WO2004058546A1 - 車両用安全装置 - Google Patents
車両用安全装置 Download PDFInfo
- Publication number
- WO2004058546A1 WO2004058546A1 PCT/JP2003/016834 JP0316834W WO2004058546A1 WO 2004058546 A1 WO2004058546 A1 WO 2004058546A1 JP 0316834 W JP0316834 W JP 0316834W WO 2004058546 A1 WO2004058546 A1 WO 2004058546A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- time
- deceleration rate
- vehicle
- collision
- safety device
- Prior art date
Links
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
-
- 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
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R22/00—Safety belts or body harnesses in vehicles
- B60R22/34—Belt retractors, e.g. reels
- B60R22/46—Reels with means to tension the belt in an emergency by forced winding up
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- 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
- B60R2021/01265—Seat belts
- B60R2021/01272—Belt tensioners
Definitions
- the present invention relates to a vehicle safety device that enhances occupant protection by, for example, winding up a seat belt when a vehicle has a high risk of collision.
- the vehicle occupant restraint system that operate by pre-crash detection (pre-crash sensing) to restrain the occupant.
- pre-crash sensing For example, in the vehicle occupant restraint system disclosed in Japanese Patent Application Laid-Open No. 9-1755327, the time to collision, which is the value obtained by dividing the distance to the object of collision by the current value of the relative speed (the margin of collision) Time) Force
- the sheet belt winding operation is started when the specified threshold time that has been set is at least longer than the minimum time in which collision cannot be avoided.
- the vehicle occupant restraint device starts the lifting operation of the seat belt and restrains the occupant at a time point (operation start time point) ahead of the predicted collision time point by the predetermined threshold time.
- the vehicle occupant restraint device operates at an appropriate timing. There was a problem that it was not possible.
- the collision may occur before the seat belt is sufficiently wound up (or the tension is not applied to the seat belt).
- the tension is applied to the seat belt as soon as possible with sufficient margin to prevent such a problem, the seat belt will frequently be wound up in cases where collisions can be easily avoided by subsequent steering operations. It will occur.
- the maneuvering operation is not considered at all at the time of the collision measurement, such a problem may occur.
- the operation start time is set at a time that is a predetermined threshold time earlier than the predicted collision time, if the actual collision time is later than the predicted collision time due to a change in the vehicle speed due to the steering operation, The loosening of the seatbelt may start before the actual collision point.
- the time from the predicted collision point to the start of loosening should be set longer.
- such a solution can cause occupants to feel uncomfortable.
- the conventional seat belt hoisting device (occupant restraint device) it is set so that the hoisting operation is always performed at a constant operation start-up time (energization pattern).
- a running-out accident, etc. at the stage when the collision danger is recognized and the predicted collision time point is calculated, it may not be possible to secure the operation start-up time sufficient to apply sufficient tension to the seat belt.
- constantly hoisting at the maximum speed will cause problems such as discomfort to the occupants and increased power consumption.
- the present invention has been made in view of the above-described problems, and has been made in consideration of a change in vehicle running conditions. By appropriately changing the occupant protection timing ⁇ the occupant protection operation, the occupant's uncomfortable feeling can be suppressed. It is an object of the present invention to provide a vehicle safety device capable of realizing a suitable occupant protection operation. Disclosure of the invention
- the vehicle safety device has a basic configuration that includes a distance information detecting element for detecting a distance to a collision target and a relative speed with respect to the collision target;
- the occupant protection element that completes the transition to the occupant protection state after the start-up time of operation and reduces collision damage, and the time to collision, which is the time to the predicted collision calculated based on the detected distance and relative speed,
- a calculation control element for instructing the start of operation when a predetermined threshold time set longer than the operation rise time is reached is set as the operation start time. Therefore, normally, the operation of the occupant protection element can be completed before the predicted collision point, and the occupant can be protected in the event of a collision.
- the vehicle safety device further includes a deceleration rate information detecting element that detects deceleration rate information relating to a deceleration rate that is a change rate (decrease rate) of the relative speed, and the arithmetic control element includes a deceleration rate. Correct the start time of the occupant protection element based on the information. Specifically, when the deceleration rate is large, the start time of the operation of the occupant protection element is delayed compared to when the deceleration rate is small.
- the operation start timing of the occupant protection element can be appropriately changed. As a result, a suitable occupant protection operation can be realized while suppressing an uncomfortable feeling given to the occupant.
- the operation start time of the occupant protection element is corrected based on the information on the rate of change (deceleration rate) of the relative speed between the host vehicle and the collision target. If various collision avoidance operations are performed by the driver before the start of operation of the occupant protection element, the actual collision time varies from the predicted collision time.
- the collision allowance time (the time from the present time to the predicted collision time) and the preferable operation start time (the time when the collision allowance time reaches the threshold time) also fluctuate.
- the operation start time is corrected based on the information on the deceleration rate, a suitable operation start time can always be set.
- the deceleration rate is defined as the rate of change (decrease rate) of the relative speed between the host vehicle and the collision object
- a large deceleration rate means that the relative speed decreases more quickly.
