JP2015184132A - Deformation analyzer and collision detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately analyze the deformation of a three-dimensional shape of an object to be measured.SOLUTION: A coordinate conversion unit 502 calculates a three-dimensional coordinate value of each position indicating a three-dimensional shape of an object to be measured at each prescribed time on the basis of rotation angles of installation positions of a plurality of sensors which are measured by a sensor 101, and three-dimensional coordinate values of the installation positions of the plurality of sensors being a preset reference. A state calculation unit 504 calculates deformation amounts of the three-dimensional shape of the object to be measured and the three-dimensional shape being the reference on the basis of the calculated three-dimensional coordinate value of each position indicating the three-dimensional shape of the object to be measured at each prescribed time, and the three-dimensional value of the installation position of each of the plurality of sensors being the preset reference.

Description

  The present invention relates to a deformation analysis apparatus and a collision detection apparatus, and more particularly, to a deformation analysis apparatus that analyzes deformation of a three-dimensional shape of a measurement object, and a collision detection apparatus that detects that a collision object collides with the measurement object. .

  2. Description of the Related Art Conventionally, as a collision detection device, there is known a device including a collision type determination unit that determines a vehicle collision type and a deformation amount estimation unit that estimates a temporal deformation amount associated with a collision of a vehicle collision part (patent) Reference 1). As the collision type determination means, an accelerometer is arranged in the vehicle, and the presence or absence of a collision is determined from the measured acceleration at the time of the collision. Further, the deformation amount estimation means is obtained from the relationship with the deformation physical quantity correlated with the deformation of the target portion of the vehicle stored in advance in the storage means.

  Also, as a collision detection technique in a side collision of a vehicle, an occupant protection device such as a side airbag is determined by determining the presence or absence of a collision from the magnitude relationship with respect to a predetermined threshold based on the acceleration change of the X axis and the Y axis measured by an acceleration sensor. There is known a technique for starting (Patent Document 2).

  There is also known a method of determining whether or not there is a collision at the time of an oblique collision or an offset collision by arranging an acceleration sensor in a vehicle and providing a yaw rate sensor together (Patent Document 3).

  A method is also known in which a sealed space is provided between an inner panel and an outer panel of a door, and whether or not there is a collision is determined based on pressure fluctuations in the sealed space (Patent Document 4). Further, by providing an intermediate partition wall that divides the sealed space in the vertical direction, it is possible to determine the collision mode of the barrier collision and the pole collision.

  In addition, a sensor element made of a piezoelectric film is arranged on a front bumper for load detection, and a method for determining the presence or absence of a collision based on a value corresponding to a collision load detected by the sensor element is also known (patent) Reference 5).

  Moreover, based on the curvature measured by the deformation sensor and the rate of change of the curvature, a method is also known in which the energy at the time of collision is calculated and the operating requirements of the pedestrian protection device are determined (Patent Document 6).

JP2013-166515A JP 2013-151192 A JP2013-154838A JP 2013-141887 A JP 2009-51298 A JP 2006-248508 A

  In the prior art, a vehicle collision is determined from physical quantities such as acceleration, angular velocity, load, and pressure generated by the deformation of the vehicle due to the collision. However, these physical quantities change depending on the deformation state of the vehicle, and have different values depending on the collision target, the structure of the vehicle, and the rigidity. For this reason, there is a problem that it is difficult to accurately determine the collision target and that the determination accuracy of the presence or absence of the collision is low. In addition, in order to improve the discrimination accuracy, a large number of sensors must be arranged, and there are problems such as malfunction due to vibration during traveling, in addition to restrictions on arrangement and cost.

  In addition, when the deformation sensor is used to determine the collision target and the presence / absence of the collision from the deformation state, the voltage change corresponding to the film deformation and the curvature are associated from the sensor element using the piezoelectric film. When the film deformation is a two-dimensional deformation, it is possible to make the correspondence, but there is a problem that it is difficult to associate the voltage change with the curvature in the three-dimensional deformation such as torsional deformation. This is due to the fact that the electrostatic capacity and generated charges in the piezoelectric film change due to three-dimensional deformation. In addition, there is a problem that in the two-dimensional deformation, it is sometimes difficult to determine a collision target. Further, since a signal from an adjacent sensor element is required to obtain the curvature, there is a problem that it is difficult to detect the collision when the sensor element is damaged due to a collision or the like.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a deformation analysis apparatus that can accurately analyze the deformation of the three-dimensional shape of the measurement object.

  Another object of the present invention is to provide a collision detection device that can detect with high accuracy that a collision object has collided with a measurement object.

