WO2004069615A1 - 車両の走行安全装置 - Google Patents
車両の走行安全装置 Download PDFInfo
- Publication number
- WO2004069615A1 WO2004069615A1 PCT/JP2004/000295 JP2004000295W WO2004069615A1 WO 2004069615 A1 WO2004069615 A1 WO 2004069615A1 JP 2004000295 W JP2004000295 W JP 2004000295W WO 2004069615 A1 WO2004069615 A1 WO 2004069615A1
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- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- seat belt
- contact
- safety device
- occupant
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01512—Passenger detection systems
- B60R21/01544—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment
- B60R21/01546—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment using belt buckle sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R2021/01204—Actuation parameters of safety arrangents
- B60R2021/01252—Devices other than bags
- B60R2021/01265—Seat belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01311—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring the braking system, e.g. ABS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01512—Passenger detection systems
- B60R21/01544—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment
- B60R21/0155—Passenger detection systems detecting seat belt parameters, e.g. length, tension or height-adjustment sensing belt tension
Definitions
- the present invention relates to a traveling safety device for a vehicle that improves safety during traveling.
- a seat belt device that can fasten the seat belt with an electric motor is used, and when a vehicle collision is predicted, the seat belt is forcibly forced by the electric motor.
- the occupant is restrained by a seat by tightening (see, for example, Japanese Patent No. 2949695).
- the vehicle driving safety device disclosed in the above patent document tightens a seat belt by a seat belt device when it is predicted that a vehicle collision will occur. However, this only restricts an occupant to a seat at the time of a collision. Therefore, it is performed when the possibility of a vehicle collision increases to some extent, and in such a situation, the occupant is aware that the seat belt is automatically tightened.
- the vehicle driving safety device described in the patent document does not have a function of intentionally issuing an alarm to the occupant. Disclosure of the invention
- an object of the present invention is to provide a driving safety device for a vehicle and a seat belt device that can satisfactorily issue an alarm to an occupant.
- the present invention detects an object existing in a traveling direction of a vehicle.
- An object detection device a relative relationship calculation device that calculates a relative relationship including a distance between the vehicle and the object based on a detection result of the object detection device, an automatic brake device that automatically decelerates the vehicle,
- a safety device including a seat belt device for fastening and releasing the seat belt, and a possibility of contact between the vehicle and the object are determined based on the relative relationship calculated by the relative relationship calculating device.
- a safety device operation control device that controls the operation of the safety device when it is determined that there is a possibility that the safety device operates, wherein the safety device operation control device has a possibility of contact.
- a driving safety device for a vehicle wherein the automatic braking device and the seat belt device are operated in parallel when it is determined that the vehicle is running.
- the safety device operation control device calculates the relative relationship based on the calculated relationship. It is determined whether there is a possibility of contact between the object and the object. When there is a possibility of contact, the safety device operation control device activates the automatic brake device and the seat belt device in parallel, and issues an alarm to the occupant. Thus, the occupant can be made aware that there is a possibility of contact between the vehicle and the object. In addition, even if the operation of the automatic brake device is not at a level sufficient to make the occupant aware that there is a possibility of contact, the occupant can be made aware of this by operating the seat belt device. It is possible to reliably recognize that the automatic braking device is operating for avoidance. Therefore, it is possible to satisfactorily issue an alarm to the occupant to prompt the occupant to perform a contact avoidance operation.
- the automatic brake device is configured to be able to decelerate the vehicle in a plurality of different deceleration patterns
- the seat belt device is configured to tighten and release the seat belt. It may be configured so that it can be performed with a plurality of different operation patterns.
- the automatic brake device can decelerate the vehicle in a plurality of different deceleration patterns, and the seat belt device can tighten and release the seat belt in a plurality of different operation patterns. Therefore, the difference between deceleration and the operation of the seatbelt and the operation of the deceleration and the seatbelt depending on the degree of urgency may be different between when an occupant is warned and when contact with an object is avoided. can do.
- the safety device operation control device may provide the occupant with the automatic braking device.
- the seat belt device may be configured to generate a deceleration capable of recognizing that a braking force has been generated, and alternately repeatedly tighten and release the seat belt by the seat belt device.
- the safety device operation control device When the vehicle is within a predetermined distance, the safety device operation control device generates deceleration that allows the occupant to recognize that braking force has been generated by the automatic braking device, and the seat belt device Is alternately repeated.
