JP6350200B2 - Vehicle rollover detection device - Google Patents

Description

  The present invention relates to a vehicle rollover detection device that can accurately detect the occurrence of a rollover of a vehicle.

  2. Description of the Related Art Conventionally, there is a vehicle provided with a vehicle rollover detection device that is provided with a roll rate sensor and detects the occurrence of rollover of the vehicle. In this vehicle, when a vehicle rollover occurrence is detected by the vehicle rollover detection device, an occupant protection device such as a curtain airbag is operated. The curtain airbag is provided above the door in the vehicle compartment, and the airbag (airbag) is deployed in a curtain shape along the side surface of the vehicle. In a vehicle equipped with this vehicle rollover detection device, when a vehicle rollover occurs, the curtain airbag is deployed to prevent the occupant from being released to the outside of the vehicle and the occupant from colliding with a vehicle interior member such as a door. doing.

  In addition, the rollover of the vehicle includes a rollover due to a skid (tripover, turnover, etc.), and a rollover due to falling or riding on a slope (fallover, climbover, etc.). In the above-described vehicle rollover detection device, in addition to the roll rate sensor, a satellite sensor that detects vehicle lateral acceleration provided on both sides of the vehicle for side collision detection is also included in order to determine such various rollover forms. Some use it to determine rollover. In this case, the number of sensors mounted on the vehicle increases.

  Therefore, a vehicle rollover detection device has been proposed that can determine the rollover mode of a vehicle using an acceleration sensor that detects acceleration in the vertical direction of the vehicle without using a roll rate sensor (see, for example, Patent Document 1).

JP2013-193591A

  However, the above-mentioned prior art documents disclose a technique for discriminating a vehicle rollover form without using a roll rate sensor, and a specific determination method for detecting the occurrence of a vehicle rollover is disclosed. Absent.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a vehicle rollover detection device that can accurately detect the occurrence of a rollover of a vehicle without using a roll rate sensor.

The vehicle rollover detection device (1) according to claim 1, which is made to achieve the above object, includes a right acceleration sensor (2) for detecting acceleration in the vehicle vertical direction on the right side of the vehicle, and a vehicle vertical direction on the left side of the vehicle. By integrating the left acceleration sensor (3) for detecting acceleration and the acceleration values (Gzr, Gzl) detected by the right acceleration sensor and the left acceleration sensor, the vehicle vertical speed values on the right side and the left side of the vehicle are integrated. Based on the vertical speed calculation means (41) for calculating (Vzr, Vzl), and the difference between the vehicle vertical speed on the vehicle right side and the vehicle vertical speed on the vehicle left side calculated by the vertical speed calculation means The rollover angular velocity calculation means (42) for calculating the rollover angular velocity value (ωx) of the rollover, and the rollover angular velocity value calculated by the rollover angular velocity calculation means is a predetermined rollover. Is a constant threshold value (ωth) or above and at least one value of the vertical direction of the vehicle velocity in the velocity and the vehicle left side in the vehicle vertical direction in the vehicle right side calculated by the vertical velocity calculating means is equal to or higher than a predetermined speed In this case, the vehicle is provided with a rollover judging means (43, S4, S5, S15 , S16 ) for judging that a rollover has occurred in the vehicle.