  In order to achieve the above object, a deformation analysis apparatus according to a first aspect of the present invention includes a plurality of sensors that are installed on a measurement object and detect physical quantities that act on the installation position, and the measurement object is deformed. And measuring means for measuring a rotation angle of each of the installation positions of the plurality of sensors based on a physical quantity detected by each of the plurality of sensors at a predetermined time, and by the measuring means at the predetermined time intervals. The measurement at each predetermined time based on the measured rotation angle of each of the plurality of sensor installation positions and the three-dimensional coordinate value of each of the plurality of sensor installation positions serving as a predetermined reference. Coordinate calculation means for calculating the three-dimensional coordinate value of each position representing the three-dimensional shape of the object, and 3 for each position representing the three-dimensional shape of the measurement object for each predetermined time calculated by the coordinate calculation means. Dimensional coordinate values, The shape of the three-dimensional shape of the measurement object and the reference three-dimensional shape for each predetermined time based on the three-dimensional coordinate values of the installation positions of the plurality of sensors serving as the predetermined reference. And a state calculating means for calculating the amount of deformation.

  According to the first invention, the physical quantity acting on the installation position is detected by the plurality of sensors, and when the measurement object is deformed by the measuring means, the physical quantity detected by the sensor is detected at predetermined time intervals. Based on this, the rotation angle of each of the plurality of sensor installation positions is measured, and the rotation angle of each of the plurality of sensor installation positions measured every predetermined time by the coordinate calculation means becomes a predetermined reference. Based on the three-dimensional coordinate value of each of the installation positions of the plurality of sensors, the three-dimensional coordinates of each position representing the three-dimensional shape of the measurement object for each predetermined time are calculated, and the state conversion means The measurement target at every predetermined time based on the three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object and the three-dimensional coordinate value of each of the installation positions of a plurality of sensors serving as a predetermined reference The three-dimensional shape of the object and the standard It calculates the amount of deformation of the dimension shape.

  Thus, based on the rotation angles of the installation positions of the plurality of sensors measured every predetermined time, the three-dimensional coordinates of each position representing the three-dimensional shape of the measurement object every predetermined time are calculated and calculated. The deformation of the three-dimensional shape of the measurement object can be analyzed with high accuracy by calculating the deformation amount between the three-dimensional shape of the measurement object and the reference three-dimensional shape for each predetermined time.

  Further, in the deformation analysis apparatus according to the first invention, the plurality of sensors are angular velocity sensors, and the measuring means is configured to measure the plurality of angular velocities at predetermined time intervals when the measurement object is deformed. Based on the angular velocity detected by each of the sensors, the rotation angle of each of the installation positions of the plurality of angular velocity sensors may be measured.

  Further, in the deformation analysis apparatus according to the first invention, the plurality of sensors may be angle sensors.

  A deformation analysis apparatus according to a second aspect of the present invention includes a plurality of sensors that are installed on a measurement object and that detect a physical quantity that acts on an installation position, and the plurality of sensors that are detected every predetermined time by the plurality of sensors Each physical quantity of the installation position, a relationship between the predetermined physical quantity and the change amount of the installation position, and a three-dimensional coordinate value of each of the installation positions of the plurality of sensors serving as a predetermined reference Based on the coordinate calculation means for calculating the three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object for each predetermined time, and the measurement object for each predetermined time calculated by the coordinate calculation means The three-dimensional shape of the measurement object based on the three-dimensional coordinate value of each position representing the three-dimensional shape and the three-dimensional coordinate values of the installation positions of the plurality of sensors serving as the predetermined reference And standard 3 It is configured to include a state calculating means for calculating an amount of deformation of the original shape, the.

  According to the second invention, the physical quantity acting on the installation position is detected by the plurality of sensors, and each physical quantity at the installation position of the plurality of sensors detected every predetermined time by the coordinate calculation means is determined in advance. Further, based on the relationship between the physical quantity and the amount of change in the installation position, and the three-dimensional coordinate values of the installation positions of a plurality of sensors serving as predetermined references, the three-dimensional measurement object for each predetermined time A three-dimensional coordinate of each position representing the shape is calculated, and a three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object for each predetermined time and a plurality of sensors serving as a predetermined reference are calculated by the state calculation means. Based on the three-dimensional coordinate values of the respective installation positions, the deformation amount of the shape between the three-dimensional shape of the measurement object and the reference three-dimensional shape is calculated.

  Thus, based on the physical quantity of each of the installation positions of the plurality of sensors detected every predetermined time and the relationship between the predetermined physical quantity and the change amount of the installation position, the measurement object at every predetermined time is measured. The measurement object is calculated by calculating the three-dimensional coordinates of each position representing the three-dimensional shape and calculating the deformation amount between the calculated three-dimensional shape of the measurement object for each predetermined time and the reference three-dimensional shape. It is possible to accurately analyze the deformation of the three-dimensional shape.

  In the deformation analysis apparatus according to the second invention, the plurality of sensors may be angular velocity sensors.

  A collision detection device according to a third aspect of the present invention is the deformation analysis device according to the first or second aspect, and the shape of the three-dimensional shape of the measurement object calculated by the state calculation means and the reference three-dimensional shape. And a collision detection means for detecting a collision with the measurement object based on the amount of deformation.

  According to the third invention, it is possible to detect with high accuracy that the collision object has collided with the measurement object by detecting the collision with the measurement object based on the change amount of the three-dimensional shape of the measurement object. Can do.

  In the third invention, the collision that collides with the measurement object based on the deformation amount of the shape of the three-dimensional shape of the measurement object calculated by the state calculation means and the reference three-dimensional shape. A determination means for determining an object may be further included.