- the deceleration by such an automatic brake device causes the occupant to experience the deceleration force, and at the same time the seat belt device tightens and releases the seat belt, causing the occupant to experience the upset caused by the seat belt. Will be. These make it possible for the occupants to be surely aware of these. Therefore, a warning can be issued so that the occupant can be surely recognized.
- the safety device operation control device may be configured to maintain a state in which a distance between the vehicle and the object is within a predetermined distance for a predetermined time based on the relative relationship calculated by the relative relationship calculation device.
- the automatic braking device may be configured to generate a higher deceleration rate.
- the safety device operation control device The automatic braking device generates higher deceleration. Therefore, even in the event of a collision, the damage can be reduced.
- the safety device operation control device may be configured such that, based on the relative relationship calculated by the relative relationship calculation device, a time during which a distance between the vehicle and the object is within a predetermined distance is maintained for a predetermined time. After the seat belt is tightened by the seat belt device, the seat belt may be fixed in a stopped state for at least a predetermined time.
- the safety device operation control device After the seat belt is fastened by the seat belt device, the seat belt is fixed in the stopped state for at least a predetermined time, so that the occupant can be prevented from moving forward due to the increase in deceleration by the automatic brake device. Therefore, the occupant can perform the operation of avoiding contact with the object in a good posture.
- the traveling safety device for a vehicle comprising: a braking operation detecting device that detects a braking operation by an occupant; and a vehicle speed detecting device that detects a speed of the vehicle, wherein the safety device operation control device detects the braking operation detecting device. Based on the result, when it is detected that the brake operation is released after the occupant performs the brake operation, and when the stop of the vehicle is detected based on the detection result of the vehicle speed detection device, In any one of the above, the fixing of the seat belt in the above-mentioned stopped state by the seat belt device may be released.
- the safety device operation control device releases the fixing of the seat belt in the stopped state by the seat belt device, so that the reset switch becomes unnecessary.
- the tightening tension of the seatbelt by the seatbelt device may be increased in preference to the case where it is determined that there is a possibility of contact.
- the contact is determined based on the distance between the vehicle and the object calculated by the relative relationship calculation device.
- the seat belt tightening tension of the seat belt device is increased in priority to the case where it is determined that there is a possibility, Direct movement can be suppressed immediately. Therefore, the occupant can perform the operation of avoiding contact with the object in a good posture even in various forms such as a sudden interruption from the side.
- the vehicle includes an in-vehicle LAN, the relative relationship calculation device, a brake control unit that controls the automatic brake device, and an electric seat belt control unit that controls the seat belt device. It may be connected to the connection bus of the in-vehicle LAN.
- the safety device operation control device calculates the relative relationship. It is determined whether there is a possibility of contact between the object and the object. When there is a possibility of contact, the safety device operation control device activates the automatic brake device and the seat belt device in parallel, and issues an alarm to the occupant. Thus, the occupant can be made aware that there is a possibility of contact between the vehicle and the object.
- the driving safety device for a vehicle may be configured such that the operation of the seat belt device is different between a case where there is a possibility of contact with a stationary object and a case where there is a possibility of contact with a moving object.
- the relative relationship calculating device calculates the relative relationship including the distance between the vehicle and the object existing in the traveling direction from the detection result of the object detecting device
- the relative relationship is calculated based on the calculated relative relationship.
- the overall device operation control device determines whether there is a possibility of contact between the vehicle and the object.
- the safety device operation control device activates the automatic brake device and the seat belt device in parallel, and issues an alarm to the occupant.
- the occupant can be made aware that there is a possibility of contact between the vehicle and the object.
- the automatic braking device even if the operation of the automatic braking device is not at a level that can sufficiently recognize the possibility of contact with the occupant, the occupant can be made aware of this by operating the seat belt device, It is possible to ensure that the automatic braking device is operating to avoid such a situation. Therefore, it is possible to satisfactorily issue an alarm to the occupant to prompt a contact avoidance operation.
- the seatbelt device since the operation of the seatbelt device is different between when there is a possibility of contact with a stationary object and when there is a possibility of contact with a moving object, the object that comes into contact with the host vehicle is a static object The occupant can be made aware of whether the vehicle is a moving object or not by operating the seat belt device.
- the vehicle safety device further includes a collision sensor that detects a collision of the vehicle, the safety device further includes an airbag device, and the safety device operation control device determines that there is a possibility of contact.
