WO2014065008A1 - 乗員保護装置の制御装置 - Google Patents
乗員保護装置の制御装置 Download PDFInfo
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- WO2014065008A1 WO2014065008A1 PCT/JP2013/073581 JP2013073581W WO2014065008A1 WO 2014065008 A1 WO2014065008 A1 WO 2014065008A1 JP 2013073581 W JP2013073581 W JP 2013073581W WO 2014065008 A1 WO2014065008 A1 WO 2014065008A1
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0136—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
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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
-
- 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
- B60R21/02—Occupant safety arrangements or fittings, e.g. crash pads
- B60R21/16—Inflatable occupant restraints or confinements designed to inflate upon impact or impending impact, e.g. air bags
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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
- B60R2021/0027—Post collision measures, e.g. notifying emergency services
Definitions
- the present invention relates to a control device for an occupant protection device that controls activation of an occupant protection device such as a seat belt device or an airbag device that protects the occupant in the event of a vehicle collision, and in particular, a center position in the vehicle width direction in front of the vehicle
- the present invention relates to a control device for an occupant protection device that uses an output signal of a satellite sensor (collision detector) that is offset from the vehicle.
- a satellite sensor collision detector
- an occupant protection device such as an airbag device or a seat belt device.
- a detection signal is sent to the control device by the collision detection sensor, and the protection device is operated.
- a collision detection sensor main sensor
- a collision sensor is provided in a control device disposed in the central part (for example, the center floor) of the vehicle, but in order to detect a collision of the vehicle quickly and protect the passengers appropriately.
- a collision sensor switchlite sensor
- Patent Document 1 introduces a configuration in which one or a plurality of satellite sensors are arranged in the front portion of the vehicle. Proposed to reduce the effect of collision detection sensor disconnection, breakage, etc. by controlling the occupant protection device based on the output with the highest signal level among the deceleration outputs of multiple collision detection sensors (acceleration sensors) ing.
- two satellite sensors are arranged in the front part of the vehicle, they are arranged at a target position with respect to a center line in the vehicle width direction (extending in the vehicle front-rear direction). Further, when one satellite sensor is arranged in the front part of the vehicle, it is usually arranged on the center line of the vehicle. Arrangement on the center line is advantageous in that there is no bias in detection sensitivity characteristics due to a collision site in front of the vehicle when detecting a normal collision (frontal collision), offset collision (vehicle front right collision, vehicle front left collision), and the like.
- the satellite sensor when a satellite sensor is arranged on the left side of the center line of the vehicle, the satellite sensor has a large level in the case of a left front collision (relatively close to the collision position) even if the collision speed is the same.
- a detection signal is output.
- a detection signal of a small level is output (since it is relatively far from the collision position).
- the detection signal of the satellite sensor cannot distinguish between a vehicle front left collision with a relatively low collision speed and a vehicle front right collision with a relatively high collision speed. The same applies when the satellite sensor is arranged on the right side of the center line of the vehicle.
- one satellite sensor is arranged on the left side of the vehicle center line, and one satellite sensor is arranged on the right side of the vehicle center line for characteristic compensation.
- the average value of the output values of two satellite sensors when only one satellite licensor is used, such a detection sensitivity compensation method cannot be adopted.
- the present invention provides a control device for an occupant protection device that can use the output signal of one satellite sensor arranged offset from the center line of the vehicle for collision detection of the vehicle. Objective.
- One aspect of the control device for an occupant protection device of the present invention that achieves the above object is to operate an occupant protection device by determining a collision based on an acceleration sensor arranged at a front position of the vehicle and an output signal of the acceleration sensor.
- the acceleration sensor is a satellite sensor arranged in the vehicle width direction from the vehicle front center position, and the control unit First threshold setting means for setting a first threshold corresponding to the traveling speed, and determination means for determining a collision by comparing the level of the output signal of the acceleration sensor with the first threshold.
- the vehicle speed is considered in the collision determination using the detection signal (acceleration signal) of one satellite sensor arranged at a position shifted from the center position in the vehicle width direction in front of the vehicle.
- the accuracy of discrimination can be improved.
- an acceleration sensor disposed at a front position of the vehicle, and a control for operating the occupant protection device by determining a collision based on an output signal of the acceleration sensor.
- the acceleration sensor is a single satellite sensor arranged in the vehicle width direction from the vehicle front center position, and the control unit outputs an output of the acceleration sensor.
- Calculating means for integrating a signal and outputting a speed signal; second threshold setting means for setting a second threshold corresponding to the traveling speed of the vehicle; and a level of the speed signal and the second threshold.
- Discriminating means for discriminating a collision by comparison.