  As described above, according to the deformation analysis apparatus of the present invention, the three-dimensional shape of the measurement object for each predetermined time is represented based on the physical quantities of the installation positions of the plurality of sensors measured every predetermined time. By calculating the three-dimensional coordinates of each position and calculating the amount of deformation from the reference three-dimensional shape, the deformation of the three-dimensional shape of the measurement object can be analyzed with high accuracy. Moreover, according to the collision detection apparatus of the present invention, it is possible to detect with high accuracy that the collision object has collided with the measurement object.

It is a figure which shows the example of a collision detection apparatus. It is a block diagram which shows the functional structure of the collision detection apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the example of sensor attachment to a door panel. It is a figure which shows the example of a sensor. It is a figure which shows the example of calculation of an inclination angle. It is a figure which shows the example of arrangement | positioning of a sensor. It is a figure which shows the example which the colliding body collided with the measuring object. It is a figure which shows the example of various three-dimensional deformation | transformation forms. It is a figure which shows the relationship between an inclination angle and a deformation amount. It is a figure which shows the example of estimation of the deformation | transformation shape by multiple sensors. It is a flowchart figure which shows the collision detection process routine in the collision detection apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the example of the collision form to a side door. It is a figure which shows an example of a deformation | transformation shape calculation result. It is a block diagram which shows the functional structure of the collision detection apparatus which concerns on the 2nd Embodiment of this invention. It is a figure which shows the relationship between angular velocity and the variation | change_quantity of the inclination angle of a measuring object. It is a flowchart figure which shows the collision detection process routine in the collision detection apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the functional structure of the collision detection apparatus which concerns on the 3rd Embodiment of this invention. It is a figure which shows the example of the pedestrian collision detection by a bumper and hood deformation | transformation. It is a figure which shows the example of application to emergency service by vehicle interior deformation | transformation grasp.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the collision detection apparatus according to the embodiment of the present invention calculates the shape of a measurement object when a collision object collides using a sensor attached to the measurement object, It detects the presence or absence of.

<Configuration of collision detection apparatus according to first embodiment>
First, the configuration of the collision detection apparatus 100 according to the first embodiment of the present invention will be described. As shown in FIG. 2, a collision detection apparatus 100 according to an embodiment of the present invention includes a CPU, a RAM, and a ROM that stores a program and various data for executing a collision detection processing routine described later. Can be configured with a computer. Functionally, the collision detection device 100 includes sensors 101A to 101I, a signal processing circuit 104, and a vehicle computer ECU 105 as shown in FIG.

  As shown in FIG. 3, the collision detection device 100 is attached to the inner surface of the door outer panel 14 of the side door 12. In the first embodiment of the present invention, when a collision body such as a vehicle bumper or a pole collides with the side door 12, the door outer panel 14 is deformed, and when the collision energy is large, the door impact beam 180 or the door The inner panel 16 and the like are also deformed following the deformation of the door outer panel 14.

  As shown in FIG. 3, the sensors 101 </ b> A to 101 </ b> I are installed in a grid pattern at predetermined intervals on the inner surface of the door outer panel 14 of the side door 12 that is a measurement object. Connected with wires. Further, as shown in FIG. 4, the sensors 101 </ b> A to 101 </ b> I are coupled by a coupling body for fixing the relative distance L between adjacent sensors, and between adjacent sensors. The relative distance L along the deformation shape of the measurement object is fixed regardless of the deformation of the measurement object.

  Since the sensors 101B to 101I have the same configuration as the sensor 101A, the configuration of the sensor 101A will be described below. The sensor 101A includes an angular velocity measurement unit 400A that detects angular velocities around three axes in the sensor coordinate axes, an A / D conversion unit 402A, a processing unit 404A, and a communication unit 406A.

The angular velocity measurement unit 400A detects the angular velocities ω _x , ω _y , and ω _z around the three axes of the XYZ axes in the sensor coordinate axis as predetermined physical quantities and outputs them to the A / D conversion unit 402A at predetermined time intervals. The angular velocity measuring unit 400A is an example of an angular velocity sensor.

  The A / D conversion unit 402A performs analog-digital conversion on the angular velocity of the analog value input from the angular velocity measurement unit 400A, and outputs the result to the processing unit 404A.

The processing unit 404A integrates the first-order time with respect to the angular velocity of the digital value input from the A / D conversion unit 402A, and changes in rotational angles θ _x , θ _{y on} the sensor coordinate axis of the sensor 101A every predetermined time. And θ _z are measured, and the rotation angle of the sensor 101A on the world coordinate system axis is determined based on the measured change amount of the rotation angle and the previous measured value or initial value of the rotation angle of the sensor 101A on the world coordinate system axis. Measure and output to the signal processing circuit 104 via the communication unit 406A. In the angular velocity integration process, the influence of errors due to noise and DC components is taken into consideration, and the error reduction process is performed by setting the signal ω ₀ for removing errors as a difference, as shown in FIG. You may go. The rotation angle on the world coordinate system axis is hereinafter referred to as the sensor tilt angle. In addition, it is assumed that the inclination angle of each of the sensors 101A to 101I in the initial state is stored in advance in a memory (not shown). The processing unit 404A is an example of a measuring unit.