- the automatic brake device and the seatbelt device may be operated in parallel, and when the collision sensor detects a collision of the vehicle, the safety device may be configured to operate the safety device.
- the airbag device can be activated by detecting the collision of the vehicle with the collision sensor. Is sufficiently decelerated and the occupants are restrained, so that the airbag device can be downsized.
- Providing device This allows the control unit to alternate between tightening and releasing the seat belt
- an alarm operation that alternately drives the seat belt in the fastening direction and the driving in the loosening release direction is performed alternately, so that the occupant can fasten the seat belt.
- the driver can experience driving in the direction and driving in the direction of releasing the tightening, so that the occupant can recognize this. That is, a warning can be issued to the occupants.
- the control device may be configured to perform the alarm operation based on a prediction signal of the contact prediction device. As described above, since the control device performs the alarm operation based on the prediction signal of the contact prediction device that predicts the presence or absence of the vehicle contact, it is possible to issue an alarm to the occupant when the vehicle contact is predicted. it can.
- control device may be configured to perform a tightening operation of tightening the seat belt by the electric motor after performing the alarm operation.
- the control device performs the tightening operation of rotating the electric motor forward and tightening the seat belt after performing the alarm operation, so that the possibility of collision of the vehicle is increased so that the tightening of the seat belt is performed. It is possible to make the occupant aware of the possibility of a collision of the vehicle at an early stage before the operation and perform an operation to avoid the collision.
- FIG. 1 is an overall configuration diagram illustrating a vehicle safety device according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing a vehicle safety device according to one embodiment of the present invention.
- FIG. 3 is an overall configuration diagram showing a seat belt device and its related configuration in the vehicle safety device according to one embodiment of the present invention.
- FIG. 4 is a time-series diagram showing motor current values at the time of a warning operation of the seat belt device in the vehicle safety device according to the embodiment of the present invention.
- FIG. 5 is a diagram showing, in a time-series manner, tension generated at the time of an alarm operation of the seat belt device in the vehicle safety device according to the embodiment of the present invention.
- FIG. 6 is a time-series diagram showing motor current values at the time of predicting the presence of a moving object contact and at the time of predicting the presence of a brake operation contact of the seatbelt device in the vehicle driving safety device according to one embodiment of the present invention.
- FIG. 7 is a time-series diagram showing motor current values when the presence of a stationary object in the seatbelt device in the vehicle safety device according to the embodiment of the present invention is predicted.
- FIG. 8 is a time-series diagram showing an example of the timing of each operation of the seat belt device and the generated deceleration in the vehicle safety device according to the embodiment of the present invention.
- the vehicle 100 is connected to a brake pedal 106 operated by an occupant, an electronic control negative pressure booster 107 connected to the brake pedal 106, and an electronic control negative pressure booster 107.
- Master cylinder 108 to be used.
- the electronic control negative pressure booster 107 mechanically boosts the occupant's depressing force input to the brake pedal 106 to operate the master cylinder 108, while the brake pedal 106
- the master cylinder 108 is actuated by a signal from the controller 110 regardless of the operation. Further, master cylinder 108 generates a hydraulic pressure according to the output from electronically controlled negative pressure booster 107.
- the vehicle 100 is provided with a brake caliper 1 1 1 that generates a braking force on the wheels 103 and 104 by the hydraulic pressure introduced from the master cylinder 108 and decelerates the vehicle 100.
- a pressure regulator provided between the brake carrier and the master cylinder to adjust the hydraulic pressure output from the master cylinder under the control of the control device; have.
- the vehicle 100 is provided with a radar (object detection) that is provided at the front end and detects an object including a vehicle ahead in the vehicle traveling direction by receiving a reflected wave from a millimeter wave object transmitted forward.
- a vehicle speed sensor (1) installed at a position corresponding to 114 and wheels 103 and 104 and detecting the speed of the vehicle from the rotation pulses of the wheels 103 and 104 (Vehicle speed detection device) 1 15, brake switch (brake operation detection device) 1 16 that detects whether the occupant has operated brake pedal 106, and stroke sensor (detects the occupant's operation stroke of brake pedal 6) Brake operation detection device) 117, a crash sensor (collision sensor) 49 provided at the front end to detect a collision, and whether or not the seat belt 14 of the seat belt device 15 shown in Fig. 3 is worn Buckle switch 45 that detects the It has a warning lamp 48 provided in the instrument display 47 of the instrument panel. As shown in FIG. 2, it is connected to the control device 110.