According to this configuration, the rollover angular velocity of the vehicle is determined by the vertical velocity calculation means and the rollover angular velocity calculation means based on the vehicle vertical acceleration values on the right side and the left side of the vehicle detected using the right acceleration sensor and the left acceleration sensor. The value of the rollover angular velocity is equal to or greater than a predetermined rollover determination threshold by the rollover determination means , and at least one of the vehicle vertical speed on the right side of the vehicle and the vehicle vertical speed on the left side of the vehicle When the vehicle speed exceeds a predetermined speed , it can be determined that rollover has occurred in the vehicle. Thereby, it is possible to accurately detect the occurrence of rollover of the vehicle with a simple configuration without using a roll rate sensor.
Further, the vehicle rollover detecting device (1) according to claim 4 made to achieve the above object includes a right acceleration sensor (2) for detecting acceleration in the vehicle vertical direction on the right side of the vehicle, and a vehicle vertical direction on the left side of the vehicle. By integrating the left acceleration sensor (3) for detecting the acceleration in the direction and the acceleration values (Gzr, Gzl) detected by the right acceleration sensor and the left acceleration sensor, the vehicle vertical direction on the right side and the left side of the vehicle is integrated. The vertical speed calculation means (41) for calculating the speed values (Vzr, Vzl) of the vehicle, and the difference between the vehicle vertical speed on the vehicle right side calculated by the vertical speed calculation means and the vehicle vertical speed on the vehicle left side Based on the above, the rollover angular velocity calculation means (42) for calculating the value (ωx) of the rollover angular velocity of the vehicle, and the rollover angular velocity calculation means calculated by the rollover angular velocity calculation means Calculated by the rollover judging means (43, S4, S15) and the vertical speed calculating means for judging that a rollover has occurred in the vehicle when the value of the angular velocity is equal to or greater than a predetermined rollover judgment threshold (ωth). The rollover of the vehicle is determined based on the ratio between one of the vehicle vertical speed values on the right side and the left side of the vehicle and the value of the rollover angular velocity calculated by the rollover angular velocity calculating means. And a threshold value setting means (45) for setting the rollover determination threshold according to the rollover mode determined by the rollover mode determination unit, and a form determination unit (44, S14, S21). To do.
According to this configuration, the rollover angular velocity of the vehicle is determined by the vertical velocity calculation means and the rollover angular velocity calculation means based on the vehicle vertical acceleration values on the right side and the left side of the vehicle detected using the right acceleration sensor and the left acceleration sensor. The rollover determination means can determine that a rollover has occurred in the vehicle when the rollover angular velocity value exceeds a predetermined rollover determination threshold value. In addition, the rollover form determination means determines the rollover form of the vehicle based on the ratio of the value of one of the vehicle vertical speed values on the right side and the left side of the vehicle and the value of the rollover angular speed, and according to the rollover form. To set the rollover threshold. Thereby, since the appropriate rollover determination threshold value according to the rollover mode can be set, occurrence of rollover of the vehicle can be accurately detected.
In addition, the code | symbol in the bracket | parenthesis of each means described in this column and the claim shows the correspondence with the specific means as described in embodiment mentioned later.

1 is a diagram illustrating an outline of a vehicle rollover detection device according to a first embodiment of the present invention. It is a block diagram which shows the electrical structure of a vehicle rollover detection apparatus. It is a flowchart which shows the flow of rollover determination processing. It is a block diagram which shows the electric constitution of the vehicle rollover detection apparatus in 2nd Embodiment. It is a schematic diagram which shows the condition where a vehicle collides with a curb and rolls over. It is a schematic diagram which shows the condition where a vehicle rolls over by running down to a slope. It is a schematic diagram which shows the condition where a vehicle rolls over by riding on a slope. It is a flowchart which shows the flow of rollover determination processing. It is a flowchart which shows the flow of rollover form determination processing. It is a figure which shows the output of the rollover angular velocity at the time of rollover generation | occurrence | production.

[First Embodiment]
Hereinafter, a vehicle rollover detection device according to a first embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 2, the vehicle rollover detection device 1 of the present embodiment includes a right acceleration sensor 2, a left acceleration sensor 3, a rollover detection ECU 4, an occupant protection device 5, and the like that detect acceleration in the vehicle vertical direction. Configured.

  The right acceleration sensor 2 is a sensor device that detects acceleration in the vehicle vertical direction on the right side of the vehicle. The right acceleration sensor 2 is provided on the right side of the vehicle, for example, on the right door (not shown) of the vehicle.

  The left acceleration sensor 3 is a sensor device that detects acceleration in the vehicle vertical direction on the left side of the vehicle. The left acceleration sensor 3 is provided on the left side of the vehicle, for example, on the left door (not shown) of the vehicle. The right acceleration sensor 2 and the left acceleration sensor 3 are arranged at symmetrical positions from the center of the vehicle.

  A rollover detection ECU (Electronic Control Unit) 4 is composed mainly of a CPU, and controls the overall operation of the vehicle rollover detection device 1. The rollover detection ECU 4 is electrically connected to each of the right acceleration sensor 2, the left acceleration sensor 3, and the occupant protection device 5 (see FIG. 2).

