WO2008043803A1 - Procédé et dispositif pour reconnaître une situation de retournement - Google Patents

Procédé et dispositif pour reconnaître une situation de retournement Download PDF

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Publication number
WO2008043803A1
WO2008043803A1 PCT/EP2007/060801 EP2007060801W WO2008043803A1 WO 2008043803 A1 WO2008043803 A1 WO 2008043803A1 EP 2007060801 W EP2007060801 W EP 2007060801W WO 2008043803 A1 WO2008043803 A1 WO 2008043803A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
acceleration
lateral acceleration
roll rate
rate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2007/060801
Other languages
German (de)
English (en)
Inventor
Thomas Brandmeier
Michael Feser
Jens Paggel
Paul Spannaus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aumovio Germany GmbH
Original Assignee
Continental Automotive Technologies GmbH
Aumovio Germany GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Technologies GmbH, Aumovio Germany GmbH filed Critical Continental Automotive Technologies GmbH
Publication of WO2008043803A1 publication Critical patent/WO2008043803A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B60R21/0133—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value by integrating the amplitude of the input signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0002—Type of accident
    • B60R2021/0018—Roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
    • B60R2021/01327—Angular velocity or angular acceleration

Definitions

  • the present invention relates to a method and an arrangement for detecting a rollover situation of a vehicle.
  • Rollover means essentially the vehicle rollover by a rotational movement of the vehicle about its longitudinal axis such that the vehicle can tip over on its side or its roof. This can occur, for example, when the wheels of one side of the vehicle slip into a sand bed, whereby the side entering the sand falls and a rotation about the vehicle longitudinal axis can result. Another example would be driving up at high speed against an obstacle such as an obstacle. a guardrail end, whereby the wheels of one side of the vehicle are thrown into the air and can be rotated about an axis of the other side of the vehicle given by the two wheel support points.
  • a rollover situation may occur.
  • Such an event is simulated for algorithm design to detect the respective critical vehicle situation and trigger decision for a restraint system by ramp crossing.
  • Other examples would be an embankment drive or a docking of the vehicle to a curb. All four events (sliding in a sand bed, curb, embankment drive and ramp crossing) can be considered representative of the total number of vehicle rollover events in the field.
  • the longitudinal axis of the vehicle is referred to as X-axis and points in the forward direction, a Y-axis then runs normal to the usual forward movement of the vehicle to the left.
  • the Z-axis of the vehicle then points down.
  • the X-axis can also be considered as a longitudinal axis and the Y-axis as a transverse axis of the vehicle.
  • a load case is a critical vehicle situation in which a safety device, such as an airbag, should be triggered.
  • WO 99/47383 discloses a method for detecting a rollover situation in which the value of a roll rate sensor with a first threshold and the value of a lateral acceleration sensor with a second threshold are compared. Alternatively, it is proposed, the value of the roll rate sensor with a dependent of the lateral acceleration Threshold or even a combination of these two methods.
  • DE 101 12 315 B4 discloses a method for determining a side roll-over of a vehicle and an occupant protection system in a vehicle, in which a roll rate and a roll angle derived therefrom are examined to see whether they form a combination of values that are beyond a critical one of the one Transverse acceleration of the vehicle dependent threshold lie. In the process, it is finally investigated whether, for example, values for the roll rate are above or below a threshold dependent on the roll angle and the lateral acceleration; the larger the roll rate, the smaller the roll angle, a critical situation has already been reached. Here too, however, essentially the directly measured values of the sensors are used for the evaluation.
  • a method for detecting a rollover situation of a vehicle in which a rollover situation is determined exclusively as a function of a lateral acceleration of the vehicle and a roll rate about a longitudinal axis of the vehicle (1), wherein the rollover situation detected If a combination of simultaneously determined values of a first decision parameter and a second decision parameter coincides with stored critical combinations of values for the lateral acceleration and the roll rate, the first decision parameter being determined by temporally deriving the lateral acceleration, by temporally integrating the lateral acceleration. or by measuring a period for which the lateral acceleration increases, is determined.