- the relative speed which is the speed difference between the own vehicle and the collision target
- the collision time fluctuates in a later direction. Therefore, when the deceleration rate is large, the operation start time of the occupant protection element is delayed as compared with the case where the deceleration rate is small, so that the operation start time can be adapted to the actual collision time.
- the vehicle safety device includes a deceleration rate information detecting element that detects deceleration rate information relating to a deceleration rate that is a rate of change (decrease rate) of the relative speed, and the arithmetic control element is configured to detect the deceleration rate information based on the deceleration rate information.
- the arithmetic control element is configured to detect the deceleration rate information based on the deceleration rate information.
- the operation stop point of the occupant protection element is corrected based on the information on the deceleration rate of the relative speed between the own vehicle and the collision target. Therefore, even if various collision avoidance operations performed by the driver before the start of the operation of the occupant protection element change the actual collision time from the predicted collision time, a suitable operation stop time according to the fluctuation is set. it can.
- the vehicle safety device includes a deceleration rate information detecting element for detecting deceleration rate information relating to a deceleration rate that is a rate of change (decrease rate) of the relative speed, and the arithmetic and control element controls the deceleration rate according to the deceleration rate.
- Adjust the strength of the protection action of the occupant protection element Specifically, the protection operation of the occupant protection element is strengthened when the deceleration rate is large compared to when it is small. Therefore, it is possible to appropriately change the strength of the protection operation of the occupant protection element in response to a change in the vehicle running condition. As a result, a suitable occupant protection operation can be realized while suppressing an uncomfortable feeling given to the occupant.
- protection of the occupant protection element is estimated based on the information on the deceleration rate of the relative speed between the host vehicle and the collision target, when the deceleration rate is large, the collision risk is estimated to be greater. Enhance operation. Therefore, the occupant protection operation can be selectively enhanced according to the collision risk, so that good occupant protection can be realized while suppressing the occupant's discomfort.
- the arithmetic and control element adjusts the rise time of the occupant protection element according to the time to collision. Specifically, the rise time of the occupant protection element is reduced when the time to collision is short compared to when it is long. Therefore, the occupant protection timing ⁇ the occupant protection operation can be appropriately changed in response to the change in the vehicle running condition, and a suitable occupant protection operation can be realized while suppressing the uncomfortable feeling given to the occupant. That is, according to the fourth invention, when it is determined that the collision margin time is sufficiently long from the predicted collision time obtained by taking into account the distance and the relative speed or further considering the deceleration rate, the occupant protection Start the operation of the element slowly.
- the occupant protection element is activated quickly. As a result, the occupant protection can be completed promptly when the time to collision, ie, the time before the predicted collision-is not sufficient, as in the case of a pop-up accident.
- the collision allowance time is sufficiently long, by slowly starting the operation, the operation can be started without giving the occupant an uncomfortable feeling, and the feeling given to the occupant can be improved.
- the rise time of the occupant protection element is the time from when the occupant protection element is instructed to operate until the occupant protection element completes the occupant protection operation. It is evident that there is this type of delay in operation, the rise time, in every power operation crisis.
- a deceleration rate information detecting element for detecting deceleration rate information relating to a deceleration rate, which is a rate of change (decrease rate) of a relative speed, wherein the arithmetic control element has a small deceleration rate when the deceleration rate is large.
- the operation start-up time of the occupant protection element may be configured to be shorter than that of the occupant protection element.
- FIG. 1 is a block diagram showing a configuration of a vehicle safety device according to a preferred embodiment of the present invention.
- FIG. 2 is a part of a flowchart showing the control operation of the arithmetic control unit in FIG.
- FIG. 3 is the remainder of the flowchart showing the control operation of the arithmetic control unit in FIG. Fig. 4 shows the relationship between the current command value applied to the motor of the seat belt retractor by the control operation of the arithmetic control unit in Fig. 1. It is a timing chart which shows a change.
- the vehicle safety device includes a distance information detection element that detects a distance to a collision target and a relative speed with respect to the collision target, and protects an occupant after a lapse of a predetermined operation start time from the start of operation.
- the occupant protection element that completes the transition to the state and reduces collision damage, and the collision allowance time, which is the time to the predicted collision calculated based on the detected distance and relative speed, is set to be longer than the operation start-up time
- a distance information detecting element there is a radar type distance measuring device that irradiates the collision target with electromagnetic waves, ultrasonic waves, laser beams, etc., receives the reflected waves, and measures the distance from the time from irradiation to reception.
- an imaging distance measurement device that calculates a distance by performing image processing on a video obtained by imaging a collision target can be employed. Since this type of distance measuring device is well known, a detailed description is omitted.
- the relative speed can be calculated from the difference information of the distance information obtained periodically.
- a well-known FMCW (Frequency Modul on Continuous Wave) type laser beam leg is useful because the distance to the collision target and the relative speed can be detected simultaneously. Better.
- any known device that can expect an occupant protection effect in the event of a collision in addition to a known seat belt winding device that applies a predetermined level of tension to the seat belt, can be used.
- the sheet belt hoisting apparatus usually has a motor as a means for generating tension while winding up the sheet belt.