- the electronic control negative pressure booster 107, master cylinder 108 and brake caliper 111 shown in Fig. 1 control the braking force of the vehicle 100 to automatically decelerate the vehicle 100.
- an automatic brake device 120 is configured, and the automatic brake device 120 and the seat belt device 15 that automatically tightens and releases the seat belt 14 are provided as shown in FIG.
- the safety device 122 is composed of the airbag device 121 disposed in each part of the vehicle 100.
- the safety device 1 2 2 the above-mentioned radar 1 1 4, the vehicle speed sensor 1 1 5, the play switch 1 1 6, the stroke sensor 1 1 7, the crash sensor 4 9, the buckle switch 4 5 and the lighting lamp 4 are also provided.
- the driving safety device 123 of the present embodiment is composed of the control device 110 and the control device 110.
- the control device 110 calculates the relative relationship including the distance between the vehicle and the object ahead in the vehicle traveling direction from the detection result of the radar 114, specifically, the time of transmitting and receiving the millimeter wave, and calculates the relative relationship. Based on the calculated relative relationship, it is determined whether there is a possibility of contact between the vehicle and an object ahead in the traveling direction. If it is determined that there is a possibility of contact between the vehicle and an object ahead in the traveling direction, the vehicle is contacted. It can control the operation of the safety device 122 constituted by the provided automatic brake device 120, seat belt device 15 and airbag device 121.
- the vehicle 100 has a seat 13 provided with a seat cushion 11 supporting the occupant 10 mainly on the buttocks and a seat back 12 supporting the occupant 10 mainly on the back.
- the seat 13 is provided with a seat belt device 15 for restraining the occupant 10 with the seat belt 14.
- the seat belt device 15 is a so-called three-point type and is provided on the driver's seat 13.
- the seat belt device 15 is provided not only for the driver but also for the seats of occupants other than the driver.
- the seatbelt device 15 has a structure in which the webbing 21 of the seatbelt 14 extends upward from a retractor 20 provided at a center villa (not shown) outside the vehicle cabin with respect to the seat 13, so that It is passed through the through anchor 22 supported at the top, and the tip of the webbing 21 contacts the seat 13 with the outer anchor outside the cabin. It is attached to the vehicle body floor side via force 23.
- the seatbelt 14 has a tander plate 25 that allows a portion of the webbing 21 located between the through anchor 22 and the auta anchor 23 to pass through.
- a buckle 26 attached to the vehicle floor inside the vehicle is detachable.
- the belt 14 has a portion from the through anchor 22 to the tongue plate 25 that restrains the occupant 10 mainly from the shoulder to the chest on the opposite side to the seat 13, and the belt 14 to the tongue plate 25 to the auta anchor 23.
- the part restrains the abdomen mainly of the occupant 10 on the opposite side to the seat 13.
- the retractor 20 has an irreversible first pretensioner (irreversible belt 1, belt tightening device) 28 that pulls in and instantly tightens the seat belt 14 with explosive force using explosives.
- the first pretensioner 28 is an explosive type, a spring type, or the like.
- the retractor 20 is provided with a reversible second pretensioner 30 that pulls in and fastens the seat belt 14 with the driving force of the electric motor 29.
- the second pretensioner 30 forcibly rotates the reel 31 that winds up the bing 21 in the retractor 20 by the forward rotation of the electric motor 29 to thereby rotate the seat belt 1. 4 is retracted and pulled in the tightening direction, while the reel 31 is forcibly reversed by the reverse rotation of the electric motor 29 so that the seat belt 14 is extended in the tightening release direction.
- the electric motor 29 is connected to an electric seatbelt control unit (safety device operation control device) 35 which is a part of the control device 110 for controlling the drive.
- This electric seat belt control unit 35 removes the slack of the seat belt 14 in advance and restrains the occupant 10 and wears the seat belt 14 when it is predicted that there is contact with an object in front of the vehicle.
- the electric motor 29 is controlled so that it is automatically wound up on the retractor 20 when is released, and is connected to the in-vehicle LAN connection bus 36.
- the connection bus 36 includes a control unit for controlling a vehicle behavior stabilization control system for controlling vehicle behavior stabilization and a brake control unit (safety device operation control device) which is a part of the control device 110.