  Specifically, when considering the example of the sensor 101A and the sensor 101B arranged as shown in FIG. 6, when a pole as a collision object collides with the door outer panel 14, the deformation state of the door outer panel 14 Is as shown in FIG.

At this time, the coordinate axes of the sensor 101A and the sensor 101B are inclined as shown in FIG. Here, for simplicity, it is assumed that the sensor 101A and the sensor 101B are rotated by θ ₁ and θ ₂ around the y axis. Therefore, the sensor 101A and sensor 101B outputs the respective inclination angle theta ₁ and theta ₂ sensors 101A and sensor 101B to the signal processing circuit 104. It is assumed that the direction of each axis is determined as shown in FIG. Further, in this specific example, it is assumed that the world coordinate system axis and the sensor coordinate system axis are the same.

  The signal processing circuit 104 detects whether or not the colliding object has collided with the side door 12 that is the object to be measured, and outputs it to the vehicle computer ECU 105. The signal processing circuit 104 includes an input unit 500, a calculation unit 501, and an output unit 510.

  The input unit 500 receives each of the sensor tilt angles input from the sensors 101A to 101I every predetermined time.

  The calculation unit 501 includes a coordinate conversion unit 502, a state calculation unit 504, a collision detection unit 505, a determination unit 506, and a storage unit 508.

  The coordinate conversion unit 502 is configured such that the sensor tilt angle of each of the sensors 101A to 101I received by the input unit 500 and the world coordinate system axis of each of the sensors 101A to 101I stored in the storage unit 508 at predetermined time intervals. Based on the initial three-dimensional coordinate value in FIG. 3, the three-dimensional coordinate value of each position representing the entire shape of the measurement object is calculated to construct the entire shape of the measurement object. In the case where the sensors 101A to 101I are arranged in a plane dispersion on the door outer panel 14, a three-dimensional deformed shape as shown in FIG. 8 can be constructed. For example, in the initial three-dimensional coordinate value of each sensor, using the inclination angle of each sensor, in the three-dimensional coordinate value, the shape formed by connecting the line segments having the inclination of each sensor is measured. Construct as the overall shape of the object.

  The state calculation unit 504 receives the initial shape of each of the world coordinate system axes of the sensors 101A to 101I stored in the storage unit 508 and the entire shape of the measurement object input from the coordinate conversion unit 502 every predetermined time. A deformation amount of the three-dimensional shape of the measurement object is calculated based on the initial shape of the measurement object constructed from the three-dimensional coordinate values, and is output to the collision detection unit 505. Specifically, the cross-sectional area at a predetermined plane in the change in the three-dimensional shape of the measurement object is calculated as the deformation amount of the three-dimensional shape. For example, a cross-sectional area in a plane that is perpendicular to the sensor surface and includes a vertical direction in a change in the three-dimensional shape of the measurement object, and a sensor surface in a change in the three-dimensional shape of the measurement object A cross-sectional area in a plane that is a vertical plane and includes a horizontal direction is calculated as a deformation amount of the three-dimensional shape.

  For example, as shown in FIGS. 9 and 10, the three-dimensional shape of the measurement object changes according to the inclination angle θ of the sensor, and the cross-sectional area in the change of the three-dimensional shape is calculated.

  The collision detection unit 505 determines whether the collision object collides with the measurement object based on the deformation amount of the three-dimensional shape of the measurement object input from the state calculation unit 504 every predetermined time. The result is output to determination unit 506 and output unit 510.

  When the determination unit 506 receives a determination result that the collision object collides with the measurement object from the collision detection unit 505, the determination unit 506 determines the three-dimensional shape of the measurement object input from the state calculation unit 504. And the correspondence information between the deformation amount of the three-dimensional shape of the measurement object stored in the storage unit 508 and the type of the collision object, the collision object is determined and the result is obtained. Output to the output unit 510.

  For example, the sensor surface in the change in the three-dimensional shape of the measurement object is a plane perpendicular to the sensor surface and having a large cross-sectional area in the plane including the vertical direction. If the cross-sectional area in the plane including the horizontal direction is small, the collision object is determined to be a pole. Further, the sensor surface in the change in the three-dimensional shape of the measurement object is small in cross-sectional area in the plane perpendicular to the sensor surface and including the vertical direction in the change in the three-dimensional shape of the measurement object. If the cross-sectional area in the plane including the horizontal direction is large, it is determined that the collision object is a bumper of the vehicle.

  The storage unit 508 stores the initial three-dimensional coordinate value of each of the sensors 101A to 101I on the world coordinate system axis, and the correspondence information between the deformation amount of the three-dimensional shape of the measurement object and the type of the collision object. doing.

  The output unit 510 outputs the determination results input from the collision detection unit 505 and the determination unit 506 to the vehicle computer ECU 105.