- the collision is considered by considering the vehicle speed in the collision determination using the detection signal (speed signal) of one satellite sensor arranged at a position shifted from the center position in the vehicle width direction in front of the vehicle.
- the accuracy of discrimination can be improved.
- an acceleration sensor disposed at a front position of the vehicle, and a control for operating the occupant protection device by determining a collision based on an output signal of the acceleration sensor.
- the acceleration sensor is a satellite sensor arranged in a vehicle width direction away from the vehicle front center position, and the control unit A calculation means for integrating the output signal and outputting a speed signal; a first threshold value setting means for setting a first threshold value corresponding to the traveling speed of the vehicle; and a second threshold value corresponding to the traveling speed of the vehicle.
- a second threshold setting means for setting a threshold; a first determination means for determining a collision by comparing the level of the output signal of the acceleration sensor with the first threshold; and the level of the speed signal and the second Threshold and And a second determining means for determining a collision compared.
- the vehicle speed is taken into consideration in the collision determination using the detection signal (acceleration signal or speed signal) of one satellite sensor arranged at a position shifted from the center position in the vehicle width direction.
- the detection signal acceleration signal or speed signal
- the second threshold value is expressed as a function of the elapsed time from the collision, and the time variation characteristic of the threshold value is set corresponding to the vehicle speed.
- the time variation characteristic of the threshold value is set corresponding to the vehicle speed.
- the second threshold value is expressed as a function of the elapsed time from the collision, and the time change characteristic of the threshold value at the initial stage of the collision is changed corresponding to the vehicle speed.
- the time change characteristic of the threshold value at the initial stage of the collision is changed corresponding to the vehicle speed.
- the present invention is advantageous because the output signal of one satellite sensor arranged so as to deviate from the center position in front of the vehicle can be used for collision determination even in the case of an offset collision by referring to the vehicle speed. Is.
- FIG. 1 is an explanatory diagram illustrating a schematic arrangement of a control system for occupant protection in a vehicle.
- a center line is assumed in the front-rear direction of the vehicle at the center of the left-right width of the vehicle 1.
- one acceleration sensor that detects a collision is arranged as the satellite sensor 2 on the left side of the center line of the collision mitigation zone in front of the vehicle.
- the satellite sensor 2 detects the deceleration due to the collision and generates an electrical signal.
- An output signal (detection signal) of the satellite sensor 2 is supplied to the control unit 3 via a signal line.
- the control unit 3 is a device that controls the activation of an airbag device, a seat belt device, and the like, and is configured by a microcomputer system or the like.
- An electronic control unit (ECU) that provides a signal processing function and a logic judgment function.
- the control device 3 incorporates a main collision sensor 33. Based on the detection output of the main collision sensor detector 33 and the detection output of the satellite sensor 2, the control device 3 takes the logical product of them to detect the collision. Make a decision. Furthermore, the collision can be determined by taking a logical product based on detection outputs of a plurality of other satellite sensors (collision sensors) provided on the vehicle side or the rear of the vehicle.
- the control unit 3 supplies an activation signal to the airbag device 4 via a signal line.
- an activation signal is supplied to the seat belt device.
- the airbag device 4 is provided on a handle device, a dash panel, or the like, and when the activation signal is received, the gas generator is operated to deploy the airbag. As a result, passengers such as drivers and passengers can be protected. Further, when the seat belt device receives the activation signal, the seat belt device performs rapid winding of the belt by a gas generator or an electric motor to prevent occupant movement due to a collision.
- FIG. 2 is an explanatory diagram illustrating the configuration of the control unit 3.
- the control unit 3 receives the output signal of the satellite sensor 2 and converts it into a digital signal, a signal processing unit 32 that has a signal processing and logical decision function and executes a control algorithm, and an acceleration sensor
- the main collision sensor 33 to detect, the starting circuit 34 which receives the starting command signal which the signal processing circuit 32 emits, generate
- the communication interface 31 sends an operation command signal to a built-in timer (not shown) of the signal processing unit in response to receiving the output signal of the satellite sensor 2.
- the built-in timer outputs the elapsed time t n from the detection signal generation.
- a speed signal is supplied to the signal processing unit 32 from a speed sensor (speedometer) 5 mounted on the vehicle in order to detect the current traveling speed of the vehicle speed.
- the signal processing unit (CPU) 32 makes a collision determination based on output signals from the satellite sensor 2, the collision sensor 33, the speed sensor 5, and the like.
- the signal processing unit 32 executes signal processing and a determination algorithm so as to avoid the occurrence of a determination error due to a change in sensitivity characteristic.
