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
  • B60R21/0134—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
  • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
  • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
  • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
  • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
  • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
  • B60R16/0233—Vehicle tilting, overturning or roll over
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
  • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
  • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
• • 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
  • B60R2021/01204—Actuation parameters of safety arrangents
  • B60R2021/01211—Expansion of air bags
• • 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 method for determining an occurring rollover of a vehicle, to a corresponding device and to a corresponding computer program product according to the
• Ultrasonic sensors also installed on the side of the vehicle. Their direction of view is aligned perpendicular to the body, and if this does not stagger, aligned with it parallel to the road surface. On the other side are
• Integration can be used to determine the roll angle.
• the font KR 2008 054 002 describes a system for rollover detection by means of laterally mounted ultrasonic sensors, but down to the In particular, it is possible to detect the beginning of a rollover movement with even small roll angles.
• the present invention provides a method for detecting an occurring rollover of a vehicle, furthermore a device which uses this method and finally
• the present invention provides a method for determining an occurring rollover of a vehicle, the method comprising the following steps:
• Vehicle outside extends, with a normal on the
• Vehicle outside extends in a direction other than the direction of travel
• the present invention provides a device for detecting an occurring rollover of a vehicle, the device having the following features:
• Tolerance range extends normal to a vehicle outer side and wherein a normal to the vehicle outer side extends in a direction other than the direction of travel;
• the present invention thus provides a device which is adapted to the steps of the method according to the invention in corresponding
• Embodiment of the invention in the form of a device the object underlying the invention can be solved quickly and efficiently.
• a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon.
• the device may have an interface, which may be formed in hardware and / or software.
• the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device.
• the interfaces are their own integrated circuits or at least partially consist of discrete components.
• the interfaces are their own integrated circuits or at least partially consist of discrete components.
• An advantage is also a computer program product with program code, which on a machine-readable carrier such as a semiconductor memory, a
• Hard disk space or an optical storage can be stored and used to carry out the method according to one of the embodiments described above, when the program product is executed on a computer or a device.
• An overturning of a vehicle may be understood to mean lateral rolling of the vehicle across the roof, wherein rolling about a longitudinal axis, i. H. a longitudinal axis aligned in the direction of travel of the vehicle takes place.
• a distance signal can be understood as a signal which contains information about the distance of an object from the object
• a detection direction may be understood to mean a direction in which the sensor can detect a distance of the object from the vehicle. Such a detection direction extends according to the approach presented here within a tolerance range around a normal to a
• a vehicle side oriented transversely to the direction of travel may be understood as an outside of the vehicle which points in a direction other than the direction of travel, in particular perpendicular to the direction of travel
• the detection direction can in the
• the detection direction of the sensor can be within a tolerance range, wherein this tolerance range is a maximum permissible deviation of the
• the tolerance range may include an angle range around the normal to the vehicle side and the outer surface of the vehicle on the vehicle side in question, in which the detection direction deviates by a maximum of 45 degrees from the aforementioned normal.
• Vehicle side which is aligned transversely to the direction of travel, for example, an outside of the vehicle can be understood, which is aligned at a right angle to the direction of travel of the vehicle.
• the vehicle side which is aligned transversely to the direction of travel, for example, an outside of the vehicle can be understood, which is aligned at a right angle to the direction of travel of the vehicle.
• Vehicle side thus be a side in the doors for entry
• a vehicle side which forms the front or rear of the vehicle.
• a ground or ground on which the vehicle drives a curb or a similar element to be understood, which lies on the road or an area of the ground next to the road.
• the present invention is based on the recognition that for determining an occurring rollover of the vehicle, a signal can be used, which was detected by a sensor used to monitor the
• Vehicle environment is arranged on the two lateral sides of the vehicle and its detection direction or its detection range in the rest position of the vehicle within the tolerance range, d. H. is aligned substantially parallel to the road surface.
• a sensor for example, an ultrasonic sensor, a radar sensor or a similar sensor can be understood, which emits a signal and reflected from the object
• Signal or the signal component of the transmitted signal reflected by the object receives and possibly also evaluates immediately.
• sensors which are provided, for example, for determining a distance when parking or maneuvering the vehicle, for detecting an occurring rollover of the vehicle.
• the present approach thus offers the possibility already widespread in modern vehicles
• a distance signal in which comprises reflection information representing a transit time of a portion of the object reflected from the object
• Sensor emitted sensor signal in particular wherein the sensor is arranged on the vehicle outer side, wherein in the step of determining the occurring flashover using the
• Reflection information is determined. Reflection information can thus be understood to mean, for example, the transit time that a signal needs to travel from the sensor on the vehicle exterior to the object and back again to the sensor on the vehicle exterior.
