JPH06144154A - Shock absorber - Google Patents

Abstract

(57) [Abstract] [Purpose] Minimize impact on a collided person, such as a weak person such as a pedestrian or a bicycle, an automobile or a structure, and also minimize impact on an occupant, which is excellent in safety. (EN) A shock absorbing device that can contribute to the provision of a good vehicle. A front airbag 6 that is housed at a front end or a rear end of a vehicle and that is deployed to the front or the rear of the vehicle,
Front air bag drive means 5 for expanding and driving this,
An obstacle detecting means 1 for detecting an obstacle 10 in front of or behind the vehicle, a distance detecting means 2 for detecting a distance from the vehicle to the obstacle 10, a traveling state detecting means 3 for detecting a traveling state of the vehicle, The obstacle 1 based on the detection outputs from the obstacle detecting means 1, the distance detecting means 2 and the traveling state detecting means 3.
Collision predicting unit 41 that calculates the collision risk of the vehicle with respect to 0
The collision predicting unit 41 is configured to excite the front air bag drive means 5 and deploy the front air bag 6 when the calculated collision risk value is equal to or larger than a predetermined allowable value.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shock absorbing device for a vehicle airbag, for example, which is designed to absorb a shock caused by a rear-end collision, and particularly not only for a person inside the vehicle at the time of a collision but also for a pedestrian or a bicycle outside the vehicle. The present invention relates to an impact absorbing device capable of absorbing impact even on an obstacle.

[0002]

2. Description of the Related Art Generally, an accident while a vehicle is in operation, in particular, a shock to a driver due to a collision with an obstacle such as a car, a pedestrian, or a utility pole is mitigated, and the head of the driver's front window to the wind is reduced due to inertia. In order to prevent injuries due to heavy hits, etc., a seat belt is provided in the driver's seat or in the driver's seat and the passenger seat, and the driver and the person sitting in the passenger seat wear the seat belt to achieve the purpose.

By the way, in the case of an accident, in order to prevent the driver from hitting the head or the like with the steering wheel, and the person sitting in the passenger seat not hitting the head or the like with the front panel or the dashboard, the seat belt is used. There is a need for an alternative or safety device to be used with the seat belt.

In order to meet such demands, hitherto, a shock absorbing device called an airbag system has been proposed. This airbag system consists of an airbag installed in the driver's seat and passenger's seat, a deployment part that deploys this airbag at the time of a collision, and a detection part that detects the impact at the time of the collision. When the department detects
The airbag is deployed by controlling the deployment part.
As a result, even if the driver or a person sitting in the passenger seat tends to hit the head or the like on the steering wheel or front panel at the time of collision, the driver or the front panel is protected by the airbag deployed on the steering wheel or the front panel. It does not damage the head etc. of the person sitting in the passenger seat.

[0005]

Since the conventional shock absorbing device is provided inside the vehicle as described above, it is not possible to protect a person, an oncoming vehicle, an obstacle, etc. and the own vehicle from an impact at the time of a collision, for example. There were problems such as.

The present invention has been made in order to solve such a problem, and an object thereof is to obtain a shock absorbing device capable of protecting an opponent vehicle and a vehicle which have collided with each other.

[0007]

SUMMARY OF THE INVENTION An impact absorbing device according to the present invention is an impact absorbing portion which is housed at a front end portion or a rear end portion of a vehicle and which is deployed forward or rearward of the vehicle, and an impact driving portion which drives the impact absorbing portion. Deployment drive means, obstacle detection means for detecting an obstacle in front of or behind the vehicle, distance detection means for detecting a distance from the vehicle to the obstacle, and vehicle for detecting a traveling state of the vehicle. And a collision predicting means for calculating the collision risk of the vehicle with respect to the obstacle based on the detection outputs of the traveling state detecting means, the obstacle detecting means, the distance detecting means and the vehicle traveling state detecting means, The collision predicting means excites the expansion driving means to expand the impact mitigating portion when the calculated value of the collision risk becomes equal to or more than a predetermined allowable value.

Further, the shock absorbing device according to the present invention is housed at a front end portion or a rear end portion of a vehicle, and a shock absorbing portion which is deployed forward or rearward of the vehicle, and a deployment drive for deploying and driving the shock absorbing portion. Means, obstacle detection means for detecting an obstacle in front of or behind the vehicle, distance detection means for detecting a distance from the vehicle to the obstacle, and vehicle traveling state detection for detecting a traveling state of the vehicle. Means, a road surface state detecting means for detecting the state of the road surface, the obstacle detecting means, the distance detecting means, the vehicle traveling state detecting means, and the road surface state detecting means based on the respective detection outputs of the obstacles. A collision predicting means for calculating a collision risk of the vehicle, and the collision predicting means excites the expansion driving means when the calculated value of the collision risk becomes equal to or more than a predetermined permissible value to excite the collision. Alleviating portion is obtained so as to deploy.

