CN206633959U - A kind of smart airbag active control device based on collision form prediction - Google Patents
A kind of smart airbag active control device based on collision form prediction Download PDFInfo
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- CN206633959U CN206633959U CN201720397614.7U CN201720397614U CN206633959U CN 206633959 U CN206633959 U CN 206633959U CN 201720397614 U CN201720397614 U CN 201720397614U CN 206633959 U CN206633959 U CN 206633959U
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Abstract
The utility model discloses a kind of smart airbag active control device based on collision form prediction, movement state information detecting module is used to detect front obstacle and the relative motion status information of this car, and full-vehicle control bullet unit includes prediction of collision module and motor control module；Prediction of collision module carries out prediction of collision according to front obstacle and the relative motion status information of this car, estimates the possibility collision angle, possible impact velocity and possible impact strength of this car and front obstacle, judges whether collision can be evaded；Motor control module carries out active control according to the possibility impact strength and possible collision angle of prediction to the quick-fried time trigger threshold value of air bag point, and the control signal after processing is sent into air bag triggering motor control unit；Air bag triggering motor control unit produces the quick-fried control signal of point at control air bag point quick-fried moment.
Description
Technical field
The invention belongs to vehicle passive safety field, and in particular to a kind of smart airbag based on collision form prediction
Active control device.
Background technology
Deepened continuously along with to intelligent driving technical research, be equipped with the intelligent vapour of radar, camera and sensor
Car can not only be realized and automatically controlled, and can be carried by environment perception technology and relative motion status information for driver
For reliable security protection.Air bag protects one of efficient apparatus of driver as vehicle in traffic accident, its intelligence
On the one hand the development trend of change is intended for the detection of occupant's sign, the dynamic being on the other hand then intended under not syn-collision form is adjusted
Control.In recent years, the research of Intelligent safe air bag is directed to developing a kind of air bag that can protect occupant to greatest extent
System.
However, the vehicle deceleration that the quick-fried control of the point of conventional security air bag is depended in collision process, and need certain
Impact velocity and collision angle (position only within about 60 ° of the front of vehicle collides and speed is higher than 30km/
H, air bag can be just detonated).But in actual traffic environment, a variety of collision forms be present, when vehicle collision angle or
When speed does not meet air bag point quick-fried threshold value, because air bag does not flick or put quick-fried intensity deficiency in time, it can lose to driving
The protective effect for the person of sailing.
One of key technology of smart airbag is advanced sensor-based system and electronic computing system, and its function is in thing
Therefore impact strength, collision bearing are provided in the short time occurred, occupant's height, body weight, whether position, fasten the safety belt etc. can
The impact environment information leaned on, by prejudging collision form in advance, the quick-fried characteristic of point of active control air bag, make to air bag
Point it is quick-fried control it is more accurate, and then improve conventional security air bag in collision process because vehicle deceleration not yet reaches threshold value
And the drawbacks of can not flicking, the passive safety under not syn-collision form is lifted, more efficiently protection is provided for driver.
The content of the invention
The present invention can not bullet because vehicle deceleration not yet reaches threshold value in collision process for conventional security air bag
The drawbacks of opening, a kind of smart airbag active control device based on collision form prediction is proposed, utilizes vision, radar and biography
Sensor judges the relative motion state of vehicle and front obstacle, and the prediction of collision model based on rigid body kinematics judges collision
The possibility intensity of generation and possible angle, and then dynamic adjusts point quick-fried moment and the quick-fried intensity of point of smart airbag, is colliding
During inevitable generation, possible collision form is prejudged in advance, more precisely provides air bag control signal, is driver
Safety preferably protection is provided, the prediction result of form may be occurred by both providing collision, while also be caused to intelligent and safe
The quick-fried control dynamic of point of air bag is adjustable.