  • the invention thus makes it possible to save a commonly used Z acceleration sensor, which means a considerable financial saving in controls of safety systems for motor vehicles. It is sufficient to know the lateral acceleration of the vehicle, for example accelerations, which act perpendicular to the gravitational acceleration and are not measured in the direction of travel.
  • the roll rate is the angular velocity of a rolling movement of the motor vehicle about an axis of rotation, which is generally parallel to the vehicle longitudinal axis.
  • One possible axis of rotation is, for example, the axle through the support points of two wheels with traction, while the wheels of the vehicle located on the opposite side are on a ramp or free-floating.
  • the inventive method only requires a rotation rate sensor or a rotational acceleration sensor and a linear acceleration sensor, wherein in particular the linear arbeuggungssensor usually always already exists in the vehicle.
  • a triggering decision is made for a safety device, in particular a belt tensioner, side and / or window airbag, if the interlinked decision parameters exceed the threshold value, that the roll rate is integrated by means of a rotation rate sensor or a rotational acceleration sensor, with a rotational acceleration being integrated to the rotation rate, is measured.
  • the method according to the invention assign known rollover situations to corresponding combinations.
  • it is preferable to determine the critical combination of values of lateral acceleration and roll rate by measuring lateral acceleration and roll rate in a predetermined vehicle roll-off situation.
  • the measured lateral acceleration is subjected to low-pass filtering, which eliminates high-frequency interference components at the measured acceleration.
  • disturbing vibrations which may occur for example due to natural vibration of the vehicle or short shocks to the shock absorber, not considered in the assessment of the presence of a rollover situation.
  • the lateral acceleration is preferably close to the
  • a measurement of the lateral acceleration at a particularly high point of the vehicle can be measured.
  • the use of Y-linear acceleration to detect the rollover situation is usually improved the higher it is measured on the vehicle.
  • the invention further relates to an arrangement for detecting a rollover situation of a vehicle with a linear acceleration sensor for measuring a lateral acceleration of the vehicle, a rotational acceleration sensor or a rotation rate sensor for measuring a roll rate of the vehicle and a control device for evaluating the measured lateral acceleration of the roll rate.
  • the control device performs a method mentioned above for detecting a rollover situation of a vehicle.
  • the control device has a memory device with stored critical combinations of values of first and second decision parameters, for example the lateral accelerations and the roll rate. If a measured combination of values of the lateral acceleration and the roll rate matches one of the stored critical combinations, the control device generates a triggering signal for a safety device, in particular a side airbag of the vehicle.
  • FIG. 1 shows the variables considered in a rollover situation of a vehicle
  • FIG. 2 shows a block diagram of an embodiment of an arrangement according to the invention for detecting a rollover situation
  • Fig. 4 the temporal change of the roll rate and the lateral acceleration of a vehicle in a rollover situation.
  • FIG. 1 shows the cross-section of a vehicle 1, with the vehicle being driven onto a ramp 2 with the wheels of one side.
  • the drawing plane corresponds to the YZ plane of the vehicle 1.
  • the vehicle makes a rotational movement about the support axis A, which is on a connecting line between the wheel contact points, the wheels not driven on the ramp 2, lies.
  • the corresponding rotational movement with respect to the horizontal E is indicated by the arrow denoted by ⁇ .
  • a measuring sensor provided for measuring the rotational movement and in particular the linear transverse acceleration of the vehicle is provided with the reference numeral 3.
  • the Z component of the path acceleration is detected, which includes an angle ⁇ with the path acceleration vector f.
  • a corresponding linear Z-acceleration sensor is rendered unnecessary by use of the method according to the invention.
  • the arrangement 2 shows a block diagram of an embodiment of an inventive arrangement for detecting a roller blind situation of a vehicle.