The shock absorbing device according to the present invention is provided inside the vehicle, and a first shock absorbing portion that is housed at a front end portion or a rear end portion of the vehicle and is deployed forward or rearward of the vehicle. A second impact absorbing portion that deploys toward the front of the occupant, a deployment drive unit that deploys and drives the first and second impact absorbing portions, and a pressure after the deploying operation of the first impact absorbing portion is detected. Pressure detecting means, obstacle detecting means for detecting an obstacle in front of or behind the vehicle, and distance detecting means for detecting a distance from the vehicle to the obstacle,
Vehicle collision state detection means for detecting the traveling state of the vehicle, the obstacle detection means, the distance detection means, and the detection output of each of the vehicle traveling state detection means, the collision risk of the vehicle against the obstacle And a collision predicting means for performing a calculation, and when the collision predicting means calculates the collision risk to a predetermined allowable value or more, the expansion driving means is excited to expand the first impact mitigating section. According to the detection output of the pressure detecting means, the expansion driving means is excited to expand the second impact relaxation section.

The shock absorbing device according to the present invention is provided at the front end or the rear end of the vehicle, and is provided inside the vehicle, and a first shock absorbing portion that is deployed forward or rearward of the vehicle. A second impact absorbing portion that deploys toward the front of the occupant, a deployment drive unit that deploys and drives the first and second impact absorbing portions, and a pressure after the deploying operation of the first impact absorbing portion is detected. Pressure detecting means, obstacle detecting means for detecting an obstacle in front of or behind the vehicle, and distance detecting means for detecting a distance from the vehicle to the obstacle,
Vehicle running state detecting means for detecting a running state of the vehicle, road surface state detecting means for detecting a road surface state, the obstacle detecting means, the distance detecting means, the vehicle running state detecting means and the road surface state detecting means. A collision prediction means for calculating the collision risk of the vehicle with respect to the obstacle based on each detection output of the above, and when the calculated collision risk value is equal to or more than a predetermined allowable value by the collision prediction means, The expansion driving means is excited to expand the first shock absorbing portion, and the expansion driving means is excited to expand the second shock absorbing portion based on the detection output of the pressure detecting means. It was done.

[0011]

In the present invention, the collision risk of the vehicle is calculated by the collision predicting means on the basis of the detection outputs of the obstacle detecting means, the distance detecting means and the vehicle running state detecting means, and the calculated value is equal to or more than a predetermined allowable value. In such a case, the deployment drive means is excited to deploy the shock absorbing portion. As a result, for example, a pedestrian or a bicycle is prevented from directly contacting the vehicle body or being caught in the lower portion of the vehicle body to be protected.

Further, according to the present invention, the collision predicting means calculates the collision risk of the vehicle based on the respective detection outputs of the obstacle detecting means, the distance detecting means, the vehicle running state detecting means and the road surface state detecting means, When the calculated value is equal to or larger than the predetermined allowable value, the expansion drive means is excited to expand the impact relaxation section. As a result, the accuracy of predicting the collision of the vehicle with the obstacle is improved, and the protection function for pedestrians can be further improved.

Further, according to the present invention, the collision predicting means calculates the collision risk of the vehicle on the basis of the detection outputs of the obstacle detecting means, the distance detecting means and the vehicle running state detecting means, and the calculated value is a predetermined allowable value. When the value is equal to or more than the value, the expansion driving means is excited to expand the first shock absorbing portion, and
The expansion driving means is excited based on the output of the pressure detection means for detecting the pressure after the expansion operation of the first impact relaxation section, and the second impact relaxation section is expanded. This not only protects pedestrians outside the vehicle, but also ensures the safety of passengers inside the vehicle.

Further, in the present invention, the collision predicting means calculates the collision risk of the vehicle based on the respective detection outputs of the obstacle detecting means, the distance detecting means, the vehicle running state detecting means and the road surface state detecting means, and When the calculated value is equal to or greater than the predetermined allowable value, the expansion drive means is excited to expand the first impact mitigating portion, and the expansion drive means is excited based on the detection output of the pressure detection means to generate the second impact. Expand the relaxation section. As a result, the accuracy of predicting the collision of the vehicle with the obstacle is improved, and moreover, not only the protection of the pedestrian and the like but also the protection of the passenger in the vehicle is improved.

[0015]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention, in which 1 is an obstacle detecting means for detecting an obstacle, 2 is a distance detecting means for detecting a distance to the obstacle, 3
Is a traveling state detecting means for detecting the traveling state of the vehicle, and connects the obstacle detecting means 1, the distance detecting means 2 and the traveling state detecting means 3 to a control device 4 as a collision predicting means. The control device 4 includes a collision prediction unit 41 that predicts a collision based on the detection outputs from the obstacle detection unit 1, the distance detection unit 2, and the traveling state detection unit 3. Further, the output side of the control device 4 is a front airbag driving means 5 as a deployment driving means for driving a front airbag 6 as a first impact absorbing portion, a collision warning means 7 for issuing a warning at the time of collision, and a seat belt. Each of them is connected to a seat belt drive means 8 for controlling the tension of (not shown).