The object of the invention is realized and completed by following technical scheme：
A kind of smart airbag active control device based on collision form prediction, including：
Movement state information detecting module, for detecting the relative motion of front obstacle (forward vehicle) and this car
Status information (speed, acceleration and position)；
Full-vehicle control bullet unit, connected by CAN network and the communication of movement state information detecting module, including prediction of collision
Module and motor control module；Prediction of collision module is collided according to front obstacle and the relative motion status information of this car
Prediction, the possibility collision angle, possible impact velocity and possible impact strength of this car and front obstacle are estimated, judges that collision is
It is no to evade；Motor control module is according to the possibility impact strength P of predictionxIt is quick-fried to air bag point with possible collision angle α (x)
Time trigger threshold value carries out active control, and the control signal after processing is sent into air bag triggering motor control unit；
Air bag triggers motor control unit, is connected with full-vehicle control bullet unit communications, and reception comes from motor control mould
The control signal of block, produce the quick-fried control signal of point at control air bag point quick-fried moment.
A kind of described smart airbag active control device based on collision form prediction, wherein, motion state letter
Breath detecting module includes camera, radar and sensor；Camera is arranged on above driving cabin inside rear-view mirror, for identifying vehicle
Front obstacle information and feature；Radar insertion is arranged on vehicle front bumper center, for obtaining vehicle front barrier
Position and relative position relation；Sensor is arranged in vehicle gear box, for gathering this vehicle speed, acceleration information.
The beneficial effects of the present invention are：
By designing a kind of smart airbag active control device predicted based on collision form, according to rigid body kinematics
Prediction of collision models coupling vision, radar and sensor collection real-time vehicle relative status information, can not in traffic accident
When evading, possibility form, possible intensity and the possible angle collided by look-ahead, when the point of active control air bag is quick-fried
Quick-fried intensity is carved and put, makes the quick-fried control of point to air bag more accurate, and then improve conventional security air bag in collision process
Due to vehicle deceleration not yet reaches threshold value and the drawbacks of can not flick, lift active safety and quilt in vehicle running
Dynamic security, more preferable protection is provided for driver.
Brief description of the drawings
Fig. 1 is the smart airbag active control device schematic diagram based on collision form prediction in the present invention；
Fig. 2 installs camera, radar and sensing station schematic diagram additional for vehicle in the present invention；
Fig. 3 is the prediction of collision model calculating process schematic diagram based on rigid body kinematics in the present invention；
Fig. 4 predicts schematic diagram for vehicle collision form in the present invention.
Embodiment
The feature of the present invention and other correlated characteristics are described in further detail by embodiment below in conjunction with accompanying drawing,
In order to the understanding of technical staff of the same trade：
Embodiment：The present embodiment is more particularly to a kind of smart airbag active control dress based on collision form prediction
Put, judge to collide the intensity that may occur and angle using vision, radar and sensor combination rigid body kinematics prediction of collision model
Degree, form is collided by look-ahead, dynamic adjusts point quick-fried moment and the intensity of air bag, unavoidably occurred in collision
Moment, the control signal of active control air bag.
A kind of smart airbag active control device principle such as Fig. 1 institutes based on collision form prediction in the present invention
Show, including：
Movement state information detecting module, including camera, radar and the sensor being installed on vehicle, before detection
Square barrier (forward vehicle) and the relative motion status information (speed, acceleration and position) of this car；
Full-vehicle control bullet unit, connected by CAN network and the communication of movement state information detecting module, including prediction of collision
Module and motor control module；Prediction of collision module is collided according to front obstacle and the relative motion status information of this car
Prediction, the possibility collision angle, possible impact velocity and possible impact strength of this car and front obstacle are estimated, judges that collision is
It is no to evade；Motor control module is according to the possibility impact strength P of predictionxIt is quick-fried to air bag point with possible collision angle α (x)
Time trigger threshold value carries out active control, and the control signal after processing is sent into air bag triggering motor control unit；
Air bag triggers motor control unit, is connected with full-vehicle control bullet unit communications, and reception comes from motor control mould
The control signal of block, produce the quick-fried control signal of point at control air bag point quick-fried moment.