- other means may be employed as long as the function of increasing the tension of the seat belt can be achieved.
- the arithmetic control element is configured by a normal microcomputer device. However, even if special arithmetic circuits and storage circuits are added to speed up the control operation, Good. Alternatively, the arithmetic and control element may be constituted by a dedicated digital logic circuit.
- the computation control element computes a signal at the time of the predicted collision or a signal that is logically equivalent thereto (for example, a collision allowance time) based on at least the distance and the relative speed. Further, the arithmetic and control element determines whether or not the time up to the predicted collision time (collision allowance time) has reached the threshold time or less based on the predicted collision time or an equivalent signal.
- the arithmetic and control element instructs the occupant protection element to perform the occupant protection operation for at least a fixed time.
- the threshold time must be set at least longer than the activation time from when the occupant protection element starts to operate until the occupant protection state is completed. Also, it is natural that the above-mentioned fixed time during which the occupant protection element performs the protection operation is set to end at least later than the predicted collision time predicted when the occupant protection element is instructed to start operating. is there.
- the relative position of the vehicle is predicted from the traveling history of the collision target using the vehicle as a reference point (origin) in time and space.
- the time when the relative trajectory reaches the reference point is determined as the predicted collision time.
- the spatiotemporal space is represented by two distance dimensions X (for example, vehicle traveling direction), y (vehicle lateral direction), and a time dimension t.
- X for example, vehicle traveling direction
- y vehicle lateral direction
- t time dimension
- the distance to the collision target is indicated by the distance from the reference point (origin) to the coordinate point of the collision target on the x and y planes
- the relative speed is the differential value of this distance.
- the relative velocity is represented by a velocity component in the distance direction, that is, a vector component toward the origin in the relative velocity vector of the collision target in the x and y planes.
- the deceleration rate in the present invention essentially means a differential value of the relative velocity, that is, a double differential value of the distance itself, or an amount having a positive correlation with the double differential value of the distance.
- This deceleration rate is information on the deceleration rate in the present invention.
- the information on the deceleration rate is obtained based on the steering operation of the driver's vehicle before the collision, which is performed, for example, to avoid collisions or reduce the damage caused by the collision, so that necessary information can be obtained with good response. .
- the deceleration rate information detecting element includes a brake depression amount sensor that detects a depression amount of a brake pedal, an in-vehicle brake pressure sensor that detects a brake pressure, an in-vehicle acceleration sensor that detects a deceleration rate of the own vehicle, It may include at least one vehicle-mounted yaw rate sensor that detects the yaw rate and at least one vehicle-mounted steering angle sensor that detects the steering angle signal. Further, the deceleration rate information detecting element may include an accelerator pedal position sensor for detecting the accelerator pedal depression amount and an opening sensor for detecting the opening of the throttle valve.
- the deceleration rate fluctuates, which can be detected by the amount of depression of the brake pedal, the brake pressure, the deceleration, and a change thereof.
- the forward direction of the own vehicle changes, so that the deceleration rate, which is the rate of change of the relative speed in the distance direction, changes.
- This steering operation can be detected by the yaw rate, the steering angle, and their changes.
- the operation of the accelerator pedal accelerates the vehicle and decelerates the vehicle due to engine braking, so the deceleration rate varies.
- the fluctuation of the deceleration caused by the operation of the accelerator pedal can be detected based on the amount of depression of the accelerator pedal, the opening of the throttle valve, and a change thereof.
- FIG. 1 is a block diagram illustrating a configuration of a vehicle safety device according to an embodiment.
- the vehicle safety device includes a distance sensor 1 corresponding to a distance information detecting element referred to in the present invention, a driving operation sensor 2 corresponding to a deceleration rate information detecting element, an arithmetic control unit 3 corresponding to an arithmetic control element, and an occupant protection element. And a seat belt hoisting device 4 corresponding to.
- the distance sensor 1 processes a frame image output at a predetermined frame rate from a camera provided at a front part of the vehicle body to capture an image of the front, and determines whether or not there is a collision target and a distance between the camera and the collision target. And an image processor that outputs the relative speed to the arithmetic and control unit 3. That is, the image processing processor extracts a collision target, which is an object having a possibility of collision, from the frame image from the camera. At this time, if the collision target is extracted, the distance to the collision target is calculated, and the relative speed is calculated from the change in the calculated distance. Then, the presence / absence of the collision target, the distance, and the relative speed are output to the arithmetic and control unit 3 in the form of digital signals.
- the distance sensor 1 may be replaced with a device having another equivalent function such as a radar system.
- the driving operation sensor 2 includes five components: a brake pressure sensor, an acceleration sensor, an audible sensor, a steering angle sensor, and an exhaust sensor. However, it may be composed of one or more of them. Further, any sensor that detects a vehicle maneuvering operation that changes the speed vector of the vehicle in a two-dimensional space on the road surface on which the vehicle runs and information about the result thereof may be employed. For example, a brake pedal depression amount sensor may be used instead of the brake pressure sensor.
- the operation sensor 2 outputs the detected data to the arithmetic and control unit 3 in the form of a digital signal.