- FIG. 3 is a diagram for explaining an aspect of the offset collision.
- FIG. 3A shows a case where the satellite sensor 2 is arranged at the center position in the width direction in front of the vehicle.
- FIG. 2B shows a case where the satellite sensor 2 is arranged shifted to the left from the center position in the width direction in front of the vehicle.
- FIG. 4 is an explanatory diagram schematically illustrating the waveform of an output signal (acceleration signal) of a satellite sensor (accelerometer) 2 that detects a forward collision.
- FIG. 4A shows an example of signal output when the satellite sensor is arranged at the center position in front of the vehicle.
- the satellite sensor 2 when the vehicle collides with an obstacle on the left side at a low speed, the satellite sensor 2 generates an output signal L L. When the vehicle collides with an obstacle on the right side at the same low speed, the satellite sensor 2 generates an output signal L R. When colliding with the front left side of the obstacle vehicle is at a medium speed, the satellite sensor 2 generates an output signal M L. When colliding with the front right of the obstacle at the same among speed, the satellite sensor 2 generates an output signal M R. When the vehicle collides with an obstacle on the left side at high speed, the satellite sensor 2 generates an output signal HL . When colliding with the front right of the obstacle at the same speed, the satellite sensor 2 generates an output signal H R.
- the low speed is 0 to 5 km / h
- the medium speed is 5 to 20 km / h
- the high speed is 20 km / h or more.
- FIG. 3B and FIG. 4B show a case where the satellite sensor 2 is arranged shifted to the left from the center position.
- the satellite sensor 2 when the vehicle collides with an obstacle on the left side at a low speed, the satellite sensor 2 generates an output signal L L.
- the satellite sensor 2 When the vehicle collides with an obstacle on the right side at the same low speed, the satellite sensor 2 generates an output signal L R.
- the satellite sensor 2 When colliding with the front left side of the obstacle vehicle is at a medium speed, the satellite sensor 2 generates an output signal M L.
- the satellite sensor 2 When colliding with the front right of the obstacle at the same among speed, the satellite sensor 2 generates an output signal M R.
- the satellite sensor 2 When the vehicle collides with an obstacle on the left side at high speed, the satellite sensor 2 generates an output signal HL .
- the satellite sensor 2 When colliding with the front right of the obstacle at the same speed, the satellite sensor 2 generates an output signal H R. As shown in the waveform of the output signal shown in the figure, when the satellite sensor 2 is arranged to be shifted to the left side, the signal of the satellite sensor 2 with respect to a collision with an obstacle on the left side in front of the vehicle (because it is close in distance) The output level increases, and the signal output level of the satellite sensor 2 decreases with respect to the collision with the obstacle on the right side (because of the distance). Then, the threshold value V T as shown in FIG.
- FIG. 5 is an explanatory diagram for explaining a point of interest in the embodiment.
- one front satellite sensor 2 is arranged to be shifted to the left side and this output signal is used for collision determination (the same applies to the case where the output signal is shifted to the right side).
- a threshold value for collision determination with respect to the output signal (acceleration) of the satellite sensor 2 is set corresponding to the traveling speed of the vehicle. As shown in FIG. 5, in the region where the vehicle speed is low (0 to 5 km / h), the threshold level is set to V TL for the output signal of the satellite sensor 2. Since the kinetic energy of the vehicle itself is not large in the low speed region of the vehicle, the occupant protection device is prevented from operating even with relatively strong acceleration (impact).
- the threshold level In the region where the vehicle speed is medium (5 to 20 km / h), the threshold level is set to V TM for the output signal of the satellite sensor 2. In the medium speed region of the vehicle, the vehicle moves faster than the low speed region, so that the acceleration at the time of a forward collision naturally increases even in a small collision.
- the threshold level is set higher in the medium speed region than in the low speed region. In a region where the vehicle speed is high (20 km / h or more), the threshold level is set to V TH for the output signal of the satellite sensor 2 to detect a collision and operate the occupant protection device. The vehicle moves faster in the high speed region than in the medium / low speed region. Therefore, the kinetic energy of the vehicle itself is higher than the middle speed region or lower.
- the threshold level is set lower than the low speed region.
- the “reference line” drawn across the medium speed region and the restraint region shows an undesirable example when the threshold level is not set according to the vehicle speed.
- the reference line indicates a threshold level at which the left-side collision in the medium speed region is deactivated.
- FIG. 6 is a flowchart for explaining a threshold setting procedure executed by the signal processing unit (CPU) 32 of the control unit 3.
- the CPU periodically executes this routine when the satellite sensor generates an output signal (substantial collision time) or during vehicle travel.
