioned PCT / EP / 2005/007521.
  • autonomous partial braking takes place with a braking torque of up to 4 m / s 2 (approximately 4 g), while in full braking, autonomous or triggered by the driver, braking torques in the range 8-11 m / s 2 can occur, provided the coefficient of friction between the wheel and the road allows it.
  • Suitable values for the longitudinal deceleration threshold for the vehicle longitudinal deceleration a x are in the range 0.5 m / s 2 to 1.2 m / s 2 .
  • the longitudinal deceleration threshold depends on the vehicle speed and drops at high speeds.
  • the longitudinal deceleration threshold at vehicle speeds below 50 km / h is 1.2 m / s 2 and at vehicle speeds above 150 km / h 0.5 m / s 2 . This ensures that an autonomous partial braking at a high vehicle speed leads to a release of occupant protection much faster than at low speed, even if the braking deceleration is the same. This takes into account the increased risk at high speed in the event of an escalation up to an accident.

Abstract

L'invention concerne un procédé de commande d'un moyen de protection de passagers (5) dans un véhicule (1) comprenant un système capteur (S2) qui détecte au moins la décélération longitudinale (ax) du véhicule, et une unité de détection de l'environnement à anticipation (3) avec laquelle un freinage autonome préalable à une collision imminente peut être induit par activation d'un système de freinage (6). Selon l'invention, lorsqu'un freinage autonome est provoqué, le déclenchement du moyen de protection de passagers (5) n'est permis ou provoqué qu'en cas de dépassement d'une valeur de seuil de décélération longitudinale prédéfinie (ax) du véhicule.
PCT/EP2007/006947 2006-11-03 2007-08-07 Procédé de commande d'un moyen de protection de passagers pour un véhicule comprenant une unité de détection de l'environnement à anticipation WO2008052609A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006051787.3A DE102006051787B4 (de) 2006-11-03 2006-11-03 Verfahren zur Ansteuerung eines Insassenschutzmittels bei einem Fahrzeug mit einer vorausschauenden Umgebungserfassungseinheit
DE102006051787.3 2006-11-03

Publications (1)

Publication Number Publication Date
WO2008052609A1 true WO2008052609A1 (fr) 2008-05-08

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PCT/EP2007/006947 WO2008052609A1 (fr) 2006-11-03 2007-08-07 Procédé de commande d'un moyen de protection de passagers pour un véhicule comprenant une unité de détection de l'environnement à anticipation

Country Status (2)

Country Link
DE (1) DE102006051787B4 (fr)
WO (1) WO2008052609A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012007211A1 (fr) * 2010-07-12 2012-01-19 Robert Bosch Gmbh Procédé pour protéger un occupant d'un véhicule, module de commande pour commander un dispositif d'actionnement pour protéger un occupant d'un véhicule et système comprenant un tel module de commande et un dispositif d'actionnement correspondant
CN116691625A (zh) * 2023-08-07 2023-09-05 北京中科慧眼科技有限公司 基于紧急制动系统的刹车力度生成方法和装置

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DE102010006107B4 (de) * 2010-01-29 2019-12-19 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Ansteuerung eines Aktuators eines reversiblen Insassenschutzmittels in einem Kraftfahrzeug
DE102010015547B4 (de) 2010-04-20 2020-07-30 Daimler Ag Verfahren zur Ansteuerung mindestens einer reversiblen Insassenschutzvorrichtung
DE102010052416A1 (de) 2010-11-24 2012-01-05 Daimler Ag Verfahren und Vorrichtung zur Steuerung eines Sicherheitssystems für ein Fahrzeug
DE102010053350A1 (de) 2010-12-03 2012-06-06 Daimler Ag Verfahren und Vorrichtung zum Betrieb eines Fahrzeuges zur Erhöhung einer Insassensicherheit
DE102011106247B4 (de) 2011-07-01 2014-05-28 Audi Ag Verfahren zum Steuern eines reversiblen Gurtstraffers eines Sicherheitsgurts in einem Kraftfahrzeug
EP2650180B1 (fr) * 2012-04-10 2014-10-22 Autoliv Development AB Procédé de déclenchement d'un enrouleur motorisé destiné à un système de ceinture de sécurité d'un véhicule
EP2650177B1 (fr) * 2012-04-10 2016-07-06 Autoliv Development AB Procédé de déclenchement d'un enrouleur motorisé destiné à un système de ceinture de sécurité d'un véhicule
DE102012210882B4 (de) 2012-06-26 2022-11-03 Robert Bosch Gmbh Verfahren und Steuergerät zur Ansteuerung von zumindest einem reversibel aktivierbaren Insassenschutzsystem für ein Fahrzeug
JP6453695B2 (ja) 2015-03-31 2019-01-16 株式会社デンソー 運転支援装置、及び運転支援方法
DE102015010265A1 (de) 2015-08-08 2016-03-17 Daimler Ag Verfahren zur Ansteuerung zumindest eines Insassenschutzmittels
DE102015220531A1 (de) 2015-10-21 2017-04-27 Continental Automotive Gmbh Verfahren zur Steuerung von Insassenschutzeinrichtungen eines Kraftfahrzeugs in Abhängigkeit von einem Bremssignal
KR101766147B1 (ko) 2016-06-16 2017-08-07 현대자동차주식회사 능수동 안전 장치를 통합하여 작동하는 방법