- the arithmetic and control unit 3 controls the operation of the seat belt retractor 4 based on the distance data and the relative speed data input from the distance sensor 1 and the deceleration rate-related information input from the driving operation sensor 2. Note that the relative speed is determined as a distance change amount per unit time, but this calculation may be performed by the calculation control unit 3 instead of the distance sensor 1.
- the seat belt winding device 4 winds a seat belt winding mechanism and a free end of the seat belt in the seat belt winding mechanism. It consists of a reversible motor that loosens or reverses, and an energization control device that supplies the motor with a current value according to the input command. This type of seat belt hoisting device 4 is already well known, and a detailed description thereof will be omitted.
- FIG. 2 is a flowchart showing the control operation executed by the arithmetic and control unit 3, which will be described below with reference to this flowchart.
- step S100 a reset is performed (step S100), and thereafter, it is determined whether or not there is a collision target within the collision danger range based on the data input from the distance sensor 1 (step S102). At this time, if it is determined that there is a collision target within the collision risk area, the process proceeds to step S104, in which the distance data and the relative speed data relating to the collision target are read from the distance sensor 1 and the driving operation is performed. Reads deceleration rate related information from sensor 2.
- the deceleration rate-related information referred to here means information relating to a deceleration rate, and in particular, in the present embodiment, means information relating to a driving operation which affects the deceleration rate or information relating to a vehicle state which is generated as a result of the driving operation.
- the driving operation sensor 2 includes a brake pressure sensor, an acceleration sensor, an audible sensor, a steering angle sensor, and an acceleration sensor, and the brake pressure, acceleration (deceleration G) read from each sensor. ), Yaw rate (vehicle angular velocity) The steering angle and the amount of accelerator depression are used as deceleration rate-related information.
- a predicted collision time point is calculated based on the read data (S106).
- the predicted collision time is calculated by, for example, dividing the distance to the collision target by the relative speed to the collision target.
- the collision allowance time which is the time from the present time to the predicted collision time
- the operation start-up time which is the time from the start of operation of the sheet belt hoisting device 4 to the generation of the required predetermined tension, and the predetermined time. It is determined whether or not it is greater than a first threshold time to which the sum of (S108) is added. If the time to collision is longer than the first threshold time, immediately shift to occupant restraint control Since there is no need to perform this operation, the process returns to step S102. If the collision allowance time is equal to or less than the first threshold time, the process proceeds to step S110 to shift to the preparation stage of the occupant restraint control.
- the operation start point is a point in time that is a predetermined second threshold time earlier than the predicted collision point, and the operation is a point in time that is delayed by a predetermined third threshold time from the predicted collision point.
- the time from the start of operation to the stop of operation corresponds to the operation time of the seat belt hoisting device 4. Further, the second threshold time is set to be equal to or longer than the normal operation start-up time of the seat belt retractor 4.
- the operation amount and Z or the driving operation is delayed according to the vehicle state quantity that occurs. For example, it can be determined that the larger the read brake pressure, and the larger the Z or the read deceleration, the greater the deceleration rate of the relative speed and the longer the collision. Similarly, even when a yaw rate or a steering angle occurs in a direction in which the own vehicle and the collision target move away from each other, it can be determined that the collision is delayed due to an increase in the relative speed deceleration rate.
- the operation start time is advanced according to the driving operation amount or the like. For example, if the accelerator pedal is depressed, it can be determined that the collision will be accelerated according to the amount of depression. Similarly, the collision will be accelerated even if a change occurs in the steering angle / steering angle in the direction in which the own vehicle and the collision object approach.
- the deceleration rate related information is not the magnitude itself of the brake pressure, deceleration, yaw rate, steering angle, etc.
- the change amount may be calculated, and the operation start point may be corrected based on the change amount.
- the above detected values also have a correlation with the deceleration rate, which is the rate of change of the relative speed.
- the amount of change of each detected value has a higher correlation with the deceleration rate. For example, if the brake pressure changes in a direction to increase before the start of operation, it can be estimated that the brake pressure will continue to increase thereafter, and as a result, the deceleration rate will increase.
- the correction at the operation stop time is performed in the same manner as the correction at the operation start time described above. For example, when the deceleration rate is large, the predicted collision time is later than when the deceleration rate is small. Therefore, the operation stop time is also delayed in conjunction with the operation start time delay.
- the delay time at the time of starting operation and the time of stopping operation are set, for example, to be equal.
- the above-mentioned predicted collision time is corrected based on the deceleration rate-related information, and the operation start time and the operation stop time are indirectly corrected. Is also good. In other words, a time point earlier than the corrected predicted collision time point by the second threshold time is set as the operation start time point, and a time point after the third threshold time has elapsed is set as the operation stop time point. In this case, the operation start time and the operation stop time will be shifted by the correction of the predicted collision time.
- the operation start time may be corrected in accordance with the above-described method, and the operation stop time may be obtained by adding a predetermined operation time of the sheet belt winding device 4 to the corrected operation start time. Even in this case, the operation stop point can be corrected according to the magnitude of the deceleration rate.