Camera, radar and the sensing station signal of vehicle are installed in movement state information detecting module of the present invention,
As shown in Figure 2：
The model Delphi IFV 250Camera that camera is chosen；Quantity is 1；Volume is 117*70*46mm；Ginseng
Number is 45 ° of level, 29 ° of longitudinal direction；Installation site is above driving cabin inside rear-view mirror；Use is (front) obstacle around identification
Thing information and feature.
The model Delphi ESR 77Hz RADAR that radar is chosen；Quantity is 1；Volume is 130*90*39mm；Ginseng
Number is 175m, ± 10 °, 50ms；Installation site is embedded in for vehicle front bumper center；Use hinders to obtain surrounding (front)
Hinder position and the relative position relation of thing.
Model VD0 Siemens/3802020-1508Q that sensor is chosen；Quantity is 1；Length is 100mm；Installation
Position is in vehicle gear box；Use is to gather this vehicle speed, acceleration information.
Prediction of collision module calculating process signal of the present invention is as shown in figure 3, wherein：
By camera and radar can obtain around (front) barrier (moving vehicle) and the position relationship of this car with
Relative motion state, and its rigidity with the volume of cognitive disorders thing and can be estimated by vision technique.And then obtained by radar
The effective running condition information of two cars, based on prediction of collision model, estimate respectively may collision angle with may impact velocity, and
And assessed according to the reflective surface area combination rigidity of barrier, possible impact strength is estimated, by impact strength value threshold value to possible
Impact strength is compared, and judges whether collision can be evaded.
Car crass form prediction signal in the present invention is as shown in figure 4, can be with by the geometrical relationship of prediction of collision model
Impact strength P and collision angle α (t) are tried to achieve, circular is as follows：
Coordinate system on the basis of the radar fix system carried by this Chinese herbaceous peony end, establishes transverse coordinate axis X and longitudinal coordinate axle Y.
Assuming that when front obstacle is moving vehicle, its basic parameter is as follows：
Overall width is a, car week radius be r, movement locus of the forward vehicle on present speed direction is L (t),
L (t) and transverse coordinate axis X intercept is W, and angle is α (t), and the current air line distance of forward vehicle and this car is R (t),
Velocity attitude angle is θ (t), then after elapsed time dt, the air line distance of forward vehicle and this car subsequent time is R (t+
Dt), velocity attitude angle is θ (t+dt).
Therefore, whenWhen, with front vehicles side impact occurs for Ben Che.It may occur in prediction
Before side impact, the point pair of description real-time vehicle relative position relation can be made up of the air line distance and velocity attitude angle of two cars, i.e.,
Current location P (t) and move to subsequent time position P (t+dt) and be：
[R (t), θ (t)] and [R (t+dt), θ (t+dt)]
If front vehicles are Δ d in dt period interior edge L (t) operating ranges, according to the cosine law, can obtain：
Also, the average speed V (t) of vehicle and the average speed V (t+dt) in next dt times are within the dt times：
With
Can be in the hope of the acceleration a in the dt times by speed difference Δ V：
And then the cosine law is recycled, the angle α (t) that can try to achieve L (t) and transverse coordinate axis X is：
Therefore, the relative motion distance of two cars can be tried to achieve for Δ L by α (t), i.e.,：
Finally, relative velocity V during collision can be drawn using linear acceleration formulaT, it is：
By the radar area S of object and relative velocity V during collisionTIt is multiplied, Ben Che and barrier can be obtained
The impact strength P for hindering thing to collide is：
Px=S × VT
According to collide form prediction, it is estimated that collision time and collision speed, and it was found that collision angle with
There is correlation in barrier intercept, i.e. intercept is smaller, and bigoted degree is lower, more easily collides.At the same time, impact strength
Momentum change degree when occurring depending on collision, this is relevant with the quality, rigidity and both relative velocities of object, and
Different collision angles can cause the change of impact strength.It is comprehensive by radar and vision during the prediction to barrier rigidity
Demarcation, disturbance in judgement thing feature are closed, its principle is the radar reflection face size using millimeter wave come the body of approximate evaluation object
Product size, then by camera by image combining classification standard, cognitive disorders species and then the rigidity to barrier are made pre-
Survey.