  The rollover detection ECU 4 includes a vertical speed calculation unit 41 (corresponding to the vertical speed calculation unit), a rollover angular velocity calculation unit 42 (corresponding to the rollover angular velocity calculation unit), and a rollover determination unit 43 (corresponding to the rollover determination unit). It is configured. The rollover detection ECU 4 receives acceleration signals (acceleration values) from the right acceleration sensor 2 and the left acceleration sensor 3. The vertical speed calculation unit 41 performs a calculation process of integrating acceleration values Gzr and Gzl output from the right acceleration sensor 2 and the left acceleration sensor 3, so that the vehicle vertical speed Vzr, Calculate the value of Vzl.

  The rollover angular velocity calculation unit 42 calculates a difference value Vzr−Vzl between the vehicle vertical velocity Vzr on the vehicle right side calculated by the vertical velocity calculation unit 41 and the vehicle vertical velocity Vzl on the vehicle left side. Further, the rollover angular velocity calculation unit 42 calculates the calculated difference value Vzr−Vzl from the right acceleration sensor 2 and the left acceleration sensor 3 provided left-right symmetrically to the vehicle center (see the dotted line in FIG. 1) L1 (rolls over). The value ωx of the rollover angular velocity of the vehicle is calculated. FIG. 1 shows a case where the vehicle rolls over to the right.

  The rollover determination unit 43 determines whether the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42 is equal to or greater than a predetermined rollover determination threshold value ωth. Further, the rollover judging unit 43 has at least one value of a vehicle vertical speed Vzr on the right side of the vehicle and a vehicle vertical speed Vzl on the left side of the vehicle calculated by the vertical speed calculating unit 41 equal to or higher than a predetermined speed. It is determined whether or not.

  The rollover determination unit 43 has a rollover angular velocity value ωx that is equal to or greater than a predetermined rollover determination threshold value ωth, and at least one of the vehicle vertical speed Vzr on the vehicle right side and the vehicle vertical speed Vzl on the vehicle left side is at least one value. When the vehicle speed exceeds the predetermined speed, it is determined that the vehicle has rolled over and the occupant protection device 5 is activated.

  The occupant protection device 5 is a curtain airbag that is provided above the door in the passenger compartment and that is deployed in a curtain shape along the side surface of the vehicle. This curtain airbag is intended to prevent an occupant from being released to the outside of the vehicle and a passenger from colliding with an in-vehicle member such as a door when the vehicle rolls over.

  Next, the flow of rollover determination processing by the vehicle rollover detection device 1 having the above configuration will be described with reference to the flowchart of FIG. However, this flowchart is an example, and the present invention is not limited to this. In the rollover determination process of the present embodiment, it is determined whether or not a vehicle rollover that requires operation of the occupant protection device 5 has occurred based on the detection results of the right acceleration sensor 2 and the left acceleration sensor 3.

  First, in the flowchart of FIG. 3, the rollover detection ECU 4 of the vehicle rollover detection device 1 outputs the acceleration value Gzr in the vehicle vertical direction on the right side of the vehicle and the vehicle on the left side of the vehicle based on outputs from the right acceleration sensor 2 and the left acceleration sensor 3. An acceleration value Gzl in the vertical direction is acquired (step S1, the following steps are omitted).

  Next, the vertical speed calculation unit 41 of the rollover detection ECU 4 integrates the right and left acceleration values Gzr and Gzl of the vehicle to calculate the right and left speed values Vzr and Vzl of the vehicle (S2). .

  Subsequently, the rollover angular velocity calculation unit 42 of the rollover detection ECU 4 calculates a difference value Vzr−Vzl between the vehicle right and left velocity values Vzr and Vzl calculated by the vertical velocity calculation unit 41. Then, the rollover angular velocity calculation unit 42 divides the calculated difference value Vzr−Vzl by the rotation radius when the vehicle rolls over, that is, the distance L1 from the center of the vehicle to the right acceleration sensor 2 and the left acceleration sensor 3. A value ωx of the rollover angular velocity of the vehicle is calculated (S3).

  Subsequently, the rollover determination unit 43 of the rollover detection ECU 4 determines whether or not the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42 is equal to or greater than a predetermined rollover determination threshold value ωth (S4). When the rollover angular velocity value ωx is equal to or greater than a predetermined rollover determination threshold value ωth (S4: Yes), the rollover determination unit 43 determines whether the vehicle right side speed value Vzr or the vehicle left side speed value Vzl is a predetermined speed (for example, 2 km / h). ) It is determined whether or not this is the case (S5).