- the time until the operation start time after the correction is set in the start timer to determine whether the operation start time has been reached.
- the stop timer for determining whether the 'stop' point has been reached Set the time until the stop point. Then, the counting of each start and stop timer is started (S112). Thereafter, the operation rise time of the seat belt retractor 4 is set according to the time up to the start of operation (S114).
- the operation start-up time of the sheet belt winding device 4 is set to two stages, a normal time and a short time, for the sake of simplicity.
- the time until the operation start time is compared with a predetermined fourth threshold time. That is, it is determined whether or not the collision allowance time up to the predicted collision time is equal to or longer than a time obtained by adding a predetermined fourth threshold time to the operation start time. If the time until the start of operation is equal to or longer than the fourth threshold time, there is a margin in time until the start of operation of the seat belt retractor 4 is completed. Therefore, the operation start-up time is set to the normal time.
- the current increase rate is set so that the current (winding direction) to be supplied to the motor of the sheet belt hoisting device 4 is relatively slowly increased.
- the take-up speed of the seat belt becomes low, and the tension of the seat belt also increases at a relatively small increase rate.
- the operation rise time is set to a short time shorter than the normal time.
- the motor of the sheet belt hoisting device 4 is supplied with the maximum current that can be supplied, for example, from the start of power supply. As a result, the current supplied to the motor increases quickly, the winding speed of the seat belt becomes high, and the tension of the seat belt increases at the maximum rate.
- the above-described fourth threshold time is set to a positive value including 0.
- the reason why the fourth threshold time includes 0 is as follows.
- the operation start point is set to a point in time that is longer than the normal operation start-up time of the seat belt retractor 4 with respect to the predicted collision point. For this reason, if there is time until the start of operation, even if the seat belt is wound up during the normal operation start-up time, the winding is completed by the predicted collision time. Further, instead of setting the operation rise time in two steps as described above, three or more steps or continuous operation start time may be set. For example, an example in which the operation rise time of the sheet belt winding device 4 is continuously set will be described below.
- the operation rise time is set to the normal time as in the above-described example. If the time up to the start of operation is less than the fourth threshold time, a time difference from the fourth threshold time is calculated, and the operation rise time is set to be shorter as the time difference is larger. Set.
- the time until the start of operation is compared with the fourth threshold time that is, the operation start-up time of the seat belt winding device 4 is set according to the time to collision. did.
- the operation start-up time of the seat belt hoisting device 4 may be set based on the deceleration rate-related information described above. For example, if the deceleration rate obtained from the deceleration rate-related information is larger than a predetermined deceleration rate, a short operation start-up time is set, and if the deceleration rate is smaller than the predetermined deceleration rate, a normal Set the rise time.
- the operation start-up time may be continuously changed according to the magnitude of the deceleration rate.
- the deceleration rate When the deceleration rate is large, the actual collision time is later than the predicted collision time.When the driver performs brake operation or steering operation that increases the deceleration rate, the situation is often high in the risk of collision. . Therefore, when the deceleration rate is large, it is preferable to presume that the risk of collision is high, complete the winding of the seat belt quickly, and prepare for the collision.
- the operation rise time in accordance with the magnitude of the deceleration rate, it is possible to suitably perform a process of setting the final tension of the seat belt according to the magnitude of the deceleration rate, which will be described later. . That is, when the deceleration rate increases and a large final tension is set, the operation rise time of the sheet belt is also set to a short time at the same time, so that the time to reach the final tension can be shortened.
- step S116 the magnitude of the tension that is ultimately applied to the seat belt.
- the final tension of the seat belt hoisting device 4 is set in two stages to simplify the description.
- the deceleration rate obtained from the deceleration rate-related information is equal to or greater than the predetermined deceleration rate. Is determined. If the deceleration rate is equal to or higher than the predetermined deceleration rate, it can be estimated that there is a high risk of collision, so the final tension of the seat belt is set to a strong tension. On the other hand, when the deceleration rate is smaller than the predetermined deceleration rate, the final tension of the seat belt is set to the normal tension.
- the seatbelt tension can be selectively increased only when the risk of collision is estimated to be high.
- the saturation current value finally given to the motor of the seat belt retractor 4 is increased, and when the tension is set to the normal tension, the saturation current value is decreased. I do.
- the final tension of the seat belt was set to two levels.However, depending on the magnitude of the deceleration rate, it could be set to three or more levels, or the final tension of the seat belt could be changed continuously. Is also possible.
- step S118 it is determined whether or not the start timer set in step S112 has finished counting. If the start timer has not expired, it waits until the count expires, that is, until the start of operation. Then, when the count of the start timer has expired and the operation has started, the process proceeds to step S120. If the operation start time calculated in step S110 is earlier than the current time, a numerical value corresponding to the operation start time is stored in the register of the start timer in step S112 (for example, 0). ) Is set, so that the process reaches step S120 with a time delay almost negligible via steps S114 to S118.
- step S120 the operation start-up selected in step S114 is started. Control of the motor to the motor of the sheet belt hoisting device 4 is performed with the current time (increase rate of the energizing current) and the final tension (saturated energizing current value) selected in step S116. Proceed to 2.