  • the arrangement 4 has a linear acceleration sensor 5, which is a transversely acting to the vehicle or horizontally acting Y-acceleration measures.
  • the arrangement 4 has a rotation rate sensor 6 which detects a roll rate RR of the vehicle, that is to say a rotation about the longitudinal axis of the vehicle.
  • the roll rate can also be determined by integrating measured spin acceleration data of a spin acceleration sensor. Acceleration sensors are generally cheaper.
  • the values a y , RR delivered by the sensors 5, 6 are fed to a control device 7.
  • the controller 7 has a memory 9 for thresholds for critical combinations of the roll rate and a decision parameter derived from the Y acceleration, such as the integral of the Y acceleration over predetermined time interval lengths.
  • the control device 7 is coupled via a control line 10 with a safety device 8, for example, an airbag for the vehicle. If a rollover situation is detected by the control device 7, this sends a trigger signal FI to the airbag device 8, which then unfolds and protects corresponding vehicle occupants in this dangerous situation.
  • control device 7 a method for detecting a rollover situation of a vehicle 1 is performed.
  • a ⁇ designates the tangential portion of the acceleration about the axis of rotation A, which acts at the installation location of the acceleration sensors 3. This is the direction of the web speed and the direction of the web acceleration of the rotary motion.
  • the arrows SRZ and SRY indicate the sensing direction of a possible Z-sensor or a Y-sensor in the vehicle.
  • a measurement signal which corresponds to a linear Z acceleration, results from the product of the magnitude of the acceleration with the cosine of the rotational angle ⁇ :
  • Equation 3 From the angular relationships resulting from FIG. 3, a measured signal for the lateral acceleration, ie, horizontal in the Y direction, can be determined as being proportional to the product of the magnitude of the acceleration with the sine of the rotational angle ⁇ :
  • FIG. 4 shows the time profiles of the rotational angle ⁇ , the rolling rate RR and the transverse acceleration a y (FIG. 4A, FIG. 4B) according to the invention.
  • Fig. 4C the conventionally used time course of the Z acceleration a z is shown.
  • the angle ⁇ is given in degrees and the resulting roll rate in degrees / second.
  • the accelerations a y and a z are given in units of gravitational acceleration g.
  • the ramp is ramped up. Until the time RTTF must be recognized by the controller, whether a rollover situation or a rollover situation for the vehicle exists.
  • the case shown in FIG. 4 represents a vehicle rollover. From about 500 ms, the Z acceleration is about 1 g, so the vehicle is in free fall. Times greater than 1000 ms should not be considered here.
  • a triggering decision must be made by the time RTTF (required time to fire).
  • the control device continuously checks whether a selected decision criterion exceeds a respective threshold value. For example, it may be checked whether the roll rate RR and the Y acceleration a y simultaneously exceed respective threshold values. If this is the case, the control device 7 sends a trigger signal FI to the airbag 8.
  • a suitable criterion or a possible decision parameter for the trigger decision is also the product or the sum of the integrated Y acceleration with the measured roll rate. If this criterion then exceeds a predetermined threshold value, the control device 7 generates a trigger signal FI.
  • the Y acceleration can be used in accordance with the invention.
  • the advantage of the method according to the invention and of the arrangement according to the invention for detecting the rollover situation is that a Z-acceleration sensor can be replaced without replacement. This can save a lot of hardware. Also the The test effort normally required by the additional Z-sensor is eliminated since a Y-acceleration sensor is usually always available.
  • the signals a y , RR may optionally be low-pass filtered before being evaluated by the control device 7.
  • higher-frequency natural oscillations of the vehicle for example due to shock absorbers, can occur, can be suppressed.
  • a triggering decision can also be made such that first of all data of typical crash situations in which a rollover situation exists are stored in the memory 9 for the Y acceleration and the roll rate.
  • Control device 7 compares the currently available measurement results RR and ay with the stored critical combinations of these values and generates a trigger signal FI if, according to the critical combinations, an accident situation exists.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Air Bags (AREA)
  • Automotive Seat Belt Assembly (AREA)