• Embodiment of the present invention has the advantage that the distance between the object in the vehicle, in particular the outer surface of the vehicle can be detected on the relevant vehicle side in a technically very simple and cost-effective manner.
• Intensity information representing an intensity of a portion of the sensor signal reflected from the object, wherein in the step of determining the occurring flashover using the
• Intensity information is determined.
• an intensity information can be understood as meaning information which indicates what proportion of signal energy radiated by the sensor is after the sensor
• Information between the distance from the object to the vehicle can be verified by the evaluation of another parameter or a different physical size.
• the physical effect can be exploited that at a larger roll angle, the distance between the side-mounted sensor and the road surface decreases, and that the angle of incidence of the rays is more favorable for a reflection. Consequently, with a larger roll angle, a greater proportion of the signal or signal energy emitted by the sensor is also reflected back toward the sensor.
• a distance signal in the step of reading in a distance signal can be read, which is a
• Detection direction was detected, which extends within a tolerance range transverse to the direction of travel.
• the present invention offers the advantage of a very precise estimation of an occurring rollover process by the evaluation of the distance signal.
• History information that represents a time course of the distance between the vehicle and the object, wherein in the step of determining the occurring flashover using the
• History information is determined.
• the temporal relationship between the distance between the object and the vehicle can be understood at different times.
• Rollover of the vehicle can be detected when the distance between the vehicle and the object with increasing time is getting smaller and / or has no jump.
• the step of determining in the step of determining, the occurrence of rollover using information about an installation height of the sensor on the vehicle side over the
• a roll angle is determined, wherein a rollover of the vehicle is detected when the roll angle has exceeded a predefined threshold.
• a roll angle can be understood as an angle about which the vehicle turns in a longitudinal axis. The longitudinal axis can be aligned, for example, in the direction of travel of the vehicle, so that the roll angle also represents a deflection of the vehicle in a rolling motion.
• Vehicle side also an additional parameter is available, which allows for a corresponding consideration, a very precise statement about the current vehicle inclination in the evaluation of the distance between the vehicle and the object.
• a distance signal in the step of reading in a distance signal can be read, which is a
• Acceleration information which represents an acceleration of the vehicle in a direction different from a traveling direction of the vehicle, is determined in the step of determining the occurrence of a rollover using the acceleration information.
• acceleration information may be understood to mean information representing a vehicle acceleration which is directed in a direction other than the direction of travel of the vehicle.
• the acceleration information may represent an acceleration that is oriented transversely to the direction of travel, that is, substantially perpendicular to the direction of travel.
• the acceleration information may also represent information that an acceleration in a certain direction and / or an absolute value of this acceleration is in a predetermined relationship to a threshold value, for example greater than this threshold value.
• Such an embodiment of the present invention has the advantage that an additional protection of the detection of a rollover occurring is possible, namely, when in addition to the change in distance of the object to the vehicle additionally a certain acceleration component occurs. As a result, the occurring rollover of the vehicle can be detected or detected very reliably.
• a distance signal including speed information representing a speed of the vehicle may be read, and in the step of determining, the occurring lap is determined using the speed information.
• speed information may be understood to mean that a vehicle speed is in the predetermined relationship with another threshold, for example, the vehicle speed
• Travel speed of the vehicle is greater than the further threshold.
• Such an embodiment of the present invention has the advantage that in addition to the evaluation of the distance of the object to the vehicle, the rollover of the vehicle relative to a situation of parking reliable
• a method for activating a personal protection device of a vehicle comprising the following steps:
• 1 is a block diagram of a vehicle having an apparatus according to an embodiment of the present invention
• 2 shows a block diagram of a vehicle with a device according to an exemplary embodiment of the present invention, wherein further variables for explaining the calculation of a roll angle are shown;
• FIG. 3 shows a block diagram of a vehicle with a device according to an exemplary embodiment of the present invention, wherein a possibility of application and a proof of the function presented here is represented by erecting a roadway simulation;
• FIG. 1 shows a block diagram or a schematic view of a vehicle 100, in which a device 110 for determining an occurring rollover of the vehicle 100 according to an exemplary embodiment of the present disclosure
• the device 110 is connected to a sensor 120, which is arranged on an outer side 130 of the vehicle 100.
• the vehicle side 130 is in this case arranged on a lateral side of the vehicle 100, that is to say on one side transversely to the direction of travel of the vehicle 100, the direction of travel x of the vehicle 100 corresponding, for example, to the plane of the drawing of FIG. 1, corresponding to the coordinate system entered in FIG. 1 points.
• the sensor 120 is
• ultrasonic sensors radar sensor or similar sensor to within a tolerance range of 135 to a
• Detection direction 140 to emit a sensor signal and to evaluate a reflected from an object portion of the emitted sensor signal.
• the sensor 120 is arranged at a height h above the roadway 150 on which the vehicle 100 travels or on which the vehicle 100 is in the rest position.