- step S122 it is determined whether or not the stop timer set in step S112 has finished counting. If the stop timer has not expired, the process returns to step S120 to continue the energization control. If the stop timer has expired, the process proceeds to step S124.
- step S124 when the power supply to the motor is completed, if the sheet belt retractor 4 has a mechanism for returning the wound up seat belt, the power supply to the motor is simply terminated. However, if the seatbelt does not return to its original state simply by terminating the energization, the current for rotating the motor in the reverse direction is applied to loosen the seatbelt, and the flow goes to step S102.
- the period ⁇ T is an initial full-load power-on period performed in a short time from the start of power-on.
- the period from time t1 to time t2 is a period in which the amount of energization increases at a predetermined increase rate. During this period, the tension of the seat belt increases at a predetermined increase rate. Therefore, the operation rise time T g referred to in the present invention refers to a period from the operation start time t s to the time t 2.
- a constant maximum current is supplied from time t1 to time t2.
- the energization amount control in which the saturation current value is applied to the motor until the energization stop time point t e is performed.
- This saturation current value is changed according to the final tension of the sheet belt set in step S116.
- the present invention is not limited to the above-described embodiment at all, and can be implemented with various changes and modifications without departing from the gist of the present invention.
- a detection value from a sensor that detects a driver's steering operation or a vehicle state generated as a result thereof is used as the information on the deceleration rate.
- the deceleration rate is calculated from the change in the relative speed, and the calculated deceleration rate is used to correct the operation start time in the sheet belt retractor 4 and to set the operation rise time and final tension. Of course, you can use it.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE60328711T DE60328711D1 (de) | 2002-12-26 | 2003-12-25 | Sicherungsvorrichtung für ein kraftfahrzeug |
JP2004562949A JP4244213B2 (ja) | 2002-12-26 | 2003-12-25 | 車両用安全装置 |
US10/540,264 US7343235B2 (en) | 2002-12-26 | 2003-12-25 | Safety device for a vehicle |
EP03786341A EP1577177B1 (en) | 2002-12-26 | 2003-12-25 | Safety device for motor vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002377384 | 2002-12-26 | ||
JP2002-377384 | 2002-12-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004058546A1 true WO2004058546A1 (ja) | 2004-07-15 |
Family
ID=32677392
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/016834 WO2004058546A1 (ja) | 2002-12-26 | 2003-12-25 | 車両用安全装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7343235B2 (ja) |
EP (1) | EP1577177B1 (ja) |
JP (1) | JP4244213B2 (ja) |
KR (1) | KR100704790B1 (ja) |
CN (1) | CN100355607C (ja) |
DE (1) | DE60328711D1 (ja) |
WO (1) | WO2004058546A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006032445A2 (de) * | 2004-09-24 | 2006-03-30 | Daimlerchrysler Ag | Kraftfahrzeug mit einem präventiv wirkenden schutzsystem |
JP2006347511A (ja) * | 2005-06-20 | 2006-12-28 | Mazda Motor Corp | 車両の制御装置 |
JP2007168697A (ja) * | 2005-12-26 | 2007-07-05 | Daihatsu Motor Co Ltd | 乗員保護装置及び乗員保護方法 |
WO2008153205A1 (ja) * | 2007-06-14 | 2008-12-18 | Toyota Jidosha Kabushiki Kaisha | 衝突軽減装置 |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1939046B1 (en) * | 2003-10-29 | 2011-12-14 | Nissan Motor Co., Ltd. | Passenger protection device |
DE102004037704B4 (de) * | 2004-08-04 | 2014-07-10 | Daimler Ag | Kraftfahrzeug mit einem präventiv wirkenden Schutzsystem |
CN101370692B (zh) * | 2006-02-13 | 2010-09-22 | 奥托立夫开发公司 | 用于安全带的卷收器以及安全带装置 |
GB2442502A (en) * | 2006-10-05 | 2008-04-09 | Autoliv Dev | Progressive application of vehicle passenger reversible restraints in response to condition of road ahead |
JP4959296B2 (ja) * | 2006-11-10 | 2012-06-20 | 本田技研工業株式会社 | 車両のシートベルト装置 |