Abstract

Procédé pour reconnaître une situation de retournement d'un véhicule (1), selon lequel une situation de retournement est déterminée exclusivement en fonction d'une accélération transversale (ay) du véhicule (1) et d'un taux de roulis (RR) autour d'un axe longitudinal du véhicule (1).
PCT/EP2007/060801 2006-10-12 2007-10-10 Procédé et dispositif pour reconnaître une situation de retournement Ceased WO2008043803A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006048414A DE102006048414B3 (de) 2006-10-12 2006-10-12 Verfahren und Anordnung zum Erkennen einer Rollover-Situation
DE102006048414.2 2006-10-12

Publications (1)

Publication Number Publication Date
WO2008043803A1 true WO2008043803A1 (fr) 2008-04-17

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PCT/EP2007/060801 Ceased WO2008043803A1 (fr) 2006-10-12 2007-10-10 Procédé et dispositif pour reconnaître une situation de retournement

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DE (1) DE102006048414B3 (fr)
WO (1) WO2008043803A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2014518A1 (fr) * 2007-07-12 2009-01-14 Continental Automotive GmbH Procédé et dispositif de détection du capotage d'un véhicule
DE102009008349A1 (de) 2008-02-12 2009-08-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und System zur Unfalldetektion und Unfallmeldung

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008040043B4 (de) * 2008-06-30 2018-09-27 Robert Bosch Gmbh Verfahren und Steuergerät zur Ansteuerung von Personenschutzmitteln für ein Fahrzeug
DE102008041589B4 (de) 2008-08-27 2026-04-30 Robert Bosch Gmbh Verfahren zur Detektion der Umkippgefahr eines Kraftfahrzeugs
DE102008043475B4 (de) * 2008-11-04 2020-06-18 Robert Bosch Gmbh Verfahren zum Steuern einer Einrichtung und Vorrichtung zum Steuern der Einrichtung

Citations (4)

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Publication number Priority date Publication date Assignee Title
EP1225100A1 (fr) * 2001-01-19 2002-07-24 Toyota Jidosha Kabushiki Kaisha Système et procédé pour controller un dispositif de protection des occupants d'un véhicule
EP1236620A2 (fr) * 2001-03-01 2002-09-04 Automotive Systems Laboratory Inc. Système de détection de tonneau pour véhicule
US20020173882A1 (en) * 1999-09-06 2002-11-21 Honda Giken Kogyo Kabushiki Kaisha System for detecting inclination angle of vehicle body
US20050159864A1 (en) * 2004-01-16 2005-07-21 Denso Corporation Rollover judging device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2335521B (en) * 1998-03-17 2001-11-28 Autoliv Dev Improvements in or relating to a safety arrangement
DE10112315B4 (de) * 2000-03-17 2004-10-14 Honda Giken Kogyo K.K. Verfahren zur Bestimmung eines Seitenüberschlags eines Fahrzeugs und Insassenschutzsystem in einem Fahrzeug
DE10115217C1 (de) * 2001-03-28 2002-08-14 Bosch Gmbh Robert Verfahren zum Bestimmen der Winkellage eines Fahrzeugs
JP3608050B2 (ja) * 2001-07-24 2005-01-05 トヨタ自動車株式会社 ロールオーバ判別装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020173882A1 (en) * 1999-09-06 2002-11-21 Honda Giken Kogyo Kabushiki Kaisha System for detecting inclination angle of vehicle body
EP1225100A1 (fr) * 2001-01-19 2002-07-24 Toyota Jidosha Kabushiki Kaisha Système et procédé pour controller un dispositif de protection des occupants d'un véhicule
EP1236620A2 (fr) * 2001-03-01 2002-09-04 Automotive Systems Laboratory Inc. Système de détection de tonneau pour véhicule
US20050159864A1 (en) * 2004-01-16 2005-07-21 Denso Corporation Rollover judging device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2014518A1 (fr) * 2007-07-12 2009-01-14 Continental Automotive GmbH Procédé et dispositif de détection du capotage d'un véhicule
DE102009008349A1 (de) 2008-02-12 2009-08-13 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und System zur Unfalldetektion und Unfallmeldung

Also Published As

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