• an object 160 can be arranged laterally next to the roadway 150, which is formed for example by a curb, a roadway section of the roadway 150 or another object, which is located on the ground, possibly at the same height of the roadway 150 (or at least with a very small height difference to the road surface) next to the vehicle 100.
• the object 160 should extend over a longer section of the
• Travel path of the vehicle 100 extend next to the vehicle, as will be described in more detail below.
• the device 110 further has an interface 170, via which a distance signal 175 recorded by the sensor 120 is read into the device 110. Furthermore, the device 110 has a unit 180 for determining the rollover that has occurred, wherein the unit 180 processes the distance signal 175 read in by the interface 170 for determining. Now, for example, on the basis of the procedure described in more detail below, a currently occurring rollover of
• the passenger restraint 190 may be used, for example, as a side airbag, pretensioner or the like
• the side-mounted or side-mounted (eg ultrasound) sensors 120 can also be used for rollover detection, these sensors being originally intended for parking space measurement.
• the ultrasound pulse 210 emitted laterally strikes lane 150 or an area adjacent to the lane actually run by vehicle 100, the one here is called object 160. Also, one can
• Curb are recognized as object 160.
• a large portion of the 220 of the Sensor 120 emitted signal is reflected and does not return to the vehicle 100.
• a small proportion 230 is, for example, to the
• Bumps 160 (also referred to herein as an object) of roadway 150 are scattered and return to sensor 120.
• the distance I to the impact point can be determined using the following relationship:
• variable c represents the speed of sound when using, for example, an ultrasonic sensor or the speed of light when using a radar sensor
• I the distance between the object 160 and the vehicle 100 more precisely the position of the sensor 120 at the
• Vehicle outside 130 represents.
• the roll angle ⁇ can then be determined using the following
• the roll angle ⁇ denotes on the one hand the angle between the normal to the vehicle outer side 130 and the object 160, which is conveniently located at almost the same height of the roadway 150 and on the other hand, a roll angle with respect to the vertical axis z, by which the vehicle 100 is deflected. In this way, the roll angle ⁇ is determined without the need for an additional sensor for detecting the rolling or roll angle, since a sensor signal 210 of one that is usually already installed in the vehicle 100
• Sensor 120 with side facing detection direction 140 (for example, a parking assistant) can be used.
• Ultrasonic pulse almost perpendicular to the road surface meets, is reflected and can be detected by the sensor 120 again. In this way, not only the transit time between the vehicle and the object but also by the evaluation of the back-reflected by the evaluation
• Retention means such as side airbags 190 precondition and possibly also trigger.
• a delineator as an object 160
• a rollover situation i.e., rollover of the vehicle.
• the lateral ultrasonic sensors 120 would respond.
• the driving speed v x of the vehicle 100 is above a threshold v xs . This makes it possible to distinguish from situations without risk of rollover, as occurs, for example, in parking situations.
• the amount of the lateral acceleration la y l (in the y-direction corresponding to the nomenclature for the directions of FIG. 1) is above a threshold a ys . Since in a rollover situation also a lateral acceleration (ie in the y-direction) of the vehicle 100 occurs, the rollover of the vehicle 100 can be reliably detected to detect an actual rollover situation when the lateral acceleration a y or the amount of Lateral acceleration la y l is above the said threshold a ys (criterion for rollover risk).
• the amount of rolling angle ⁇ calculated according to equation (1) is above a threshold cp s . This also makes it possible to reliably recognize that the inclination of the vehicle is so great that a
• the calculated roll angle ⁇ does not change abruptly, which would be an indication of an obstacle suddenly appearing on the side of the vehicle 100 as an object 160, but not an indication of a rolling motion of the vehicle 100 as a whole.
• the temporal gradient of the magnitude of the calculated roll angle is positive (i.e., d
• the intensity of the backscattered portion 230 of the sensor signal pulse 210 increases over time. This can be an indication of the almost vertical impact of the
• Sensor signal 210 (for example, the ultrasonic pulse) on the
• Road surface 150 and a lateral area with bumps 160 are interpreted.
• Airbags d. H. Reduction of triggering thresholds
• Vehicle center and / or
• the message values for the vehicle speed and the lateral acceleration can be manipulated on the vehicle CAN bus in such a way that a rollover-endangered situation is suggested.
• a roadway simulation 300, z As a board with similar reflection and backscatter properties as a road surface, is slowly erected next to the vehicle, which is interpreted as a rollover process for the lateral ultrasonic sensor 120 and a corresponding device 1 10.
• the dynamics of erection are adapted to the dynamics of typical rollover movements.
• the Aufrichtwinkel ⁇ of the road simulator 160 corresponds to the roll angle ⁇ of the vehicle 100. This relationship can be used to calibrate and check the roll angle estimate ⁇ . 4 shows a flow chart of an embodiment of the present invention
• the method 400 includes a step of reading 410 a distance signal representing a distance of an object from the vehicle detected in a detection direction that extends within a tolerance range normal to a vehicle exterior, and a normal to the vehicle exterior to another Direction as the direction of travel extends. Furthermore, the method comprises a step of determining 420 the occurring rollover using the
• a step of outputting 430 a drive signal for activating the personal protection means of the vehicle, in response to a certain occurring rollover of the vehicle may be provided.
• an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Automation & Control Theory (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Automotive Seat Belt Assembly (AREA)
• Traffic Control Systems (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

Country Status (2)

Families Citing this family (1)

Citations (4)

• 2012
  • 2012-06-12 DE DE102012209839A patent/DE102012209839A1/de not_active Ceased
• 2013
  • 2013-05-29 WO PCT/EP2013/061088 patent/WO2013186053A1/fr not_active Ceased

Patent Citations (4)

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