KR101128271B1 (ko) * | 2006-12-13 | 2012-03-23 | 주식회사 만도 | 차량 충돌 안전 제어장치 |
DE102007059898A1 (de) * | 2007-12-12 | 2009-06-18 | Robert Bosch Gmbh | Verfahren und Steuergerät zur Ansteuerung von Personenschutzmitteln für ein Fahrzeug |
US7991552B2 (en) | 2008-11-06 | 2011-08-02 | Ford Global Technologies, Llc | System and method for determining a side-impact collision status of a nearby vehicle |
US7991551B2 (en) | 2008-11-06 | 2011-08-02 | Ford Global Technologies, Llc | System and method for determining a collision status of a nearby vehicle |
DE102009033689A1 (de) * | 2009-07-17 | 2011-01-20 | Trw Automotive Gmbh | Fahrzeugsicherheitsgurtsystem |
WO2011108458A1 (ja) * | 2010-03-04 | 2011-09-09 | 本田技研工業株式会社 | 車両のシートベルト装置 |
CN102858602B (zh) * | 2010-04-23 | 2015-11-25 | 本田技研工业株式会社 | 座椅安全带装置 |
GB2489464B (en) * | 2011-03-29 | 2013-08-07 | Jaguar Cars | Actuation of an active device of a vehicle under braking |
DE102011106247B4 (de) | 2011-07-01 | 2014-05-28 | Audi Ag | Verfahren zum Steuern eines reversiblen Gurtstraffers eines Sicherheitsgurts in einem Kraftfahrzeug |
US9511711B2 (en) * | 2012-01-30 | 2016-12-06 | Klear-View Camera, Llc | System and method for providing front-oriented visual information to vehicle driver |
US20140139669A1 (en) | 2012-01-30 | 2014-05-22 | Steven Petrillo | System and method for providing front-oriented visual information to vehicle driver |
KR101993656B1 (ko) * | 2012-11-16 | 2019-06-26 | 휴렛-팩커드 디벨롭먼트 컴퍼니, 엘.피. | 화상 형성 장치 및 그 제어 방법, 모터 상태 검출 장치 |
EP2808206B1 (en) * | 2013-05-27 | 2017-07-12 | Volvo Car Corporation | Method and system of a vehicle for reversible seat belt retraction |
EP2821308B1 (en) * | 2013-07-03 | 2016-09-28 | Volvo Car Corporation | Vehicle system for control of vehicle safety parameters, a vehicle and a method for controlling safety parameters |
US9297659B2 (en) * | 2014-07-29 | 2016-03-29 | Chung Hua University | Composite navigation system |
DE102015212250A1 (de) | 2015-06-30 | 2017-01-05 | Conti Temic Microelectronic Gmbh | Verbesserte Berechnung der Zeit bis zur Kollision für ein Fahrzeug |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09175327A (ja) | 1995-12-27 | 1997-07-08 | Nippon Seiko Kk | 車両用安全装置 |
EP0931706A1 (en) * | 1998-01-27 | 1999-07-28 | Takata Corporation | Device and method for protecting a vehicle occupant |
JP2946995B2 (ja) * | 1993-03-31 | 1999-09-13 | 日産自動車株式会社 | 乗物用シートベルト装置 |
JPH11321496A (ja) * | 1998-05-15 | 1999-11-24 | Mazda Motor Corp | 車両用乗員保護装置 |
US6294987B1 (en) | 1998-05-07 | 2001-09-25 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle safety running control system |
JP2002002450A (ja) * | 2000-06-28 | 2002-01-09 | Takata Corp | シートベルト巻取り装置 |
JP2002123898A (ja) * | 2000-08-08 | 2002-04-26 | Equos Research Co Ltd | 車両制御装置 |
JP2003165461A (ja) * | 2001-12-03 | 2003-06-10 | Nissan Motor Co Ltd | 車両用操舵制御装置 |
JP2003182519A (ja) * | 2001-12-18 | 2003-07-03 | Toyota Motor Corp | シートベルト装置 |
DE10301290A1 (de) * | 2002-01-16 | 2003-08-21 | Denso Corp | Kollisionsschadensminderungssystem |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3893703A (en) * | 1972-08-07 | 1975-07-08 | John J Chika | Automatically deployed occupant restraint system |
JP2000512947A (ja) | 1996-06-24 | 2000-10-03 | ブリード オートモティブ テクノロジィ,インク. | 乗物安全装置用制御装置 |
US5964478A (en) * | 1997-03-07 | 1999-10-12 | Automotive Systems Laboratory, Inc | Electric field sensing air bag danger zone sensor |
JP3127893B2 (ja) * | 1998-07-07 | 2001-01-29 | 日本電気株式会社 | 半導体装置および半導体装置の製造方法 |
-
2003
- 2003-12-25 DE DE60328711T patent/DE60328711D1/de not_active Expired - Lifetime
- 2003-12-25 KR KR1020057012038A patent/KR100704790B1/ko active IP Right Grant
- 2003-12-25 JP JP2004562949A patent/JP4244213B2/ja not_active Expired - Lifetime
- 2003-12-25 WO PCT/JP2003/016834 patent/WO2004058546A1/ja active Application Filing
- 2003-12-25 US US10/540,264 patent/US7343235B2/en active Active
- 2003-12-25 EP EP03786341A patent/EP1577177B1/en not_active Expired - Lifetime
- 2003-12-25 CN CNB2003801078041A patent/CN100355607C/zh not_active Expired - Lifetime