- the CPU reads the speed signal transmitted from the vehicle speed sensor (speedometer) to the signal processing unit 32 to obtain the current vehicle speed (step S110).
- a threshold is set for the front satellite sensor 2 (step S130).
- the threshold value can be stored in advance as a function V T (V) having a speed value as an input and a threshold value as an output. Further, the threshold value can be stored in advance in the memory using the vehicle speed as an argument (for example, the address of the storage area).
- the CPU calculates a threshold value corresponding to the read vehicle speed or reads it from the memory table (step S140).
- the selected threshold value is output to an acceleration threshold value register that stores the threshold value inside the CPU (step S150). This threshold value is used in collision determination (estimation) based on acceleration described later.
- the threshold value calculation (or reading) routine can be executed by the CPU at any time while the vehicle is traveling.
- FIG. 7 is a flowchart for explaining a procedure for determining (estimating) a collision from the output signal of one satellite sensor 2 arranged so that the CPU of the signal processing unit 32 is shifted from the vehicle center position.
- the CPU executes this routine.
- the CPU reads an output signal (acceleration data) from the satellite sensor 2 input to the register (step S2), and determines whether this output signal level is a level at which this control algorithm is to be executed (step S2). Step S4). If the level of the output signal does not exceed the threshold value for executing this control algorithm (step S4; No), this routine ends.
- step S4 When the level of the output signal exceeds the threshold value for executing this control algorithm (step S4; Yes), the vehicle traveling speed is read from the output of the speed sensor 5 (step S10), and the vehicle speed is stored in the register. (Step S12).
- the CPU compares the vehicle speed with the register value to determine whether the vehicle speed is high speed, medium speed, or low speed (steps S14, S30, S40).
- step S14 When determining that the vehicle speed is high (step S14; Yes), the CPU performs a filtering process on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary (step S16). The CPU compares the acceleration with a threshold value V TH corresponding to the high speed stored in the register (step S20). If the acceleration (deceleration) level does not exceed the threshold value (step S20; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is low (step S14; No, S30; Yes), the acceleration data of the output signal of the satellite sensor 2 input to the register is subjected to filter processing as necessary (step S32).
- the CPU compares the acceleration with the threshold value V TL corresponding to the low speed stored in the register (step S36). If the acceleration (deceleration) level does not exceed the threshold value (step S36; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is medium (step S14; No, S30; No), the acceleration data of the output signal of the satellite sensor 2 input to the register is subjected to filter processing as necessary (step S40).
- the CPU compares the acceleration with a threshold value V TM corresponding to the low speed stored in the register (step S44). If the acceleration (deceleration) level does not exceed the threshold (step S44; No), it is determined that there is no collision and the process ends.
- step S20 when the acceleration (deceleration) that is the output signal of the satellite sensor 2 exceeds the threshold V TH when the vehicle speed is high (step S20; Yes), the acceleration (deceleration) occurs when the vehicle speed is medium.
- the CPU sets the flag register.
- a collision flag (collision signal) is set to ON (step S50). When the collision flag is set to ON, an activation command signal is transmitted to the activation circuit 34 and an ignition signal is transmitted to the occupant protection device 4.
- the CPU repeatedly executes steps S10 to S50 at a predetermined cycle (for example, 0.001 second), monitors the output signal (instantaneous value) of the satellite sensor, and determines whether or not there is a collision.
- a predetermined cycle for example, 0.001 second
- the output signal (acceleration signal) of the front satellite sensor is integrated by the signal processing unit 32 to obtain a speed signal. Collision discrimination is performed based on this speed signal (integrated value).
- the inventor uses an output signal of the satellite sensor 2 that is deviated from the vehicle center position in the vehicle width direction as a speed signal, and sets the threshold level for determining a collision as an elapsed time from the rising point of the output signal. It is also found that the collision can be determined by setting it according to the vehicle speed (or changing it according to the elapsed time).
- FIGS. 8 to 10 illustrate that collision detection can be performed by using a devised threshold value for the integrated value of the output signal of the satellite sensor 2 arranged so as to deviate from the center position. It is explanatory drawing.
- FIG. 10 is a diagram in which the graphs of FIGS. 8 and 9 are superimposed.
- a curve a indicates a speed signal (output of the satellite sensor 2) when the vehicle is traveling in a high speed range (for example, 60 km / h) in the case of a right offset collision (see FIG. 4B).
- An example of signal integration value) is shown.
- a curve V T (t) in the figure shows a threshold function whose value changes with time elapse of signal detection by the satellite sensor 2.
- an occupant protection device for example, a vehicle is in a high speed region, which is a desirable deployment mode in which it is desirable to deploy an airbag early.