Next, the operation will be described. When the detection outputs of the obstacle detection means 1, the distance detection means 2, and the traveling state detection means 3 are supplied to the control device 4, the collision prediction unit 41 of the control device 4 determines the vehicle traveling direction based on these input values. The risk of collision with an obstacle is predicted and calculated, and based on the predicted value, the front airbag 6 is deployed via the front airbag control means 5 and the collision warning means 7 is driven to give an alarm by voice or display, for example. Is output to the driver, and the seat belt drive means 8 is driven to control the tension of the seat belt.

FIG. 2 is a conceptual view showing a case where the shock absorbing device according to one embodiment of the present invention is installed in an automobile as an airbag device. In the figure, 9 is a seat belt whose tension is controlled by a seat belt driving means 8. 20
Is a laser radar which is arranged substantially in the center of the front of the vehicle and which has the functions of the obstacle detecting means 1 and the distance detecting means 2. As the traveling state detecting means 3, here, a vehicle speed sensor 30 which is mounted near the front and rear wheels and detects the vehicle speed from the rotation of the wheels, a steering angle sensor 31 which detects the steering angle of the steering wheel, an accelerator switch 32, and a brake switch 33. An example using an acceleration sensor 34 that detects the acceleration in the front-rear direction of the vehicle is shown.

Further, the collision warning means 7 is arranged on an instrument panel (not shown), and is visually displayed to notify the driver of the collision and is also notified by voice. A microprocessor (not shown) is built in the control device 4, and the laser radar 20, the vehicle speed sensor 30, the steering angle sensor 3 are provided at the input ports of the microprocessor.
1, the accelerator switch 32, the brake switch 33, and the acceleration sensor 34 are connected to each other, and the front airbag drive means 5, the collision warning means 7, and the seat belt drive means 8 are connected to the output port of the microprocessor.

Next, the operation will be described. When the laser radar 20 detects an obstacle in the vehicle traveling direction and measures the distance to the obstacle, the collision prediction unit 4 of the control device 4
1 is the vehicle speed calculated by the front and rear wheel speeds obtained by the vehicle speed sensor 30, the steering direction obtained by the steering angle sensor 31, the vehicle body acceleration obtained by the acceleration sensor 34, the accelerator switch 32 and the brake switch 33. The accelerator and brake pedal depression states are read via the input ports respectively, and the collision risk with an obstacle in front of these detected values is predicted and calculated.If a collision is predicted, an input is made via the output port. A signal is supplied to the collision warning means 7 of the instrument panel to notify the driver of the danger, and a control signal is supplied to the front airbag drive means 5 to deploy the front airbag 6 in the traveling direction and drive the seat belt. A control signal is also supplied to the means 8 to tension the seat belt 9 to correct the driving posture of the driver and assist the driver's collision avoidance operation. That.

FIG. 3 is a block diagram showing a concrete example of the laser radar 20. In the figure, 21 is a high-speed pulse generation circuit that supplies a high-speed pulse to a laser diode 22 provided with a projection optical system in the front and a light-emission timing signal to a distance detection circuit described later, and 23 is a laser diode 2
A light receiving element provided with a light receiving optical system for receiving the laser light emitted from 2 and reflected by an obstacle 10 such as a pedestrian, 24 amplifies the signal output by the light receiving of this light receiving element 23. An amplifier circuit 25 is a distance detection circuit that calculates the distance to the obstacle 10 based on the output signal from the amplifier circuit 24 and the output from the high-speed pulse generation circuit 21. Here, in the distance detection circuit 25, the delay time τ from the issuance timing of the received light waveform is detected, and the distance D to the obstacle 10 is calculated based on this delay time τ.
Calculate using. The formula for this operation is D = τ × v /
2 is used. The radiation angle of the laser light can be adjusted by the projection optical system mounted on the front surface of the laser diode 22, but the horizontal radiation range can be widened by using a plurality of laser diodes 22.

Next, the operation of the laser radar 20 shown in FIG. 3 will be described with reference to FIG. The high-speed pulse generation circuit 21 drives the laser diode 22 for several hundred ns at a predetermined cycle.
It is driven for a short time at about ec to emit a laser beam (near infrared pulse) as shown in FIG.
A light emission timing signal as shown in FIG. 4A is supplied to the distance detection circuit 25. When an obstacle 10 such as a pedestrian is present in the traveling direction of the vehicle, the emitted laser light is reflected by the obstacle 10, the reflected laser light is received by the light receiving element 23, and further, the amplification circuit 24. Is supplied to.

The amplifier circuit 24 amplifies the received light signal from the light receiving element 23 and supplies the amplified received light signal to the distance detection circuit 25. The distance detection circuit 25 detects the time from the rise of the light emission timing signal from the high-speed pulse generation circuit 21 to the rise of the received light waveform shown in FIG. 4C, that is, the delay time τ, and the delay time τ and the light velocity v From the above, the distance D to the obstacle 10 is calculated by the above-described equation of D = τ × v / 2, and a signal indicating the calculated distance D is supplied to the control device 4.