  If the speed value Vzr on the right side of the vehicle or the speed value Vzl on the left side of the vehicle is equal to or higher than the predetermined speed (S5: Yes), the rollover determination unit 43 determines that a rollover has occurred in the vehicle (S6), and the occupant protection device 5 is activated (S7). In this case, by deploying the curtain airbag, the occupant is prevented from being released to the outside of the vehicle and the occupant is prevented from colliding with an in-vehicle member such as a door, thereby protecting the occupant from the impact caused by the vehicle rollover.

  When the rollover angular velocity value ωx is less than the rollover determination threshold ωth (S4: No), and when the vehicle right side velocity value Vzr and the vehicle left side velocity value Vzl are less than the predetermined speed (S5: No). ), The rollover determination unit 43 determines that no rollover has occurred in the vehicle (S8), returns to S1, and repeats S1 and subsequent steps.

  As described above, the vehicle rollover detection device 1 according to the first embodiment includes the right acceleration sensor 2 that detects acceleration in the vehicle vertical direction on the right side of the vehicle and the left acceleration sensor that detects acceleration in the vehicle vertical direction on the left side of the vehicle. 3 and the acceleration values Gzr and Gzl detected by the right acceleration sensor 2 and the left acceleration sensor 3 are integrated to calculate the velocity values Vzr and Vzl in the vehicle vertical direction on the right side and the left side of the vehicle. The vehicle rollover value ωx is calculated based on the difference between the vehicle vertical velocity Vzr on the vehicle right side calculated by the unit 41 and the vehicle vertical velocity calculation unit 41 and the vehicle vertical velocity Vzl on the vehicle left side. The value ωx of the rollover angular velocity calculated by the angular velocity calculation unit 42 and the rollover angular velocity calculation unit 42 is equal to or greater than a predetermined rollover determination threshold ωth. Characterized in that the rollover of the vehicle has a rollover determination unit 43 determines that have occurred if.

  According to this configuration, the rollover angular velocity calculation unit 42 of the rollover detection ECU 4 uses the rollover angular velocity calculation unit 42 of the rollover detection ECU 4 based on the acceleration values in the vehicle vertical direction on the vehicle right side and the vehicle left side detected using the right acceleration sensor 2 and the left acceleration sensor 3. The rollover angular velocity value ωx is calculated, and the rollover determination unit (43, S4) of the rollover detection ECU 4 determines that the rollover has occurred in the vehicle when the rollover angular velocity value ωx exceeds a predetermined rollover determination threshold value ωth. can do. Thereby, it is possible to accurately detect the occurrence of rollover of the vehicle with a simple configuration without using a roll rate sensor.

  The rollover determination unit (43, S5) is a vehicle on the right side of the vehicle in which the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42 is equal to or greater than the rollover determination threshold ωth and calculated by the vertical velocity calculation unit 41. When at least one of the vertical speed Vzr and the vertical speed Vzl on the left side of the vehicle is equal to or higher than a predetermined speed, it is determined that a rollover has occurred in the vehicle.

  According to this configuration, in addition to the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42, the vehicle vertical velocity Vzr on the vehicle right side calculated by the vertical velocity calculation unit 41 and the vehicle vertical direction on the vehicle left side are calculated. Since at least one value of the speed Vzl is used for determining whether the vehicle rolls over, it is possible to detect the vehicle rollover more accurately.

  Further, if the vehicle rollover detection device 1 of the present embodiment is applied to a vehicle provided with a roll rate sensor, the rollover sensor can be used in combination by using acceleration sensors 2 and 3 and roll rate sensors having different detection principles and physical quantities. The detection accuracy of occurrence can be improved and the reliability of rollover detection can be improved. In this case, for example, the acceleration sensors 2 and 3 may be used as the main sensor, and the roll rate sensor may be used as a redundant safing sensor.

[Second Embodiment]
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 4 to 10, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Only different parts will be described. In the second embodiment, as shown in FIG. 4, a rollover type determination unit 44 (corresponding to a rollover type determination unit) and a threshold setting unit 45 (corresponding to a threshold setting unit) are added to the rollover detection ECU 4a. This is different from the first embodiment.