- a curve b in the figure indicates a speed signal (integral value of the output signal of the satellite sensor 2) when the vehicle speed is in the middle speed range (for example, 10 km / h) in the case of a left offset collision.
- a speed signal integrated value of the output signal of the satellite sensor 2
- the middle speed range for example, 10 km / h
- This is a non-deployment mode in which the occupant protection device, for example, the airbag device 4 is not desired to be deployed.
- the value of the threshold function V T (t) is changed in accordance with the difference in the traveling speed v of the vehicle. That is, the threshold function V T (t) is set to V T (t, v) so that two collision modes that are difficult to discriminate can be distinguished.
- the vehicle is traveling at a high speed (for example, 60 km / h), and a threshold function V T (t) for high speed (or low speed / high speed) is set for collision determination. ing.
- the value of the threshold function V T (t) is set by decreasing the threshold speed to V TH from the start position t 0 on the time axis to a position near t 1 .
- V T (t) is set by decreasing the threshold speed to V TH from the start position t 0 on the time axis to a position near t 1 .
- the vehicle is traveling at a medium speed (for example, 10 km / h), and a threshold function V T (t) for medium speed is set for collision determination.
- a medium speed for example, 10 km / h
- a threshold function V T (t) for medium speed is set for collision determination.
- the threshold speed value is set to V TM which is larger than V TH .
- the curve a and the threshold value VTM do not cross each other and are not determined to have collided. Thereby, the operation
- FIGS. 11 to 13 show examples of velocity signals (integrated signals) a and b of output signals of one satellite sensor when two satellite sensors are arranged symmetrically with respect to the center line of the vehicle. Yes.
- the reference for determining whether or not to operate the occupant protection device 4 is set between the medium speed and the high speed of the vehicle speed. Therefore, one of the determination factors is whether the signal waveform of the left-side collision at medium vehicle speed and the signal waveform of the right-side collision at high vehicle speed can be distinguished. Therefore, it is considered to distinguish the signals a and b in the two cases.
- the vehicle is traveling at a high speed (for example, 60 km / h), and a high-speed threshold function V T (t) is set for collision determination.
- a high-speed threshold function V T (t) is set for collision determination.
- the value of the threshold function V T (t) is set by decreasing the threshold speed to V T1 from the start position t 0 on the time axis to a position near time t 1 .
- the vehicle is traveling at a medium speed (for example, 10 km / h), and a threshold function V T (t) for medium speed is set for collision determination.
- a medium speed for example, 10 km / h
- a threshold function V T (t) for medium speed is set for collision determination.
- the threshold speed value is set to V T1 .
- the velocity curve b and the threshold value V T (t) do not cross each other and are not determined to have collided. Thereby, the operation
- FIG. 13 is a diagram in which the graphs of FIGS. 11 and 12 are superimposed.
- the time axis Whether or not to operate the occupant protection device in the offset collision of the vehicle in the upper start position t 0 to position t 1 can be determined with the same threshold function V T (t). Therefore, it is possible to discriminate based on the same threshold for all vehicle speeds.
- FIG. 14 and FIG. 15 are flowcharts of the second embodiment for explaining the operation of the control system when the collision determination is performed based on the integrated value (speed signal) of the output signal (acceleration signal or deceleration signal) of the satellite sensor 2. It is.
- the threshold value V T (t) can be changed over time.
- a threshold function V T (t) is selected corresponding to the vehicle speed.
- FIG. 14 is a flowchart for explaining a threshold setting procedure executed by the signal processing unit (CPU) 32 of the control unit 3.
- CPU signal processing unit
- the CPU periodically executes this routine when the satellite sensor 2 generates an output signal (substantial collision time) or during vehicle travel.
- the CPU reads the speed signal transmitted from the vehicle speed sensor (speedometer) to the signal processing unit 32 to obtain the current vehicle speed (step S110). Further, the elapsed time t n from the time t 0 when the output signal of the satellite sensor 2 is supplied (rising of the signal) is read from the output of the built-in timer (step S120).
- the CPU selects a corresponding threshold function from a plurality of functions V T (t) (see FIGS. 8 to 10) stored in advance in the memory based on the vehicle speed.
- a threshold function formula for example, broken line characteristics
- V T (t n ) that outputs a threshold value.
- a threshold value can be stored in the storage area in advance using the vehicle speed and the elapsed time as arguments (for example, addresses of the storage area) in the memory.
- the CPU calculates a threshold value corresponding to the read vehicle speed or reads it from the memory table (step S140).
- the CPU outputs the selected threshold value to the speed threshold register that stores the threshold value inside the CPU (step S150).