Next, a drive control method for the front airbag 6 when the obstacle 10 is detected by the obstacle detecting means 1 will be described with reference to FIGS. FIG. 5 is a flowchart of airbag drive control in the collision prediction unit 41 of the control device 4. First, in step 101, the vehicle speed V is read by the vehicle speed sensor 30. And step 102
Move to. In step 102, the acceleration G of the vehicle is read by the acceleration sensor 34. Then, the process proceeds to step 103.

In step 103, the accelerator switch 32
The state of the vehicle and the state of the brake switch 33 are read to detect the running state of the vehicle. Then, the process proceeds to step 104. Here, if the steering angle θ is read from the steering angle sensor 31 as the vehicle traveling state, the traveling direction of the vehicle can be grasped,
This is convenient for control, but is omitted for simplicity of explanation. In step 104, the obstacle 10 is detected, that is,
The output from the laser radar 20 is read. Then, the process proceeds to step 105. In Step 105, the obstacle 10
Is detected, that is, whether the obstacle 10 exists within the detection range of the laser radar 20 in front of the vehicle. If “YES”, the process proceeds to step 106,
If “NO”, the process returns to step 101 and the above-described operation is repeated. In step 106, the distance D is detected.
Then, the process proceeds to step 107.

In step 107, the rate of change of the distance D to the obstacle 10, that is, the relative speed V between the obstacle 10 and the host vehicle.
Find a. Then, the process proceeds to step 108. In step 108, the minimum required stop distance DM is obtained by the following equation, and it is determined whether D ≦ DM. If “YES”, the process proceeds to step 109, and if “NO”, step 110.
Move to.

DM = V · td + Va (2V−Va) / 2G (where td is the maximum reaction delay time of the driver, etc.)

In step 109, a signal is sent to the collision warning means 7 to output a limit distance warning. Then, the process proceeds to step 110. In step 110, it is determined whether or not the accelerator switch 32 is on, that is, whether or not the accelerator pedal is depressed. If "YES", the process proceeds to step 112a, and if "NO", the process proceeds to step 111. In step 111, it is determined whether or not the brake switch 33 is on, that is, whether or not the brake pedal is depressed, and if "YES", step 112c
If "NO", the process proceeds to step 112b.

In steps 112a, 112b and 112c, the fuzzy rule shown in FIG. 6, the membership function of the antecedent variable shown in FIG. 7 and the consequent variable shown in FIG. According to the membership function, fuzzy estimation a, b, and c of the collision risk degree is executed according to the states of the accelerator switch 32 and the brake switch 33, respectively. Then, the process proceeds to step 113.

Here, fuzzy estimation will be described with reference to FIGS. 6 to 8. Figure 6 shows if (preceding part) -then
A fuzzy rule of the (consequent part) format is shown, and as shown in FIG. 6, for example, in the memory of the collision predicting part 41 of the control device 4 shown in FIG. , The acceleration G and the distance D to the obstacle 10 are stored in advance as a plurality of fuzzy rules using the collision risk level Y as a consequent part variable. Further, the collision prediction unit 41 is shown in FIG.
The vehicle speed V shown in Fig. 7, the relative speed Va shown in Fig. 7 (b), the acceleration G shown in Fig. 7 (c), the distance D shown in Fig. 7 (d), and the collision risk degree Y shown in Fig. I also remember.

In each figure, L and S are antecedent variables V and D.
However, for NL, ZR, and PL, the antecedent variables Va and G are ZR to
PS is the fuzzy label name of the fuzzy set to which the consequent part variable Y belongs. L as a fuzzy label for the vehicle speed V is "fast", S is "slow", NL as a fuzzy label for the relative speed Va and the acceleration G is "negatively large", ZR is "none", and PL is "positive". “Large”, L as a fuzzy label for the distance D is “large”, S is “small”, NL as a fuzzy label for the collision risk Y is “small collision risk”, and NS is “slightly small collision risk”. , ZR is “middle collision risk”, PS is “slightly high collision risk”, and PL is “high collision risk”. For example, rule NO. 3 “if V = L, Va = NL, G = NL, D
= S then Y = PS ”means that the vehicle speed is fast, the relative speed is negatively large, and the vehicle acceleration is negatively large (deceleration is large),
Moreover, when the distance D to the obstacle 10 is small, the collision risk is slightly high. Is shown.

Here, the case where the accelerator switch 32 is off and the brake switch 33 is on, that is, the fuzzy estimation c in step 112c will be described as an example. First, in step 112c, the detected value V of the vehicle speed V in FIG.
Membership value Sf (Vm) = 0.4, Lf from m
(Vm) = 0.6 is obtained, and the membership value NLf (V is calculated from the detected value Vam of the relative speed Va in FIG. 7B.
am) = 0.9 and ZRf (Vam) = 0.1 are obtained, and the membership value NLf (Gm) = 0.8 and ZRf (Gm) = from the detected value Gm of the acceleration G in FIG. 7C.
0.2 is obtained, and the detected value D of the distance D in FIG.
From m, Sf (Dm) = 0.7 and Lf (Dm) = 0.3 are obtained, respectively.