  The rollover type determination unit 44 is one of the vehicle vertical speed values on the right side and the left side of the vehicle calculated by the vertical speed calculation unit 41, and the rollover angular speed value ωx calculated by the rollover angular velocity calculation unit 42. Based on the ratio, the rollover mode of the vehicle is determined. Specifically, the rollover type determination unit 44 determines “rollover accompanying a side slip” and “rollover other than rollover accompanying a side slip”.

  Here, in the case of “rolling with a side slip”, when the vehicle shown in FIG. 5 collides with the curb M or the like due to a side slip and rolls over, or when the steering wheel is operated suddenly alternately left and right. Turnover that is a rollover that occurs is included.

  On the other hand, in “rollover other than rollover due to skidding”, the vehicle shown in FIG. 6 falls over when it runs down (falls) to the slope or the like, or the vehicle shown in FIG. Climb Over that rolls over when riding is included.

  The threshold value setting unit 45 sets the rollover determination threshold value ωth according to the rollover mode determined by the rollover mode determining unit 44. Specifically, the threshold value setting unit 45 sets the rollover determination threshold value ωth to the first threshold value ωth1 when the rollover type determination unit 44 determines rollover other than rollover due to skidding. Further, the threshold value setting unit 45 sets the second threshold value ωth2 that is smaller than the first threshold value ωth1 when the rollover type determination unit 44 determines that the rollover is caused by the skidding (see FIG. 10).

  That is, as shown in FIG. 10, the threshold setting unit 45 determines that rollover has occurred at the timing t1 when the rollover angular velocity ωx exceeds the first threshold ωth1 in “rollover other than rollover due to skidding” (solid line in FIG. 10). See chart). On the other hand, in the “rolling with side slip”, it is determined that the rollover has occurred at the timing t2 when the rollover angular velocity ωx exceeds the second threshold ωth2 lower than the first threshold ωth1 (see the dotted line graph in FIG. 10). Therefore, it is possible to detect the occurrence of “rolling accompanying skidding” earlier than “rolling other than rolling by skidding”.

  This is because the rollover phenomenon occurs more abruptly in “rolling with side slip” than in “rolling other than rollover with side slip”, so the output of the rollover angular velocity ωx rises faster and the occupant's sudden behavior changes This is because it is necessary to operate the occupant protection device 5 in response to the above. Further, in the case of “rollover other than rollover due to skidding”, even if the timing of deployment of the occupant protection device 5 is too early, the internal pressure of the airbag decreases with time, and the required occupant protection performance cannot be obtained. Because there is.

  Next, the flow of the rollover determination process and the rollover form determination process performed by the vehicle rollover detection device 1 having the above-described configuration will be described with reference to the flowcharts of FIGS. However, these flowcharts are examples, and the present invention is not limited to these. In the rollover determination process according to the second embodiment, whether the rollover of the vehicle has occurred by setting the rollover determination threshold according to the rollover form after determining the rollover form of the vehicle by executing the rollover form determination process. Determine whether or not.

  First, in the flowchart of FIG. 8, the rollover detection ECU 4 a of the vehicle rollover detection device 1 receives the vehicle vertical acceleration value Gzr on the right side of the vehicle and the vehicle on the left side of the vehicle based on outputs from the right acceleration sensor 2 and the left acceleration sensor 3. The vertical acceleration value Gzl is acquired (S11).

  Next, the vertical speed calculation unit 41 of the rollover detection ECU 4a integrates the right and left acceleration values Gzr and Gzl of the vehicle to calculate the right and left speed values Vzr and Vzl of the vehicle (S12). .

  Subsequently, the rollover angular velocity calculation unit 42 of the rollover detection ECU 4a calculates a difference value Vzr−Vzl between the vehicle right and left velocity values Vzr and Vzl calculated by the vertical velocity calculation unit 41. Then, the rollover angular velocity calculation unit 42 divides the calculated difference value Vzr−Vzl by the rotation radius when the vehicle rolls over, that is, the distance L1 from the center of the vehicle to the right acceleration sensor 2 and the left acceleration sensor 3. A value ωx of the rollover angular velocity of the vehicle is calculated (S13).

  Next, a rollover type determination process is performed by the rollover detection ECU 4a. In the rollover type determination process, as shown in FIG. 9, first, the rollover type determination unit 44 of the rollover detection ECU 4a determines the vehicle right side speed value Vzr calculated by the vertical speed calculation unit 41 in S12 and the left side of the vehicle. A ratio Vzr / ωx or Vzl / ωx between any one of the speed values Vzl and the rollover angular speed value ωx calculated by the rollover angular speed calculation unit 42 in S13 is calculated.