  The vehicle computer ECU 105 outputs a control command to the occupant protection device (not shown) to the control device (not shown) based on the determination result input from the output unit 510. Specifically, when the result that the colliding object has collided is input from the output unit 510, the control device is instructed to cause the control device to issue a command to start the occupant protection device.

<Operation of the collision detection device according to the first embodiment>
Next, the operation of the collision detection apparatus 100 according to the first embodiment will be described. First, every time each of the sensors 101A to 101I measures the tilt angle of the sensor and outputs it to the signal processing circuit 104 every predetermined time from the initial state, the collision detection apparatus 100 causes the sensors 101A to 101I to An inclination angle of the sensor is received by the signal processing circuit 104. Then, the collision detection processing routine shown in FIG.

  First, in step S100, the three-dimensional coordinate values in the initial state of the world coordinate system axis of each of the sensors 101A to 101I stored in the storage unit 508 are read.

  Next, in step S104, the correspondence information between the deformation amount of the three-dimensional shape of the measurement object and the type of the collision object stored in the storage unit 508 is read.

  Next, in step S106, the inclination angle of each of the sensors 101A to 101I received by the signal processing circuit 104 and the initial three-dimensional coordinates on the world coordinate system axes of each of the sensors 101A to 101I acquired in step S100. Based on the value, a three-dimensional coordinate value of each position representing the entire shape of the measurement object is calculated to construct the entire shape of the measurement object.

  Next, in step S108, the measurement target constructed from the overall shape of the measurement target acquired in step S106 and the initial three-dimensional coordinate values of the world coordinate system axes of the sensors 101A to 101I acquired in step S100. The deformation amount of the three-dimensional shape of the measurement object is calculated by comparing the overall shape of the object in the initial state.

  Next, in step S109, based on the deformation amount of the three-dimensional shape of the measurement object acquired in step S108, it is determined whether or not the collision object collided with the measurement object. If it is determined that the collision object has collided with the measurement object, the process proceeds to step 110, and if it is determined that the collision object has not collided with the measurement object, the process proceeds to step 112.

  In step S110, based on the deformation amount of the three-dimensional shape of the measurement object acquired in step S108 and information on the correspondence relationship between the deformation amount of the three-dimensional shape of the measurement object acquired in step S104 and the type of the collision object. Then, it is determined what the colliding object is.

  Next, in step S112, the determination result acquired in step S109 or step S110 is output from the output unit 510, and the collision detection processing routine is terminated.

  As described above, according to the collision detection device according to the first embodiment of the present invention, the predetermined time based on the inclination angle of each of the plurality of sensor installation positions measured every predetermined time. By calculating the three-dimensional coordinates of each position representing the three-dimensional shape of each measurement object and calculating the amount of deformation from the reference three-dimensional shape, it is highly accurate that the collision object has collided with the measurement object. Can be detected.

  In addition, if the collision object is a vehicle bumper or the like, a significant deformation occurs in the longitudinal direction in the target range as compared to the vertical direction, and if the collision object is a pole, the vertical direction in the target range. Noticeable deformation occurs. With such a deformation amount, it is possible to accurately determine whether the collision object is a bumper, a pole, or the like.

  In addition, since the three-dimensional deformation history of the measurement object is obtained immediately after the collision of the colliding body, compared with physical quantities such as acceleration and pressure that can be detected after a certain amount of deformation occurs, The presence or absence of a collision can be detected.

  Even when the measurement object is a flexible body, the presence or absence of a collision can be accurately detected because the presence or absence of a collision is determined based on the three-dimensional deformation history.

  Further, since the three-dimensional deformation amount is calculated based on the measurement result of each sensor, it is possible to detect the presence or absence of a collision even when some sensors are damaged due to a large impact at the time of the collision.

  Further, the collision detection device can be arranged in a narrow space such as the inside of the side door, and further, it is determined whether or not there is a collision based on the three-dimensional deformation mode immediately after the collision of the door outer panel, A collision can be detected in a short time. Thereby, it becomes possible to operate an occupant protection device at an early stage, and high protection performance can be obtained.

  In addition, it is possible to easily grasp the size of the collision object and the energy at the time of collision from the deformation range and deformation amount of the door outer panel, and select a protective device according to the size of the collision object and the energy at the time of the collision. Can be activated, and the function of the protective device can be selected and controlled. Thereby, the outstanding effect that the passenger | crew protection according to the collision condition can be performed more can be acquired.

  This will be specifically described with reference to FIG. FIG. 12 shows a situation in which four types of collision bodies (a) to (d) collide with the door outer panel 14. Here, H is the height direction of the door, W is the width direction, and L is the coordinate axis in the thickness direction. A plurality of sensors 101 are arranged on the inner side (IN) of the door outer panel 14. For example, when a short cylinder (a) collides as a colliding body, a calculation result as shown in FIG. 13A is obtained as a three-dimensional shape calculation result. That is, W is the forward direction of the vehicle, the deformation range corresponds to the approach shape of the collision object, and H is a downward value. Since L is the amount of entry into the door, L increases as the collision energy increases. Therefore, the approximate shape of the collision object and the collision position with the door outer panel 14 can be obtained from H and W, and the magnitude of the collision energy can be obtained from the value of L.