- This threshold value is used in collision discrimination (estimation) based on the following velocity signals.
- the threshold value calculation (or reading) routine can be executed by the CPU at any time while the vehicle is traveling.
- the CPU repeats steps S110 to S150 to generate a threshold value V T (t n ) corresponding to the passage of time.
- FIG. 15 is a flowchart for explaining an example of determining a collision based on an integrated value (speed signal) of the output signal of the satellite sensor.
- FIG. 15 is a flowchart for explaining a procedure in which the CPU of the signal processing unit 32 determines (estimates) a collision from the output signal of one satellite sensor 2 arranged so as to deviate from the vehicle center position.
- the collision determination is performed based on the integrated value (speed signal) of the output signal of the satellite sensor 2.
- the CPU executes this routine.
- the CPU reads an output signal (acceleration data) from the satellite sensor 2 input to the register (step S2), and determines whether this output signal level is a level at which this control algorithm is to be executed (step S2).
- Step S4 If the level of the output signal does not exceed the threshold value for executing this control algorithm (step S4; No), this routine ends.
- the level of the output signal exceeds the threshold value for executing this control algorithm (step S4; Yes)
- the vehicle traveling speed is read from the output of the speed sensor 5 (step S10), and the vehicle speed is stored in the register. (Step S12).
- the CPU compares the vehicle speed with the register value to determine whether the vehicle speed is high speed, medium speed, or low speed (steps S14, S30, S40).
- step S14 When the CPU determines that the vehicle speed is high (step S14; Yes), it performs filter processing or the like as necessary on the acceleration data (instantaneous value of the acceleration signal) of the output signal of the satellite sensor 2 input to the register. Signal processing is performed (step S16).
- the CPU performs an integration process on the acceleration signal and outputs a speed signal (step S18).
- the CPU compares the level of the speed signal with the threshold V TH (t n ) corresponding to the high speed stored in the threshold register (step S22). If the level of the speed signal does not exceed the threshold value (step S22; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is low (step S14; No, S30; Yes), signal processing such as filter processing is performed on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary ( Step S32).
- the CPU performs an integration process on the acceleration signal and outputs a speed signal (step S34).
- the CPU compares the acceleration with a threshold value V TL (t n ) corresponding to the low speed stored in the register (step S38). If the level of the speed signal does not exceed the threshold value (step S38; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is medium (step S14; No, S30; No), signal processing such as filter processing is performed on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary.
- Step S40 The CPU performs an integration process on the acceleration signal and outputs a speed signal (step S42).
- the CPU compares the level of the speed signal with the threshold value V TM (t n ) corresponding to the low speed stored in the threshold value register (step S46). If the level of the speed signal does not exceed the threshold value (step S46; No), it is determined that there is no collision and the process ends.
- step S22 when the vehicle speed is high, the level of the speed signal that is an integral value of the output signal of the satellite sensor 2 exceeds the threshold V TH (step S22; Yes), and the speed is when the vehicle speed is medium.
- V TM when the level of the signal exceeds the threshold value V TM (step S46; Yes)
- V TL when the vehicle speed is low (step S38; Yes)
- CPU's flags register A collision flag (collision signal) is set to ON (step S50).
- collision flag is set to ON, an activation command signal is transmitted to the activation circuit 34 and an ignition signal is transmitted to the occupant protection device 4.
- the CPU repeatedly executes steps S10 to S50 at a predetermined cycle (for example, 0.001 second) and monitors the output signal (instantaneous value) of the satellite sensor 2 to determine the presence or absence of a collision.
- a predetermined cycle for example, 0.001 second
- FIG. 16 shows a third embodiment of the present invention.
- the same reference numerals are given to the portions corresponding to those in FIGS.
- FIG. 16 is a flowchart for explaining a procedure in which the CPU of the signal processing unit 32 determines (estimates) a collision from the output signal of one satellite sensor 2 arranged so as to deviate from the vehicle center position.
- the collision determination is performed based on two of the output signal of the satellite sensor 2 and its integrated value (speed signal).
- the CPU executes this routine.
- the CPU reads an output signal (acceleration data) from the satellite sensor 2 input to the register (step S2), and determines whether this output signal level is a level at which this control algorithm is to be executed (step S2).
- Step S4 If the level of the output signal does not exceed the threshold value for executing this control algorithm (step S4; No), this routine ends.
- the level of the output signal exceeds the threshold value for executing this control algorithm (step S4; Yes)
- the vehicle traveling speed is read from the output of the speed sensor 5 (step S10), and the vehicle speed is stored in the register. (Step S12).