  Then, the rollover type determination unit 44 of the rollover detection ECU 4a determines whether or not this ratio is smaller than a predetermined value α (S21). The predetermined value α is appropriately set according to the type of vehicle. In the case of rollover in which the vehicle rotates clockwise as viewed from the rear of the vehicle (see FIGS. 5 to 7), in S21, the speed value Vzr on the right side of the vehicle is used in rollover in which it rotates counterclockwise as viewed from the rear of the vehicle. The speed value Vzl on the left side of the vehicle is used. The velocity values Vzr, Vzl and the rollover angular velocity value ωx are absolute values.

  When the ratios Vzr / ωx and Vzl / ωx are equal to or greater than the predetermined value α (S21: No), the rollover type determination unit 44 determines that the rollover is other than rollover due to skidding (S22). Here, a method for discriminating between roll-over caused by skidding and other roll-over will be described.

  In the case of a rollover due to a roll on the side slip, for example, when the tire on the right side of the vehicle collides with the curb M shown in FIG. 5, the vehicle is in a skid state at the time of the collision with the curb M just before the roll occurs. On the right side of the vehicle, the speed component in the left-right direction of the vehicle is main, and the speed Vzr in the up-down direction of the vehicle hardly occurs. On the other hand, in the case of “rollover other than rollover due to skidding”, for example, rollover by running down to the slope shown in FIG. 6, immediately before the rollover occurs, the vehicle has a vehicle vertical speed Vzr corresponding to the vehicle speed and slope inclination. Will occur. As described above, since the vehicle vertical speed at the time of the rollover is different depending on the rollover mode (Vzr for the right rollover and Vzl for the left rollover), it is possible to determine the rollover mode of the vehicle. Yes.

  Next, the rollover shape determination unit 44 determines whether or not the average value (Vzr + Vzl) / 2 of the speed value Vzr on the right side of the vehicle and the speed value Vzl on the left side of the vehicle is greater than 0 (S23). When the average value (Vzr + Vzl) / 2 is larger than 0, the rollover shape determination unit 44 determines “rollover by riding on a slope (slope)” shown in FIG. 7 (S24). That is, when the average value (Vzr + Vzl) / 2 is positive, it is considered that the vehicle is moving upward.

  When the average value (Vzr + Vzl) / 2 is 0 or less, the rollover shape determination unit 44 determines “rollover by running down (falling) to the slope” shown in FIG. 6 (S25). That is, when the average value (Vzr + Vzl) / 2 is negative, it is considered that the vehicle is moving downward.

  In the present embodiment, the threshold setting unit 45 of the rollover detection ECU 4a sets the rollover determination thresholds of “rollover due to riding on the slope” and “rollover other than rollover accompanying the side slip” which are “rollover other than rollover accompanying the side slip”. Is set to the first threshold value ωth1. Further, although not shown, the determination results of S24 and S25 are recorded as accident information related to a vehicle accident in, for example, an EDR (Event Data Recorder) or a nonvolatile memory. This accident information is used for accident verification. Note that different threshold values may be set for rollover by riding on a slope and rollover by running down to a slope.

  On the other hand, when the ratio Vzr / ωx or Vzl / ωx is smaller than the predetermined value α (S21: Yes), the rollover type determination unit 44 determines that the rollover is due to skidding (S27). Then, the threshold setting unit 45 of the rollover detection ECU 4a sets the rollover determination threshold to the second threshold ωth2 (S28).

  Subsequently, the rollover determination unit 43 of the rollover detection ECU 4a has a rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42 equal to or greater than a predetermined rollover determination threshold value (ωth1 or ωth2) set by the rollover type determination process. It is determined whether or not there is (S15). When the rollover angular velocity value ωx is equal to or greater than a predetermined rollover determination threshold value (ωth1 or ωth2) (S15: Yes), the rollover determination unit 43 determines that the vehicle right side speed value Vzr or the left vehicle side speed value Vzl is a predetermined speed. It is determined whether or not this is the case (S16).