Next, the suitability of the antecedent part for each fuzzy rule is MIN of the membership values of the antecedent parts V, Va, G and D.
(Minimum value) Calculated. For example, rule NO. 3 i
f V = L, Va = NL, G = NL, D = S ”, the antecedent suitability is g (Vm, Vam, Gm, Dm) = mi
n [0.6, 0.9, 0.8, 0.7] = 0.6. Further, the membership function relating to the antecedent part variable Y of each fuzzy rule is cut from the antecedent part conformance g obtained by each fuzzy rule from FIG. 8, and the superposition of all the cut membership functions, that is, , MAX (maximum value) is calculated to obtain the collision risk Ym corresponding to the center of gravity of the superimposed figure shown by the filled portion. Then, fuzzy estimation in other steps 112a and 112b is performed in the same manner.

Finally, in step 113, the collision risk Ym obtained by the above-mentioned fuzzy estimation is compared with a predetermined allowable collision risk, and it is judged whether or not Ym exceeds the allowable collision risk. That is, if Ym exceeds the predetermined allowable collision risk, it is determined that collision is unavoidable, and the process proceeds to step 114. If “NO”, the process returns to step 101 and the above-described operation is repeated. Step 1
At 14, the control signal is supplied to the front airbag drive means 5 to deploy the front airbag 6 in the traveling direction.
Then, the process proceeds to step 115. In step 115, a collision warning signal is sent to the collision warning means 7 to notify the driver of the danger of collision. Then, the process proceeds to step 116.
In step 116, a control signal is sent to the seat belt drive means 8 to tension the seat belt 9. Then, the program processing is exited.

FIG. 9 is a front perspective view of a vehicle in which the front airbag 6 is housed and mounted in the front bumper 11. The front airbag 6 is normally held inside the bumper 11 as shown in FIG. 9 (a), and when a collision is predicted, the airbag cover 61 is removed as shown in FIG. 9 (b). It will be deployed at a very high speed in the traveling direction of the vehicle. Here, since the front airbag 6 deploys downward in the traveling direction so as to cover the front surface of the bumper 11, even if the obstacle 10 is a pedestrian or a so-called weak person such as a bicycle, the obstacle 10 directly contacts the vehicle body with a large acceleration. Also, it is possible to prevent damage to pedestrians, bicycles, etc. with minimal difficulty without being caught in the lower part of the vehicle body. Further, even when the obstacle 10 is another vehicle or structure, damage to the obstacle 10 and the own vehicle and its occupants can be reduced by the cushioning effect of the front airbag 6.

Since the front airbag 6 is deployed on the front surface of the bumper 11, it does not interfere with the driver's field of view during deployment and does not interfere with the driver's collision avoidance operation.
Further, in a normal state, since it is stored inside the bumper 11, the design of the vehicle is not impaired. As described above, in this embodiment, fuzzy estimation is performed based on the detection outputs from the obstacle detection means 1, the distance detection means 2 and the traveling state detection means 3 to predict a collision, and the front is based on the prediction. Since the airbag 6 is deployed, for example, a pedestrian or a bicycle can be prevented from directly contacting the vehicle body or being caught in the lower portion of the vehicle body, and the pedestrian, the bicycle, etc. can be minimized and protected. Even when the obstacle is another vehicle or a structure, damage to the obstacle, the own vehicle, and the occupant can be reduced by the cushioning effect of the front airbag.

Example 2. In the first embodiment, the laser radar 20 is used as the obstacle detecting means 1 and the distance detecting means 2.
However, other methods such as an optical triangulation type distance sensor and an ultrasonic distance measuring sensor may be used, or they may be used in combination. By the way, Fig. 9 (a)
2 shows an example in which the laser radar 20 and the ultrasonic distance measuring sensors 21 provided at three locations are used together.

Example 3. Further, in the first embodiment, the vehicle speed sensor 30 that detects the wheel speed is used as the traveling state detecting means 3.
However, other means such as using a ground speed sensor for detecting the ground speed can be used.

Example 4. Further, in the first embodiment, the collision risk degree Y with the obstacle 10 is predicted based on the information of the obstacle detecting means 1, the distance detecting means 2, and the traveling state detecting means 3, but the road surface friction coefficient detecting means Is provided and the collision risk Y is predicted together with the outputs from the obstacle detection unit 1, the distance detection unit 2, and the traveling state detection unit 3, the collision risk Y
The accuracy of can be improved. As the road surface friction coefficient detecting means, as shown in FIG. 9 (a), a road surface sensor 12 is used, which is installed at a predetermined position of the vehicle body and is connected to an input port of the control device 4, and is used to detect the road surface from the road surface. The wet condition of the road surface can be detected by the light reflectance or the deflection component ratio of the reflected light, the frozen condition of the road surface can be detected by combining it with the temperature sensor, or the wheel speed can be detected from the wheel speed V, the brake reaction force, the steering reaction force, or the like. Various methods such as a method of detecting the slip state and estimating the road surface friction coefficient μ can be used.