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2946995B2 (ja) * | 1993-03-31 | 1999-09-13 | 日産自動車株式会社 | 乗物用シートベルト装置 |
JPH09175327A (ja) | 1995-12-27 | 1997-07-08 | Nippon Seiko Kk | 車両用安全装置 |
EP0931706A1 (en) * | 1998-01-27 | 1999-07-28 | Takata Corporation | Device and method for protecting a vehicle occupant |
US6294987B1 (en) | 1998-05-07 | 2001-09-25 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle safety running control system |
JPH11321496A (ja) * | 1998-05-15 | 1999-11-24 | Mazda Motor Corp | 車両用乗員保護装置 |
JP2002002450A (ja) * | 2000-06-28 | 2002-01-09 | Takata Corp | シートベルト巻取り装置 |
JP2002123898A (ja) * | 2000-08-08 | 2002-04-26 | Equos Research Co Ltd | 車両制御装置 |
JP2003165461A (ja) * | 2001-12-03 | 2003-06-10 | Nissan Motor Co Ltd | 車両用操舵制御装置 |
JP2003182519A (ja) * | 2001-12-18 | 2003-07-03 | Toyota Motor Corp | シートベルト装置 |
DE10301290A1 (de) * | 2002-01-16 | 2003-08-21 | Denso Corp | Kollisionsschadensminderungssystem |
Non-Patent Citations (1)
Title |
---|
See also references of EP1577177A4 |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006032445A2 (de) * | 2004-09-24 | 2006-03-30 | Daimlerchrysler Ag | Kraftfahrzeug mit einem präventiv wirkenden schutzsystem |
WO2006032445A3 (de) * | 2004-09-24 | 2006-05-04 | Daimler Chrysler Ag | Kraftfahrzeug mit einem präventiv wirkenden schutzsystem |
US7873473B2 (en) | 2004-09-24 | 2011-01-18 | Daimler Ag | Motor vehicle having a preventive protection system |
JP2006347511A (ja) * | 2005-06-20 | 2006-12-28 | Mazda Motor Corp | 車両の制御装置 |
JP4581863B2 (ja) * | 2005-06-20 | 2010-11-17 | マツダ株式会社 | 車両の制御装置 |
JP2007168697A (ja) * | 2005-12-26 | 2007-07-05 | Daihatsu Motor Co Ltd | 乗員保護装置及び乗員保護方法 |
WO2008153205A1 (ja) * | 2007-06-14 | 2008-12-18 | Toyota Jidosha Kabushiki Kaisha | 衝突軽減装置 |
JP2008308024A (ja) * | 2007-06-14 | 2008-12-25 | Toyota Motor Corp | 衝突軽減装置 |
US8798885B2 (en) | 2007-06-14 | 2014-08-05 | Toyota Jidosha Kabushiki Kaisha | Collision reducing device |
Also Published As
Publication number | Publication date |
---|---|
EP1577177B1 (en) | 2009-08-05 |
JP4244213B2 (ja) | 2009-03-25 |
JPWO2004058546A1 (ja) | 2006-04-27 |
KR100704790B1 (ko) | 2007-04-09 |
EP1577177A1 (en) | 2005-09-21 |
US7343235B2 (en) | 2008-03-11 |
US20060145463A1 (en) | 2006-07-06 |
DE60328711D1 (de) | 2009-09-17 |
CN1732101A (zh) | 2006-02-08 |
EP1577177A4 (en) | 2007-06-27 |
KR20050089856A (ko) | 2005-09-08 |
CN100355607C (zh) | 2007-12-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004058546A1 (ja) | 車両用安全装置 | |
US9845027B2 (en) | Vehicle occupant protection device | |
CN108116385B (zh) | 车辆控制方法及车辆控制系统 | |
JP4174334B2 (ja) | 車両用衝突防止支援装置 | |
US20100023226A1 (en) | Vehicle-mounted safety control apparatus | |
JP4678247B2 (ja) | 車両の制御装置 | |
JP2010015450A (ja) | 衝突防止装置 | |
JP3890967B2 (ja) | 車両用制動制御装置 | |
JP4581863B2 (ja) | 車両の制御装置 | |
JP4802773B2 (ja) | シートベルト装置 | |
JP2004149044A (ja) | 車両用シートベルト装置 | |
JP2005022522A (ja) | 車両の制御装置 | |
JP2004136787A (ja) | 車両用制御装置 | |
JP2004136788A (ja) | 車両用制御装置 | |
JP2007001516A (ja) | 車両の制御装置 | |
JP3858592B2 (ja) | 乗員保護装置 | |
JP2008174054A (ja) | 車両用安全装置 | |
JP4775047B2 (ja) | 車両のシートベルト制御装置 | |
JP2004189078A (ja) | 車両用安全装置 | |
JP4816166B2 (ja) | シートベルト制御装置 | |
JP2007290560A (ja) | 乗員保護装置の作動制御装置 | |
JP5780225B2 (ja) | 車両用乗員属性判別装置 | |
US11590928B2 (en) | Control device for seat belt of vehicle | |
JP3371492B2 (ja) | 車両衝突防止装置 | |
JP4848678B2 (ja) | 車両の制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): CN JP KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2004562949 Country of ref document: JP |
|
ENP | Entry into the national phase |
Ref document number: 2006145463 Country of ref document: US Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10540264 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2003786341 Country of ref document: EP Ref document number: 1020057012038 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 20038A78041 Country of ref document: CN |
|
WWP | Wipo information: published in national office |
Ref document number: 1020057012038 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2003786341 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 10540264 Country of ref document: US |