  When the speed value Vzr on the right side of the vehicle or the speed value Vzl on the left side of the vehicle is equal to or higher than a predetermined speed (for example, 2 km / h) (S16: Yes), the rollover determination unit 43 determines that a rollover has occurred in the vehicle. (S17), the occupant protection device 5 is operated (S18).

  When the rollover angular velocity value ωx is less than the rollover determination threshold value (ωth1 or ωth2) (S15: No), and when the vehicle right side velocity value Vzr and the vehicle left side velocity value Vzl are less than the predetermined speed. (S16: No), the rollover determination unit 43 determines that no rollover has occurred in the vehicle (S19), returns to S11, and repeats S11 and subsequent steps.

  As described above, the vehicle rollover detection device 1 according to the second embodiment has one of the vehicle vertical speed values Vzr and Vzl calculated by the vertical speed calculation unit 41 on the right side and the left side of the vehicle. The rollover type determination unit (44, S21) is provided that determines the rollover type of the vehicle based on the ratio with the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit. Then, the rollover type determination unit 44 is characterized by determining a rollover associated with a skid and a rollover other than a rollover associated with a skid.

  According to this configuration, the rollover type determination unit (44, S21) is based on the ratio between one value of the vehicle vertical speed values Vzr and Vzl on the vehicle right side and the vehicle left side and the roll angular velocity value ωx. It is possible to determine the rollover mode of the vehicle (whether the rollover is caused by a side slip or the other rollover). Thereby, it becomes possible to operate the passenger | crew protection apparatus 5 appropriately according to a rollover form.

  In addition, a threshold setting unit 45 that sets a rollover determination threshold according to the rollover mode determined by the rollover mode determination unit 44 is provided, and the threshold setting unit (45, S26, S28) When it is determined that the rollover is other than rollover, the rollover determination threshold value is set to the first threshold value ωth1, and when the rollover type determination unit 44 determines that the rollover accompanied by the skidding is a second value that is smaller than the first threshold value. The threshold is set to ωth2.

  According to this configuration, it is possible to set an appropriate rollover determination threshold value according to the rollover mode determined by the rollover mode determination unit 44 by the threshold setting unit 45. Specifically, by setting the rollover determination threshold value ωth2 for rollover accompanying a side slip to a value smaller than the rollover determination threshold value ωth1 for rollover other than a rollover, at the time of rollover accompanying a side slip in which the rollover angular velocity ωx increases rapidly The occupant protection device 5 (curtain airbag) can be activated at an early timing.

  Thus, the occupant protection device can be divided into a rollover caused by a side slip that requires a short time from the occurrence of a rollover until the deployment of the occupant protection device 5 is requested (required ON time) and a rollover other than a rollover caused by a side slip that requires a slow ON time. The occupant protection device 5 can be deployed at an appropriate timing by adjusting the timing at which the 5 operates.

  The present invention is not limited to the above-described embodiments, and various modifications or expansions can be made without departing from the spirit of the present invention. For example, the value θ of the rollover angle of the vehicle may be calculated in addition to the rollover angular velocity ωx and the vertical speeds Vzr and Vzl. Specifically, the value θ of the rollover angle of the vehicle is obtained by integrating the rollover angular velocity value ωx calculated by the rollover angular velocity calculation unit 42 of the rollover detection ECU 4. This rollover angle value θ may be further used for rollover determination processing.

  Further, by using the rollover angular velocity value ωx, either the right side or the left side of the occupant protection device 5 may be quickly deployed depending on whether the vehicle rolls over to the right or left. For example, when the vehicle rolls rightward, the occupant protection device 5 on the right side of the vehicle may be deployed earlier than the left side of the vehicle.

  As the acceleration sensors 2 and 3, a biaxial sensor that detects acceleration in the vertical direction of the vehicle and detects acceleration in the horizontal direction of the vehicle may be used.