FIG. 10 shows the membership function when the road surface friction coefficient μ detected by the road surface sensor 12 as the road surface friction coefficient detecting means is added as an antecedent variable in fuzzy estimation of the collision risk. . This Figure 1
As shown in 0, the fuzzy label relating to the road surface friction coefficient μ is L is “large” and S is “small”. A fuzzy rule when this road surface friction coefficient μ is used as an antecedent variable is, for example, “if V = L, Va = NL, G = NL, D = S,
Friction coefficient = S then Y = PL, which means that “the vehicle speed is high, the relative speed to the obstacle 10 is negatively large, the vehicle deceleration is large, the distance to the obstacle 10 is small, and the road surface is small. When the friction coefficient μ is small, the risk of collision is high. ”
Is shown. That is, according to this method, the collision risk Y can be accurately predicted regardless of the road surface condition.

Example 5. Although the case where the road surface friction coefficient μ is used as the antecedent variable in the fuzzy estimation of the collision risk has been described in the fourth embodiment, the road surface friction coefficient μ is not used as the variable for the fuzzy estimation, and the road surface friction coefficient shown in FIG.
Even if the determination value of the allowable collision risk level used in step 113 is changed, the same effect as that of the fifth embodiment can be obtained.

Example 6. Further, another embodiment of the present invention will be described with reference to FIGS. 11 to 13
In FIG. 10, the same reference numerals are given to the portions corresponding to those in FIGS. 1 to 10, and detailed description thereof will be omitted. 11 and 12, 4A is a control device, 12 is a road surface friction coefficient detecting means (for example, a road surface sensor) described above, 13 is an air bag inner pressure detecting means for detecting the inner pressure of the front airbag when the front air bag is deployed, 14 41A is an occupant airbag drive means for deploying the occupant airbag 15 as a second impact absorbing portion provided in the vehicle toward the front of the occupant;
Is a collision prediction unit that is provided in the control device 4A and that predicts a collision based on the detection outputs of the obstacle detection unit 1, the distance detection unit 2, the traveling state detection unit 3, and the road surface friction coefficient detection unit 12.

Next, the operation will be described. When the front airbag 6 expands when the collision risk exceeds a predetermined allowable value, the control device 4A reads the internal pressure of the front airbag 6 detected by the airbag internal pressure detection means 13, and the front airbag 6 is blocked by the obstacle 10. When the internal pressure exceeds a predetermined value due to the collision with the vehicle, the control signal is supplied to the occupant airbag driving means 14 to deploy the occupant airbag 15. In FIG. 13, the front airbag 6 deployed just before the vehicle collides with the obstacle 10 collides with the obstacle 10 and is deformed, and an increase in the internal pressure of the front airbag 6 due to this deformation is detected by the airbag internal pressure detection means 13. The occupant airbag 15 has been deployed.

That is, with the above-mentioned configuration, even if the vehicle collides with the obstacle 10 such as another vehicle or a building, the safety of the occupant can be ensured. Further, since the occupant airbag 15 is not deployed until the front airbag 6 actually collides with the obstacle 10, the obstacle 1
It does not hinder the driver's collision avoidance operation for 0.

Example 7. In each of the above embodiments, the case where the obstacle detecting means 1, the distance detecting means 2 and the front airbag 6 are mounted on the front part of the vehicle has been described. If the predicted danger level exceeds a certain level, deploying the airbag toward the rear will ensure safety for the opponent, own vehicle, and occupants of the own vehicle during a rear-end collision or rear-end collision. It is possible to significantly improve the sex.

[0045]

As described above, according to the present invention, the shock absorbing portion housed at the front end portion or the rear end portion of the vehicle and deployed to the front or rear of the vehicle, and the deployment for deploying and driving the impact absorbing portion. Drive means, obstacle detection means for detecting an obstacle in front of or behind the vehicle, distance detection means for detecting a distance from the vehicle to the obstacle, and vehicle traveling state for detecting a traveling state of the vehicle The collision comprises a detection means and a collision prediction means for calculating the collision risk of the vehicle with respect to the obstacle based on the detection outputs of the obstacle detection means, the distance detection means and the vehicle traveling state detection means. By the predicting means, when the calculated value of the collision risk becomes equal to or more than the predetermined allowable value, the expansion driving means is excited to expand the impact mitigating portion, so that the collision partner, for example, a pedestrian or a person spinning. It is possible to prevent damages to the minimum and protect them from accidental collisions, and reduce the damages to the obstacles, the own vehicle and its occupants even when the obstacles are other vehicles or structures. The effect is that you can.