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EP1122136A2 (fr) * 2000-02-04 2001-08-08 DaimlerChrysler AG Procédé et dispositif de sécurité assurant le maintien d'un occupant dans un siège de véhicule
DE10121956C1 (de) * 2001-05-05 2002-11-28 Daimler Chrysler Ag Fahrzeugbasiertes Notfall-System
EP1586490A1 (fr) * 2003-01-24 2005-10-19 HONDA MOTOR CO., Ltd. Dispositif de securite de deplacement pour vehicule motorise

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DE3637165A1 (de) 1986-10-31 1988-05-05 Rainer Ashauer Verfahren und einrichtung zum verhindern von zusammenstoessen, insbesondere fuer kraftfahrzeuge im strassenverkehr
DE10001312A1 (de) 2000-01-14 2001-07-19 Volkswagen Ag Gurtstraffer
DE102004018394B4 (de) * 2004-04-16 2014-07-24 Daimler Ag Insassenschutzsystem
DE102004057604B4 (de) * 2004-11-29 2014-04-30 Daimler Ag Verfahren für ein Sicherheitssystem in einem Fahrzeug
DE102004057603A1 (de) * 2004-11-29 2006-04-20 Daimlerchrysler Ag Verfahren für ein Sicherheitssystem in einem Fahrzeug
DE102004058663A1 (de) * 2004-12-06 2006-06-14 Robert Bosch Gmbh Verfahren und Vorrichtung zur Steuerung einer automatischen Notbremsung
DE102004062486B4 (de) * 2004-12-24 2015-03-12 Daimler Ag Verfahren für ein präventiv wirkendes Schutzsystem in einem Kraftfahrzeug
EP1901941B1 (fr) * 2005-07-12 2012-12-26 Daimler AG Procede et dispositif de commande d'un moyen de protection d'un passager

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1122136A2 (fr) * 2000-02-04 2001-08-08 DaimlerChrysler AG Procédé et dispositif de sécurité assurant le maintien d'un occupant dans un siège de véhicule
DE10121956C1 (de) * 2001-05-05 2002-11-28 Daimler Chrysler Ag Fahrzeugbasiertes Notfall-System
EP1586490A1 (fr) * 2003-01-24 2005-10-19 HONDA MOTOR CO., Ltd. Dispositif de securite de deplacement pour vehicule motorise

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012007211A1 (fr) * 2010-07-12 2012-01-19 Robert Bosch Gmbh Procédé pour protéger un occupant d'un véhicule, module de commande pour commander un dispositif d'actionnement pour protéger un occupant d'un véhicule et système comprenant un tel module de commande et un dispositif d'actionnement correspondant
CN102985294A (zh) * 2010-07-12 2013-03-20 罗伯特·博世有限公司 用于保护车辆乘客的方法、用于控制用于保护车辆乘客的执行机构的控制设备和具有这种控制设备和相应执行机构的系统
CN116691625A (zh) * 2023-08-07 2023-09-05 北京中科慧眼科技有限公司 基于紧急制动系统的刹车力度生成方法和装置

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DE102006051787A1 (de) 2008-05-08
DE102006051787B4 (de) 2019-07-11

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