  Similarly, for the collision bodies (b) to (d), the approximate shape, collision position, and collision energy of the collision body can be obtained from the values of H, W, and L. Thus, since various information at the time of a collision is obtained, the presence or absence of a collision can be detected with high accuracy. Also, the protection device can be activated according to the collision situation. FIG. 13 (e) is an example of the shape calculation result of the experiment conducted for accuracy verification, and is the result when the half cylinder is collided with the collision detection device. As shown in FIG. 13E, a three-dimensional deformed shape corresponding to the outer shape of the semi-cylinder is obtained.

  Further, it is possible to detect a collision even in a minute collision situation.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

For example, in the first embodiment, the case of nine sensors 101A to 101I is described, but the present invention is not limited to this, and the number of sensors may be other numbers.

  Moreover, in 1st Embodiment, although the case where the collision detection apparatus 100 was installed in the side door 12 was demonstrated, it is not limited to this. For example, you may install in parts other than the side door 12 of a vehicle, and you may install in things other than a vehicle.

  Moreover, in 1st Embodiment, although the sensors 101A-101I showed the example installed in the grid | lattice form by the predetermined space | interval on the inner surface of the door outer panel 14 of the side door 12, the arrangement | positioning of a sensor is not necessarily a grid | lattice form. For example, it may be random.

  Next, a collision detection apparatus according to the second embodiment will be described.

  The second embodiment is different from the first embodiment in that the three-dimensional shape of the measurement object is constructed using the angular velocity detected by the sensor. In addition, about the structure and effect | action similar to the collision detection apparatus which concerns on 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

<Configuration of collision detection apparatus according to second embodiment>
First, the configuration of the collision detection apparatus 600 according to the second embodiment of the present invention will be described. As shown in FIG. 14, a collision detection apparatus 600 according to an embodiment of the present invention includes a CPU, a RAM, and a ROM that stores a program and various data for executing a collision detection processing routine described later. Can be configured with a computer. Functionally, the collision detection device 600 includes sensors 700A to 700I, a signal processing circuit 800, and a vehicle computer ECU 105 as shown in FIG.

  The sensors 700 </ b> A to 700 </ b> I are installed in a grid pattern at predetermined intervals on the inner surface of the door outer panel 14 of the side door 12, which is a measurement object, and are connected to the signal processing circuit 800 through signal lines and power lines.

  Since the sensors 700B to 700I have the same configuration as the sensor 700A, the configuration of the sensor 700A will be described below. The sensor 700A includes an angular velocity measuring unit 400A that detects angular velocities around three axes in the sensor coordinate axes, an A / D conversion unit 402A, and a communication unit 406A.

  The signal processing circuit 800 detects whether or not the colliding object has collided with the side door 12 that is the object to be measured, and outputs it to the vehicle computer ECU 105. The signal processing circuit 800 includes an input unit 500, a calculation unit 802, and an output unit 510.

  The input unit 500 receives each of the angular velocities of the sensor input from the sensors 700A to 700I every predetermined time.

  The calculation unit 802 includes a coordinate conversion unit 804, a state calculation unit 504, a collision detection unit 505, a determination unit 506, and a storage unit 806.

  The coordinate conversion unit 804 is configured to receive the angular velocity of each of the sensors 700A to 700I received in the input unit 500 and the world coordinate system axis of each of the sensors 700A to 700I stored in the storage unit 806 at predetermined time intervals. Correspondence between the initial three-dimensional coordinate values, the initial state or the previous one tilt angle in the world coordinate system axis of each of the sensors 700A to 700I, and the amount of change in the predetermined angular velocity and the tilt angle of the measurement object Based on the relationship information, the three-dimensional coordinate value of each position representing the overall shape of the measurement object is calculated, the overall shape of the measurement object is constructed, stored in the storage unit 806, and output to the collision detection unit 505 To do. For example, for each of the sensors 700A to 700I received in the input unit 500, correspondence information between the angular velocity of the sensor, a predetermined angular velocity and the amount of change in the tilt angle of the measurement object, and the initial state or one hour before Based on the inclination angle, the inclination angle of each sensor is obtained, and the obtained inclination angle of each sensor and the three-dimensional coordinates of the initial state in the world coordinate system axis of each of the sensors 700A to 700I stored in the storage unit 508 Based on the value, a three-dimensional coordinate value of each position representing the entire shape of the measurement object is calculated to construct the entire shape of the measurement object.

  For example, as illustrated in FIG. 15, the state calculation unit 504 changes the three-dimensional shape of the measurement object according to the angular velocity ω of the sensor, and calculates the cross-sectional area in the change of the three-dimensional shape.

  The storage unit 806 is an initial state three-dimensional coordinate value of each of the sensors 700A to 700I on the world coordinate system axis, correspondence information between a predetermined angular velocity and the amount of change in the tilt angle of the measurement object, and information on the measurement object. Correspondence information between the deformation amount of the three-dimensional shape and the type of the collision object, and the entire shape of the measurement object at the previous time are stored.