- the CPU compares the vehicle speed with the register value to determine whether the vehicle speed is high speed, medium speed, or low speed (steps S14, S30, S40).
- step S14 When it is determined that the vehicle speed is high (step S14; Yes), signal processing such as filter processing is performed on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary (step S16).
- the CPU performs an integration process on the acceleration signal and outputs a speed signal (step S18).
- the CPU compares the acceleration with a threshold V TH corresponding to the high speed stored in the acceleration threshold register (step S20). If the acceleration (deceleration) level does not exceed the threshold stored in the acceleration threshold register (step S20; No), it is determined that there is no collision and the process ends.
- step S20 When the acceleration (deceleration) level exceeds the threshold value (step S20; Yes), the CPU further sets the threshold value V TH (t n) corresponding to the speed signal level and the high speed stored in the speed threshold register. ) Is compared (step S22). If the level of the speed signal does not exceed the threshold value (step S22; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is low (step S14; No, S30; Yes), signal processing such as filter processing is performed on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary (Ste S32).
- the CPU performs an integration process on the acceleration signal and outputs a speed signal (step S34).
- the CPU compares the acceleration with a threshold V TL corresponding to the low speed stored in the acceleration threshold register (step S36). If the acceleration (deceleration) does not exceed the threshold value VTL when the vehicle speed is low (step S36; No), it is determined that there is no collision and the process ends.
- step S36 When (deceleration) exceeds a threshold value V TL (step S36; Yes), further, CPU compares the threshold value V TL corresponding to the low speed stored in the threshold register for the speed and velocity (t n) (Step S38). If the level of the speed signal does not exceed the threshold value (step S38; No), it is determined that there is no collision and the process ends.
- step S14 When it is determined that the vehicle speed is medium (step S14; No, S30; No), signal processing such as filter processing is performed on the acceleration data of the output signal of the satellite sensor 2 input to the register as necessary.
- Step S40 The CPU performs an integration process on the acceleration signal and outputs a speed signal (step S42).
- the CPU compares the acceleration with the threshold value V TM corresponding to the medium speed stored in the acceleration threshold register (step S44). If the acceleration (deceleration) level does not exceed the threshold (step S44; No), it is determined that there is no collision and the process ends.
- the CPU compares the level of the speed signal with the threshold value V TM (t n ) corresponding to the medium speed stored in the threshold value register (step S46). If the level of the speed signal does not exceed the threshold value (step S46; No), it is determined that there is no collision and the process ends.
- the vehicle speed is high, the output signal (acceleration signal) of the satellite sensor 2 and the level of the speed signal that is an integral value thereof exceed the threshold V TH (step S22; Yes), the vehicle speed is medium.
- the level of the speed signal exceeds the threshold value V TM when a fast (step S46; Yes)
- the level of the speed signal exceeds the threshold value V TL when the vehicle speed is low (step S38; Yes)
- the CPU sets the collision flag (collision signal) in the flag register to ON (step S50).
- the collision flag is set to ON, an activation command signal is transmitted to the activation circuit 34 and an ignition signal is transmitted to the occupant protection device 4.
- the CPU repeatedly executes steps S10 to S50 at a predetermined cycle (for example, 0.001 second) and monitors the output signal (instantaneous value) of the satellite sensor 2 to determine the presence or absence of a collision.
- a predetermined cycle for example, 0.001 second
- step S20 if it is determined in step S20 that a collision has occurred, the collision detection flag based on acceleration may be set to ON, and the next time and subsequent steps may be skipped and step S22 may be executed. Thereby, it may be configured such that the collision detection flag is determined when the collision detection flag based on acceleration is on and the collision detection flag based on speed is on (step S22). The same applies to steps S36 and S44. When there is a time difference between the collision detection based on the acceleration signal and the collision detection based on the velocity signal, the collision detection can be made more reliable.
- step S20 the order of collision detection based on the acceleration signal (step S20) and collision detection based on the speed signal (step S22) may be reversed.
- the collision determination based on the acceleration signal shown in FIG. 7 and the collision determination based on the speed signal shown in FIG. 15 are simultaneously executed by the multiprocessor. In each determination, when all the collision flags (acceleration signal, speed signal) in each process are set to ON (AND condition), it is determined that the vehicle is a collision.
- the right and left offset collision can be detected based on the output signal of one satellite sensor arranged in front of the vehicle and deviating from the center position. .
- the signal processing device 32 is separately provided with a main collision sensor 33 (for example, on the same circuit board), and also performs collision detection based on the output signal of the main collision sensor 33 at the same time.