DESCRIPTION OF SYMBOLS 1 Vehicle rollover detection apparatus 2 Right acceleration sensor 3 Left acceleration sensor 4, 4a Rollover detection ECU
41 Vertical speed calculator (vertical speed calculator)
42 Rollover angular velocity calculation unit (rolling angular velocity calculation means)
43 Rollover judgment unit (rollover judgment means)
44 Rollover form determination unit (rollover form determination means)
45 Threshold setting unit (threshold setting means)
5 Crew protection device M Curbstone

Claims (7)

A right acceleration sensor (2) for detecting acceleration in the vehicle vertical direction on the right side of the vehicle;
A left acceleration sensor (3) for detecting acceleration in the vehicle vertical direction on the left side of the vehicle;
Vertical speed for calculating speed values (Vzr, Vzl) in the vehicle vertical direction on the right side of the vehicle and the left side of the vehicle by integrating the acceleration values (Gzr, Gzl) detected by the right acceleration sensor and the left acceleration sensor. A calculating means (41);
A rollover angular velocity calculation means for calculating a rollover angular velocity value (ωx) of the vehicle based on the difference between the vehicle vertical speed on the vehicle right side and the vehicle vertical speed on the vehicle left side calculated by the vertical speed calculation unit ( 42)
The value of the rollover angular velocity calculated by the rollover angular velocity calculating unit is equal to or greater than a predetermined rollover determination threshold (ωth) , and the vehicle vertical direction velocity on the vehicle right side calculated by the vertical velocity calculation unit and the vehicle left side when at least one value of the vertical direction of the vehicle speed exceeds a predetermined speed, determines rollover judgment unit shall overturn the vehicle has occurred and (43, S4, S5, S15 , S16),
A vehicle rollover detection device (1) comprising: Based on the ratio of one value of the vehicle vertical speed values on the right side and the left side of the vehicle calculated by the vertical speed calculation means and the value of the rollover angular speed calculated by the rollover angular speed calculation means, The vehicle rollover detecting device according to claim 1, further comprising a rollover shape determining means (44, S14, S21) for determining a rollover mode of the vehicle. The vehicle rollover detection device according to claim 2 , wherein the rollover configuration determination means (44, S21, S22, S27) determines a rollover associated with a side slip and a rollover other than the rollover associated with the side slip. A right acceleration sensor (2) for detecting acceleration in the vehicle vertical direction on the right side of the vehicle;
A left acceleration sensor (3) for detecting acceleration in the vehicle vertical direction on the left side of the vehicle;
Vertical speed for calculating speed values (Vzr, Vzl) in the vehicle vertical direction on the right side of the vehicle and the left side of the vehicle by integrating the acceleration values (Gzr, Gzl) detected by the right acceleration sensor and the left acceleration sensor. A calculating means (41);
A rollover angular velocity calculation means for calculating a rollover angular velocity value (ωx) of the vehicle based on the difference between the vehicle vertical speed on the vehicle right side and the vehicle vertical speed on the vehicle left side calculated by the vertical speed calculation unit ( 42)
Rollover judging means (43, S4, S15) for judging that a rollover has occurred in the vehicle when the value of the rollover angular speed calculated by the rollover angular speed calculating means is equal to or greater than a predetermined rollover judgment threshold (ωth). When,
Based on the ratio of one value of the vehicle vertical speed values on the right side and the left side of the vehicle calculated by the vertical speed calculation means and the value of the rollover angular speed calculated by the rollover angular speed calculation means, A rollover form judging means (44, S14, S21) for judging a rollover form of the vehicle;
Threshold setting means (45) for setting the rollover determination threshold according to the rollover form determined by the rollover form determining means ;
Car both rollover detection apparatus comprising the. 5. The vehicle rollover detection device according to claim 4 , wherein the rollover configuration determination unit (44, S <b> 21, S <b> 22, S <b> 27) determines a rollover associated with a side slip and a rollover other than the rollover associated with the side slip. The threshold value setting means (45, S26, S28)
When it is determined by the rollover form determining means that the rollover is not rollover due to the skidding, the rollover determination threshold is set to the first threshold (ωth1),
6. The vehicle rollover detection according to claim 5 , wherein when the rollover configuration determination unit determines that the rollover is caused by the skidding, the vehicle rollover detection is set to a second threshold value (ωth2) that is smaller than the first threshold value. apparatus. Said rollover determination means (43, S5, S16), the value of the calculated by the rollover angular speed calculating means and said rollover angular speed is not less the rollover judgment threshold or more, and, the vertical velocity calculating vehicle both right calculated by means when at least one value of the vertical direction of the vehicle velocity in the velocity及beauty car both the left side of the vehicle vertical direction exceeds a predetermined speed in, and judging as to overturn the vehicle has occurred The vehicle rollover detection device according to any one of claims 4 to 6 .

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