<Operation of the collision detection device according to the second embodiment>
Next, the operation of the collision detection apparatus 600 according to the second embodiment will be described. First, every time the sensors 700A to 700I detect the angular velocities of the sensors and output them to the signal processing circuit 800 every predetermined time from the initial state, the collision detection device 600 detects each of the sensors 700A to 700I. Is received by the signal processing circuit 800. Then, the collision detection processing routine shown in FIG.

  In step S200, the correspondence information between the angular velocity of the sensor stored in the storage unit 508 and the amount of change in the tilt angle of the measurement object is read.

  In step S202, the entire shape of the measurement object at the previous time stored in the storage unit 508 is read.

  Next, in step S204, the angular velocity of each of the sensors 700A to 700I received by the signal processing circuit 800, the correspondence information of the angular velocity of the sensor acquired in step S200 and the inclination angle of the measurement object, and acquired in step S100. An object to be measured based on the initial state of each of the sensors 700A to 700I in the world coordinate system axis or a three-dimensional coordinate value one hour before and the inclination angle in the initial state of each of the sensors 700A to 700I on the world coordinate system axis. The three-dimensional coordinate value of each position representing the entire shape of the object is calculated to construct the entire shape of the measurement object.

  As described above, according to the collision detection device according to the second embodiment of the present invention, the measurement at predetermined time intervals is based on the angular velocities of the installation positions of the plurality of sensors detected at predetermined time intervals. By calculating the three-dimensional coordinates of each position representing the three-dimensional shape of the target object and calculating the amount of deformation from the reference three-dimensional shape, it is detected with high accuracy that the colliding body has collided with the measurement target object. be able to

  Further, since the overall shape of the measurement object can be constructed based on the angular velocity detected in each of the sensors, it is possible to detect a collision at a higher speed than in the case of using the tilt angle of the sensor.

  Next, a collision detection device according to a third embodiment will be described.

  The third embodiment is different from the first embodiment in that the sensor tilt angle itself is detected by the sensor. In addition, about the structure and effect | action similar to the collision detection apparatus which concerns on 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

<Configuration of collision detection apparatus according to third embodiment>
First, the configuration of the collision detection apparatus 1000 according to the third embodiment of the present invention will be described. As shown in FIG. 17, a collision detection apparatus 1000 according to an embodiment of the present invention includes a CPU, a RAM, and a ROM that stores a program and various data for executing a collision detection processing routine described later. Can be configured with a computer. Functionally, the collision detection apparatus 1000 includes sensors 1100A to 1100C, a signal processing circuit 1200, and a vehicle computer ECU 105 as shown in FIG.

  The sensors 1100A to 1100I are installed in a grid pattern at predetermined intervals on the inner surface of the door outer panel 14 of the side door 12, which is a measurement object, and are connected to the signal processing circuit 1200 through signal lines and power lines. Sensors 1100A to 1100I are examples of angle sensors.

  Since the sensors 1100B to 1100I have the same configuration as the sensor 1100A, the configuration of the sensor 1100A will be described below. The sensor 1100A includes an angle measurement unit 1101A that detects the tilt angle of the sensor, an A / D conversion unit 402A, and a communication unit 406A. The A / D conversion unit 402A is an example of a measuring unit.

  The angle measurement unit 1101A detects the tilt angle of the sensor of the sensor 1100A. Note that the angle measurement unit 1101A is an example of an angle sensor.

  The signal processing circuit 1200 detects whether or not the colliding object has collided with the side door 12 that is the object to be measured, and outputs it to the vehicle computer ECU 105. The signal processing circuit 1200 includes an input unit 500, a calculation unit 1300, and an output unit 510.

  The input unit 500 receives each of the tilt angles of the sensor input from the sensors 1100A to 1100I every predetermined time.

  The calculation unit 1300 includes a coordinate conversion unit 1400, a state calculation unit 504, a collision detection unit 505, a determination unit 506, and a storage unit 508.

  The coordinate conversion unit 1400 receives the sensor tilt angles of the sensors 1100A to 1100I received by the input unit 500 and the world coordinate system axes of the sensors 1100A to 1100I stored in the storage unit 508 at predetermined time intervals. Based on the initial three-dimensional coordinate value in FIG. 3, the three-dimensional coordinate value of each position representing the entire shape of the measurement object is calculated to construct the entire shape of the measurement object.

  As described above, according to the collision detection device according to the third embodiment of the present invention, the measurement object 3 for each predetermined time is determined based on the inclination angles of the plurality of sensors detected for each predetermined time. By calculating the three-dimensional coordinates of each position representing the three-dimensional shape and calculating the amount of deformation from the reference three-dimensional shape, it is possible to detect with high accuracy that the collision object has collided with the measurement object.

  Next, a collision detection apparatus according to a fourth embodiment will be described.

  In 4th Embodiment, as shown in FIG. 18, the form which installs the collision detection apparatus 100 in the bumper and bonnet of a vehicle differs from 1st Embodiment. In addition, about the structure and effect | action similar to the collision detection apparatus 100 which concerns on 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 18, the collision detection apparatus 100 is installed in a bumper and a bonnet of a vehicle.