- the control device 39 is connected to a vehicle speed detection unit 40 which is a part of the control device 110.
- the electric seat belt control unit 35 has an airbag device as an auxiliary seat belt restraint device.
- An air-pack control unit (safety device operation control device) 43 which is a part of the control device 110 that controls the operation of 121, is connected.
- the brake control unit 38 performs an emergency brake operation based on the output of the stroke sensor 117, which is a brake operation speed sensor, so that the depressing speed of the brake pedal 106 is faster than a predetermined speed. If it is determined that there is, the brake assist control is performed by predicting the presence of an object in front of the vehicle, and the BA signal is output to the electric seatbelt control unit during brake assist control. Output to When the depressing speed of the brake pedal 106 is not faster than a predetermined speed, the brake control unit 38 predicts that there is no vehicle contact. In this case, the B A signal is not output.
- the preceding vehicle following control system has the above-mentioned radar 114 such as a millimeter-wave radar for detecting an object ahead of the traveling direction of the vehicle (for example, a preceding vehicle).
- the radar 114 detects the object ahead.
- the radar control unit 39 controls the above-mentioned electronic control negative pressure booster 107, which is a brake fluid pressure control device of the automatic brake device 120, based on the detection signal of the radar 114 to control the vehicle 1
- a preceding vehicle following control which controls the braking force of the vehicle 0 and controls a throttle actuator (not shown) to control acceleration and deceleration while maintaining a predetermined inter-vehicle distance with the preceding vehicle, and a radar 1 1 4 Detects a forward object, and if the distance to the preceding object is within a predetermined value based on the detection signal of the radar 114, predicts that the vehicle 100 will be in contact, and automatically Brake device is a brake fluid pressure control device for 120 To generate a braking force by controlling the
- the radar control unit 39 detects, for example, a forward object with the radar 114, and when the distance to the forward object decreases within a predetermined value based on the detection signal of the radar 114,
- the above-described automatic brake control is performed by predicting that the vehicle 100 will be in contact with the vehicle.
- the object is a stationary object or a moving object.
- the radar control unit 39 determines that the contact with the stationary object is predicted during the execution of the automatic brake control when it determines that the object with the predicted contact is a stationary object.
- a stationary object signal which is a prediction signal indicating that there is, is output to the electric seat belt control unit 35.
- a moving object signal which is a prediction signal indicating that contact with the moving object is predicted during execution of the automatic brake control is obtained. Output to the electric seat belt control unit 35. Unless the automatic brake control is being executed, the radar control unit 39 does not output any of the stationary object signal and the moving object signal.
- the vehicle speed detection unit 40 outputs a vehicle speed signal from the vehicle body speed sensor 115 to the electric seat belt control unit 35, and outputs a brake signal when the brake switch 116 is turned on. Output to belt control unit 35.
- the buckle switch 45 for detecting whether or not it is connected is connected. Further, a warning lamp 48 provided in a meter display device 47 of the instrument panel is connected to the airbag control unit 43. In addition, a crash sensor 49 for detecting a vehicle collision is connected to the airbag control unit 43.
- the airbag control unit 43 outputs a signal from the buckle switch 45 when the tonda plate 25 is engaged with the buckle 26, and outputs the signal from the buckle switch 45 when the tanda plate 25 is disengaged from the buckle 26.
- the operation and the like of each airbag device 121 and the explosive-type first pretensioner 28 are controlled based on the buckle signal for stopping the output of the airbag device and the detection signal of the crash sensor 49.
- the electric seat belt control unit 35 of the seat belt device 15 of the present embodiment in the direction in which the seat belt 14 is fastened and the direction in which the seat belt 14 is fastened, is released.
- the electric motor 29 of the second pretensioner 30 By driving the electric motor 29 of the second pretensioner 30 so that a certain reverse rotation is alternately repeated a predetermined number of times (specifically, three times) within a predetermined time, the occupant 10 is alerted by the seat belt 14. An alarm action is issued.
- the forward rotation drive time of the electric motor 29 (t01 to t02 in FIG. 4) is equal to a predetermined first forward rotation drive time (for example, 10 Oms)
- the drive time of the reverse rotation of the electric motor 29 (t03 to t04 in FIG. 4) is set as a predetermined first reverse drive time (for example, 50 ms)
- the first forward drive time is It is set longer than the first reverse drive time.