As described above, according to the present invention,
A shock absorbing portion housed at a front end or a rear end of the vehicle and deployed in front of or behind the vehicle, a deployment drive means for deploying and driving the impact absorbing portion, and an obstacle in front of or behind the vehicle is detected. An obstacle detecting means, a distance detecting means for detecting a distance from the vehicle to the obstacle, a vehicle running state detecting means for detecting a running state of the vehicle, and a road surface state detecting means for detecting a road surface state. A collision prediction means for calculating a collision risk of the vehicle with respect to the obstacle based on each detection output of the obstacle detection means, the distance detection means, the vehicle traveling state detection means, and the road surface state detection means. The collision predicting means excites the expansion driving means to expand the impact mitigating portion when the calculated value of the collision risk becomes equal to or more than a predetermined allowable value. Prediction accuracy of both is improved, and damage to the other party, such as a pedestrian or a bicycle, can be prevented with minimum difficulty, and these can be reliably protected from accidental collision, and obstacles are other vehicles or structures. Even in the case of, there is an effect that the damage of the obstacle, the own vehicle and the occupant thereof can be further reduced.

Further, as described above, according to the present invention, the first shock absorbing portion housed in the front end portion or the rear end portion of the vehicle and deployed to the front or the rear of the vehicle is provided in the vehicle. , A second impact absorbing portion that deploys toward the front of the occupant, a deployment driving means that deploys and drives the first and second impact absorbing portions, and a pressure after the deploying operation of the first impact absorbing portion. Pressure detecting means for detecting, obstacle detecting means for detecting an obstacle in front of or behind the vehicle, distance detecting means for detecting a distance from the vehicle to the obstacle,
Vehicle collision state detection means for detecting the traveling state of the vehicle, the obstacle detection means, the distance detection means, and the detection output of each of the vehicle traveling state detection means, the collision risk of the vehicle against the obstacle And a collision predicting means for performing a calculation, and when the collision predicting means calculates the collision risk to a predetermined allowable value or more, the expansion driving means is excited to expand the first impact mitigating section. Since the expansion drive means is excited based on the detection output of the pressure detection means to expand the second shock absorbing portion, damage to a collided partner such as a pedestrian or a bicycle is minimized. Hard stop, protect them from accidental collision, and reduce obstacles and damage to your vehicle when obstacles are other vehicles or structures. Of the occupant during a collision with There is an effect that it is possible to ensure a full sexual.

Further, as described above, according to the present invention, the first shock absorbing portion housed in the front end portion or the rear end portion of the vehicle and deployed to the front or rear of the vehicle is provided in the vehicle. , A second impact absorbing portion that deploys toward the front of the occupant, a deployment driving means that deploys and drives the first and second impact absorbing portions, and a pressure after the deploying operation of the first impact absorbing portion. Pressure detecting means for detecting, obstacle detecting means for detecting an obstacle in front of or behind the vehicle, distance detecting means for detecting a distance from the vehicle to the obstacle,
Vehicle running state detecting means for detecting a running state of the vehicle, road surface state detecting means for detecting a road surface state, the obstacle detecting means, the distance detecting means, the vehicle running state detecting means and the road surface state detecting means. A collision prediction means for calculating the collision risk of the vehicle with respect to the obstacle based on each detection output of the above, and when the calculated collision risk value is equal to or more than a predetermined allowable value by the collision prediction means, The expansion driving means is excited to expand the first shock absorbing portion, and the expansion driving means is excited to expand the second shock absorbing portion based on the detection output of the pressure detecting means. As a result, the prediction accuracy of the vehicle for obstacles is improved, the damage to the other party, such as a pedestrian or a bicycle, that has a collision is kept to a minimum, and these can be reliably protected from accidental collision. Even if it is another vehicle or structure, the damage to the obstacle or the own vehicle can be further reduced, and moreover, the safety of the occupant can be more surely secured in the case of a collision with another vehicle or a structure. The effect is that you can do it.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a shock absorbing device according to the present invention.

FIG. 2 is a conceptual diagram of an automobile equipped with a shock absorbing device according to the present invention.

FIG. 3 is a configuration diagram showing a specific example of a laser radar used in an embodiment of the shock absorbing device according to the present invention.

FIG. 4 is a timing chart for explaining the operation of the laser radar used in one embodiment of the shock absorbing device according to the present invention.

FIG. 5 is a flow chart for explaining airbag drive control of the control device in one embodiment of the shock absorbing device according to the present invention.

FIG. 6 is an explanatory diagram of a fuzzy rule during airbag drive control in one embodiment of the shock absorbing device according to the present invention.

FIG. 7 is a diagram for explaining a membership function of an antecedent variable in fuzzy estimation of an embodiment of the shock absorbing device according to the present invention.

FIG. 8 is a diagram for explaining a membership function of a consequent variable in fuzzy estimation of an embodiment of the shock absorbing device according to the present invention.