According to road safety relevant law and vehicle safe driving relevant criterion, set in vehicle and barrier collision process
Relative velocity maximum limit value be 80m/s, i.e. 288km/h, this limits value enumerates most of forms of collision substantially；
It is 4m × 4m, i.e. 16m to concurrently set barrier reflective surface area maximum2, then both, which are multiplied, estimates that vehicle touches with barrier
The impact strength threshold range hit is P ∈ (- 1280 ,+1280), wherein " ± " represents velocity attitude.
Therefore, according to the front obstacle of collection and the relative motion status information of this car, the rigid motion based on foundation
Prediction of collision model is learned, it is estimated that this car and the possibility impact strength P of front obstaclexWith may collision angle α (x),
Work as PxDuring ∈ P, α (x) ∈ α (t), judge that collision can not be evaded.
In step 4 of the present invention, when collision can not be evaded, that is, work as Px, can be pre- according to collision during ∈ P, α (x) ∈ α (t)
Survey the P of resultxActive control is carried out to the quick-fried time trigger threshold value of air bag point with α (x), prediction result is sent to vehicle control
Unit processed, the control signal after processing is exported by the motor control module of full-vehicle control unit and triggers motor control to air bag
Unit, the final signal for producing a control air bag point quick-fried moment.Herein it is to be appreciated that impact strength threshold value refers to using
In judging the threshold value that (whether collide can not evade) use that can or can not collide, work as Px∈ P, judge to collide, but
Not every collision can all trigger air bag ignition；Therefore can be by further active control, i.e., to air bag
The quick-fried time trigger threshold value of point carries out active control, when the quick-fried time trigger threshold value of air bag point refers to that collision can not be evaded, uses
In determining when the triggering quick-fried threshold value used of air bag point, that is, design Px threshold range, can not only be advised in collision
When keeping away, and simultaneously also in the quick-fried time trigger threshold range of air bag point when, air bag is just ignited.Touched that is, working as
Hit when can not evade, model prediction result and the quick-fried activation threshold value of air bag point are judged, when impact strength is more than safety
During threshold value, air bag flicks immediately；When impact strength is less than secure threshold, air bag does not flick.
Claims (3)
- A kind of 1. smart airbag active control device based on collision form prediction, it is characterised in that including：Movement state information detecting module, for detecting the relative motion status information of front obstacle and this car；Full-vehicle control bullet unit, connected by CAN network and the communication of movement state information detecting module, including prediction of collision module And motor control module；Prediction of collision module according to the relative motion status information of front obstacle and this car collide pre- Survey, estimate the possibility collision angle, possible impact velocity and possible impact strength of this car and front obstacle, whether judge collision It can evade；Motor control module is according to the possibility impact strength and possible collision angle of prediction to the quick-fried time trigger of air bag point Threshold value carries out active control, and the control signal after processing is sent into air bag triggering motor control unit；Air bag triggers motor control unit, is connected, is received from motor control module with full-vehicle control bullet unit communications Control signal, produce the quick-fried control signal of point at control air bag point quick-fried moment.
- 2. a kind of smart airbag active control device based on collision form prediction as claimed in claim 1, its feature It is, the movement state information detecting module includes camera, radar and sensor；Camera is arranged on backsight in driving cabin Above mirror, for identifying vehicle front obstacle information and feature；Radar insertion is arranged on vehicle front bumper center, for obtaining The position for a front obstacle of picking up the car and relative position relation；Sensor is arranged in vehicle gear box, for gathering this speed Degree, acceleration information.