- the signal processing device 32 includes a collision flag based on the collision determination targeting the output signal of the satellite sensor 2, and a collision flag based on the collision determination targeting the output signal of the main collision sensor 33. Can be activated when both are turned on (when the AND condition is satisfied). Further, the collision can be determined based on the outputs of a plurality of satellite sensors including the front satellite sensor 2.
- the embodiment of the present invention is an example applied to a front satellite sensor, but can also be applied to other satellite sensors and a main sensor in an electronic control device.
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Abstract
Description
出力信号のレベルが本制御アルゴリズムを実行すべき閾値を超える場合には(ステップS4;Yes)、速度センサ5の出力から車両の走行速度の読取りを行い(ステップS10)、車両速度をレジスタに記憶する(ステップS12)。CPUは車両速度をレジスタ値と比較して、車両速度が高速か、中速か、低速かを判別する(ステップS14,S30,S40)。
したがって、全ての車速に対して同一の閾値によって判別することが可能である。
図14及び図15は、サテライトセンサ2の出力信号(加速度信号あるいは減速度信号)の積分値(速度信号)に基づいて衝突判別を行う場合の制御系の動作を説明する第2実施例のフローチャートである。第2の実施例では、時間経過と共に閾値VT(t)を変化させることができる。また、車両速度に対応して閾値関数VT(t)が選択される。
出力信号のレベルが本制御アルゴリズムを実行すべき閾値を超える場合には(ステップS4;Yes)、速度センサ5の出力から車両の走行速度の読取りを行い(ステップS10)、車両速度をレジスタに記憶する(ステップS12)。CPUは車両速度をレジスタ値と比較して、車両速度が高速か、中速か、低速かを判別する(ステップS14,S30,S40)。
出力信号のレベルが本制御アルゴリズムを実行すべき閾値を超える場合には(ステップS4;Yes)、速度センサ5の出力から車両の走行速度の読取りを行い(ステップS10)、車両速度をレジスタに記憶する(ステップS12)。CPUは車両速度をレジスタ値と比較して、車両速度が高速か、中速か、低速かを判別する(ステップS14,S30,S40)。
2 サテライトセンサ
3 制御部
4 エアバッグ装置(乗員保護装置)
5 速度センサ
32 信号処理部(CPU)
Claims (5)
- 車両の前方位置に配置された加速度センサと、前記加速度センサの出力信号に基づいて衝突を判別して乗員保護装置を動作させる制御部と、を有する乗員保護装置の制御装置であって、
前記加速度センサは、車両前方中央位置から車両の幅方向にずれて配置された1つのサテライトセンサであり、
前記制御部は、
前記車両の走行速度に対応して第1の閾値を設定する第1閾値設定手段と、
前記加速度センサの出力信号のレベルと前記第1の閾値とを比較して衝突を判別する判別手段と、
を備える乗員保護装置の制御装置。 - 車両の前方位置に配置された加速度センサと、前記加速度センサの出力信号に基づいて衝突を判別して乗員保護装置を動作させる制御部と、を有する乗員保護装置の制御装置であって、
前記加速度センサは、車両前方中央位置から車両の幅方向にずれて配置された1つのサテライトセンサであり、
前記制御部は、
前記加速度センサの出力信号を積分して速度信号を出力する計算手段と、
前記車両の走行速度に対応して第2の閾値を設定する第2閾値設定手段と、
前記速度信号のレベルと前記第2の閾値とを比較して衝突を判別する判別手段と、
を備える乗員保護装置の制御装置。 - 車両の前方位置に配置された加速度センサと、前記加速度センサの出力信号に基づいて衝突を判別して乗員保護装置を動作させる制御部と、を有する乗員保護装置の制御装置であって、
前記加速度センサは、車両前方中央位置から車両の幅方向にずれて配置された1つのサテライトセンサであり、
前記制御部は、
前記加速度センサの出力信号を積分して速度信号を出力する計算手段と、
前記車両の走行速度に対応して第1の閾値を設定する第1閾値設定手段と、
前記車両の走行速度に対応して第2の閾値を設定する第2閾値設定手段と、
前記加速度センサの出力信号のレベルと前記第1の閾値とを比較して衝突を判別する第1判別手段と、
前記速度信号のレベルと前記第2の閾値とを比較して衝突を判別する第2判別手段と、
を備える乗員保護装置の制御装置。 - 前記第2の閾値は衝突からの時間経過の関数として表され、前記車両速度に対応して閾値の時間変化特性が設定される、請求項2又は3に記載の乗員保護装置の制御装置。
- 前記第2の閾値は衝突からの時間経過の関数として表され、前記車両速度に対応して衝突初期の閾値の時間変化特性が変更される、請求項2又は3に記載の乗員保護装置の制御装置。
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