FIG. 9 is a front perspective view of a vehicle in which an airbag according to an embodiment of the shock absorbing device according to the present invention is housed in a front bumper.

FIG. 10 is a diagram for explaining a membership function having a road surface friction coefficient as an antecedent variable in an embodiment of the shock absorbing device according to the present invention.

FIG. 11 is a block diagram showing another embodiment of the shock absorbing device according to the present invention.

FIG. 12 is a conceptual diagram of an automobile for explaining another embodiment of the shock absorbing device according to the present invention.

FIG. 13 is a front perspective view of the vehicle showing an operating state for explaining another embodiment of the shock absorbing device according to the present invention.

[Explanation of symbols]

 1 Obstacle Detecting Means 2 Distance Detecting Means 3 Running State Detecting Means 4, 4A Control Device 5 Front Airbag Driving Means 6 Front Airbags 7 Front Collision Warning Means 10 Obstacles 12 Road Surface Friction Coefficient Detecting Means 13 Airbag Inner Pressure Detecting Means 14 Occupants Airbag driving means 15 Occupant airbag 41, 41A Collision prediction unit

Claims (4)

[Claims] 1. A vehicle is stored at a front end portion or a rear end portion of a vehicle,
An impact mitigating unit that deploys in front of or behind the vehicle, a deployment drive unit that deploys and drives the impact mitigating unit, an obstacle detecting unit that detects an obstacle in front of or behind the vehicle, and the obstacle from the vehicle. Based on the detection outputs of the distance detection means for detecting the distance to the vehicle, the vehicle traveling state detection means for detecting the traveling state of the vehicle, the obstacle detection means, the distance detection means and the vehicle traveling state detection means. A collision predicting unit that calculates a collision risk of the vehicle against the obstacle, and the collision predicting unit excites the expansion driving unit when the calculated value of the collision risk becomes a predetermined allowable value or more. An impact absorbing device, wherein the impact absorbing portion is expanded. 2. The vehicle is stored at a front end portion or a rear end portion of the vehicle,
An impact mitigating unit that deploys in front of or behind the vehicle, a deployment drive unit that deploys and drives the impact mitigating unit, an obstacle detecting unit that detects an obstacle in front of or behind the vehicle, and the obstacle from the vehicle. A distance detecting means for detecting a distance to an object, a vehicle running state detecting means for detecting a running state of the vehicle, a road surface state detecting means for detecting a road surface state, the obstacle detecting means, the distance detecting means, A collision prediction means for calculating the collision risk of the vehicle with respect to the obstacle based on each detection output of the vehicle running state detection means and the road surface state detection means, and the collision prediction means,
An impact mitigation device characterized in that when the calculated value of the collision risk is equal to or greater than a predetermined allowable value, the expansion drive means is excited to deploy the impact mitigation section. 3. The vehicle is stored at a front end portion or a rear end portion of the vehicle,
A first impact absorbing portion that extends forward or rearward of the vehicle, a second impact absorbing portion that is provided inside the vehicle and extends toward a front surface of an occupant, and the first and second impact absorbing portions. A deployment drive means for deploying and driving the vehicle, a pressure detection means for detecting a pressure after the deployment operation of the first impact relaxation section, an obstacle detection means for detecting an obstacle in front of or behind the vehicle, and the vehicle. Distance detecting means for detecting the distance from the vehicle to the obstacle, vehicle traveling state detecting means for detecting the traveling state of the vehicle, detection of the obstacle detecting means, the distance detecting means and the vehicle traveling state detecting means. A collision predicting means for calculating the collision risk of the vehicle against the obstacle based on the output, and the expansion driving means when the calculated collision risk value exceeds a predetermined allowable value by the collision predicting means. To The first shock absorbing portion is excited to expand the first shock absorbing portion, and the expansion driving means is excited to expand the second shock absorbing portion based on the detection output of the pressure detecting means. Shock absorber. 4. A vehicle is stored at a front end portion or a rear end portion of a vehicle,
A first impact absorbing portion that extends forward or rearward of the vehicle, a second impact absorbing portion that is provided inside the vehicle and extends toward a front surface of an occupant, and the first and second impact absorbing portions. A deployment drive means for deploying and driving the vehicle, a pressure detection means for detecting a pressure after the deployment operation of the first impact relaxation section, an obstacle detection means for detecting an obstacle in front of or behind the vehicle, and the vehicle. From the vehicle to the obstacle, distance detecting means for detecting a traveling state of the vehicle, road surface state detecting means for detecting a road surface state, the obstacle detecting means, the distance A collision predicting means for calculating the collision risk of the vehicle with respect to the obstacle based on each detection output of the detecting means, the vehicle running state detecting means and the road surface state detecting means, and the collision predicting means,
When the calculated value of the collision risk is equal to or more than a predetermined allowable value, the expansion drive means is excited to expand the first impact relaxation section, and the expansion drive is performed based on the detection output of the pressure detection means. A shock absorbing device, wherein the second shock absorbing portion is expanded by exciting the means.