- 3. a kind of smart airbag active control device based on collision form prediction as claimed in claim 2, its feature It is, the camera model Delphi IFV 250Camera；The radar model Delphi ESR 77Hz RADAR；The sensor model number is VD0 Siemens/3802020-1508Q.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864405A (en) * | 2017-04-14 | 2017-06-20 | 吉林大学 | A kind of smart airbag device active control method based on collision form prediction |
| CN108248506A (en) * | 2018-01-26 | 2018-07-06 | 浙江力邦合信智能制动***股份有限公司 | A kind of automobile active safety system, central control unit and control method |
| CN109278691A (en) * | 2018-11-12 | 2019-01-29 | 王富云 | Safe automobile air bag is contactless actively to trigger system |
| CN110077400A (en) * | 2019-04-28 | 2019-08-02 | 深圳市元征科技股份有限公司 | A kind of reversing householder method, device and terminal device |
| CN110466467A (en) * | 2019-08-22 | 2019-11-19 | 爱驰汽车有限公司 | Laterally security air bag controlled method, apparatus, electronic equipment, storage medium |
| CN113511167A (en) * | 2020-04-10 | 2021-10-19 | 采埃孚汽车科技(上海)有限公司 | Vehicle safety system, device, method for enhancing vehicle safety, and medium |
| CN113511160A (en) * | 2020-04-10 | 2021-10-19 | 采埃孚汽车科技(上海)有限公司 | Safety system, apparatus, method and medium for improving vehicle road compatibility |
| CN113784877A (en) * | 2019-03-05 | 2021-12-10 | 塞瓦技术公司 | Communication interface for an external inflatable pedestrian safety structure equipped on a vehicle, associated inflatable structure-vehicle communication protocol and safety module |
| CN114148280A (en) * | 2021-11-24 | 2022-03-08 | 中汽创智科技有限公司 | Control method of safety airbag, collision protection system and vehicle |
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- 2017-04-14 CN CN201720397614.7U patent/CN206633959U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864405A (en) * | 2017-04-14 | 2017-06-20 | 吉林大学 | A kind of smart airbag device active control method based on collision form prediction |
| CN108248506A (en) * | 2018-01-26 | 2018-07-06 | 浙江力邦合信智能制动***股份有限公司 | A kind of automobile active safety system, central control unit and control method |
| CN109278691A (en) * | 2018-11-12 | 2019-01-29 | 王富云 | Safe automobile air bag is contactless actively to trigger system |
| CN113784877A (en) * | 2019-03-05 | 2021-12-10 | 塞瓦技术公司 | Communication interface for an external inflatable pedestrian safety structure equipped on a vehicle, associated inflatable structure-vehicle communication protocol and safety module |
| CN110077400A (en) * | 2019-04-28 | 2019-08-02 | 深圳市元征科技股份有限公司 | A kind of reversing householder method, device and terminal device |
| CN110466467A (en) * | 2019-08-22 | 2019-11-19 | 爱驰汽车有限公司 | Laterally security air bag controlled method, apparatus, electronic equipment, storage medium |
| CN113511167A (en) * | 2020-04-10 | 2021-10-19 | 采埃孚汽车科技(上海)有限公司 | Vehicle safety system, device, method for enhancing vehicle safety, and medium |
| CN113511160A (en) * | 2020-04-10 | 2021-10-19 | 采埃孚汽车科技(上海)有限公司 | Safety system, apparatus, method and medium for improving vehicle road compatibility |
| CN113511167B (en) * | 2020-04-10 | 2023-01-03 | 采埃孚汽车科技(上海)有限公司 | Vehicle safety system, device, method for enhancing vehicle safety, and medium |
| CN114148280A (en) * | 2021-11-24 | 2022-03-08 | 中汽创智科技有限公司 | Control method of safety airbag, collision protection system and vehicle |
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