  As described above, according to the collision detection device 100 according to the fourth embodiment of the present invention, the collision range and collision energy at the time of collision can be acquired, so the collision body is a pedestrian or a bicycle occupant. In this case, for pedestrians, it is possible to easily distinguish between adults and children, and distinguish between pedestrians and road poles. In addition, a pedestrian and a bicycle occupant can be distinguished. Since these determinations can be made at an early stage immediately after the collision between the vehicle and the collision object, the protection device can be activated at an early stage.

  In addition, although bumpers, bonnets, and the like have a narrow space, it is possible to install a collision detection device in such a narrow space, so it is possible to avoid restrictions due to the design of the vehicle.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

  For example, in the fourth embodiment, the case where the collision detection device 100 is installed in a bumper and a hood of a vehicle has been described. However, the present invention is not limited to this and may be installed in other parts of the vehicle.

  Next, a collision detection device according to a fifth embodiment will be described.

  In the fifth embodiment, the form in which the collision detection device 100 is installed on the toe board is different from the first embodiment. In addition, about the structure and effect | action similar to the collision detection apparatus 100 which concerns on 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 19, the collision detection device 100 is installed on the toe board 5 of the vehicle.

  As described above, according to the collision detection apparatus 100 according to the fifth embodiment of the present invention, the external force and action acting on the occupant can be obtained by measuring and grasping the three-dimensional deformation history of the toe board at the time of the accident. The part can be grasped with high accuracy. In addition, by using the information, it is possible to improve the emergency service.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

  The collision detection devices according to the first to fifth embodiments are examples, and can be applied to other than the first to fifth embodiments.

5 Toe board 12 Side door 14 Door outer panel 16 Door inner panel 100 Collision detection device 101 Sensor 104 Signal processing circuit 180 Door impact beam 400 Angular velocity measurement unit 402 Conversion unit 404 Processing unit 406 Communication unit 500 Input unit 501 Calculation unit 502 Coordinate conversion unit 504 State calculation unit 506 Determination unit 508 Storage unit 510 Output unit 600 Collision detection device 700 Sensor 800 Signal processing circuit 802 Calculation unit 804 Coordinate conversion unit 806 Storage unit 1000 Collision detection device 1100 Sensor 1101 Angle sensor 1200 Signal processing circuit 1300 Calculation unit 1400 Coordinate converter

Claims (7)

A plurality of sensors installed on the measurement object and detecting physical quantities acting on the installation position;
Measuring means for measuring a rotation angle of each of the installation positions of the plurality of sensors based on a physical quantity detected by each of the plurality of sensors every predetermined time when the measurement object is deformed; ,
Based on the rotation angle of each of the installation positions of the plurality of sensors measured at the predetermined time by the measuring means and the three-dimensional coordinate value of each of the installation positions of the plurality of sensors serving as a predetermined reference. Coordinate calculating means for calculating a three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object for each predetermined time;
The three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object for each predetermined time calculated by the coordinate calculation means, and each of the installation positions of the plurality of sensors serving as the predetermined reference A deformation analysis apparatus, comprising: state calculation means for calculating a deformation amount of the shape between the three-dimensional shape of the measurement object and the reference three-dimensional shape for each predetermined time based on a three-dimensional coordinate value. The plurality of sensors are angular velocity sensors,
The measuring means rotates each of the installation positions of the plurality of angular velocity sensors based on the angular velocities detected by each of the plurality of angular velocity sensors every predetermined time when the measurement object is deformed. The deformation analysis apparatus according to claim 1, which measures an angle.   The deformation analysis apparatus according to claim 1, wherein the plurality of sensors are angle sensors. A plurality of sensors installed on the measurement object and detecting physical quantities acting on the installation position;
The physical quantities of the installation positions of the plurality of sensors detected by the plurality of sensors every predetermined time when the measurement object is deformed, the predetermined physical quantities, and the change amounts of the installation positions. And a three-dimensional coordinate value of each of the installation positions of the plurality of sensors serving as a predetermined reference, for each position representing the three-dimensional shape of the measurement object for each predetermined time Coordinate calculation means for calculating a three-dimensional coordinate value;
The three-dimensional coordinate value of each position representing the three-dimensional shape of the measurement object for each predetermined time calculated by the coordinate calculation means, and each of the installation positions of the plurality of sensors serving as the predetermined reference A deformation analysis apparatus, comprising: state calculation means for calculating a deformation amount of a shape between the three-dimensional shape of the measurement object and a reference three-dimensional shape based on a three-dimensional coordinate value.   The deformation analysis apparatus according to claim 4, wherein the plurality of sensors are angular velocity sensors. The deformation analysis apparatus according to any one of claims 1 to 5,
A collision detection means for detecting a collision with the measurement object based on a deformation amount of the shape of the three-dimensional shape of the measurement object calculated by the state calculation means and the reference three-dimensional shape;
A collision detection device including:   Determination means for determining a collision object that has collided with the measurement object based on a deformation amount of the shape of the three-dimensional shape of the measurement object calculated by the state calculation means and the reference three-dimensional shape. The collision detection device according to claim 6.