- the stop time (t02 to t03 in FIG. 4) between the forward rotation and the reverse rotation is shortened to a predetermined first stop time (for example, 10 ms).
- the second forward and reverse rotation which is performed with a predetermined pause time (for example, 150 ms) after the first forward and reverse rotation, is performed by the forward drive time of the electric motor 29 (t05 in Fig. 4).
- a predetermined second forward drive time for example, 10 Oms
- the reverse drive time of the electric motor 29 is a predetermined second reverse drive time (for example, 5 Oms).
- the second forward drive time is set longer than the second reverse drive time.
- the stop time (t06 to t07 in FIG. 4) between the forward rotation and the reverse rotation is shortened to a predetermined second stop time (for example, 1 Oms).
- the second forward and reverse rotations are set to the same length as the first forward and reverse rotations, and the forward drive time, reverse drive time, and stop time between forward and reverse rotations are set.
- the third forward and reverse rotations which are performed after a predetermined pause time (for example, 15 Oms) after the second forward and reverse rotations, are based on the forward drive time of the electric motor 29 (Fig. 4 At time t09 to t10) is a predetermined third forward drive time (for example, 10 Oms), and the drive time of reverse rotation of the electric motor 29 (t11 to t12 in FIG. 4) is a predetermined third drive time.
- the drive current during normal rotation is controlled to a predetermined first drive value (for example, 3 A), and the drive current during reverse rotation is controlled to a predetermined second drive value. (For example, 7 A in the opposite direction).
- a predetermined first drive value for example, 3 A
- the drive current during reverse rotation is controlled to a predetermined second drive value.
- the broken line is the current value control target
- the solid line is the actual operating current value.
- the tension is generated by winding the seatbelt 14, that is, driving in the tightening direction, and the tension is generated by extending the seatbelt 14, that is, driving in the tightening release direction. Cancellation is alternately repeated a plurality of times within a predetermined time, and the occupant 10 is alerted via the seat belt 14.
- the electric seat belt control unit 35 determines the presence of contact with a stationary object, which is determined by the radar control unit 39 to be in contact with a stationary object ahead in the vehicle traveling direction (that is, the stationary object signal The time of occurrence), the time at which the radar control unit 39 predicts that there will be contact with the moving object ahead in the direction of travel of the vehicle (the time at which a moving object signal is predicted) Tightening operation is performed at the earlier of the brake operation contact prediction prediction time (that is, the BA signal generation time), which is determined to be predicted based on the operation speed of the brake pedal by the unit 38.
- the radar control unit 39 determines the presence of contact with a stationary object, which is determined by the radar control unit 39 to be in contact with a stationary object ahead in the vehicle traveling direction (that is, the stationary object signal The time of occurrence), the time at which the radar control unit 39 predicts that there will be contact with the moving object ahead in the direction of travel of the vehicle (the time at which a moving object signal is predicted) Tightening operation is performed
- the electric seatbelt control unit 35 applies different tensions to the seatbelt 1 4 according to the prediction result of the prediction of contact by the brake control unit 38 and the prediction result of the prediction of multiple contact by the radar control unit 39.
- the radar control unit 39 forwards the vehicle in the vehicle traveling direction from the tension F3 when the stationary object is predicted to come into contact with a stationary object ahead of the vehicle traveling direction by the radar control unit 39. Predicts the presence of contact with a moving object. Predicts the presence of a brake operation contact based on the predicted tension F2 and the operation speed of the brake pedal 106 using the brake control unit 38.
- the electric motor 29 is controlled so that the tension F1 at the time becomes larger.
- the current value of the electric motor 29 for generating a first predetermined value (for example, 100 N) as the tension F1 on the seat belt 14 is set to a first predetermined range (for example, 10 to 10). Control so that 20 A).
- the current value of the electric motor 29 for causing the seat belt 14 to generate a second predetermined value (for example, 100 N) as the tension F2 is set to a second predetermined range (for example, 10 220 A).
- the current value of the electric motor 29 for causing the seat belt 14 to generate a third predetermined value (for example, 5 ON) as the tension F3 is set to a third predetermined range (for example, 6 to 10 A).
- a third predetermined range for example, 6 to 10 A.
- the first predetermined value as the tension F1 and the second predetermined value as the tension F2 are set equal, and as a result, the first predetermined range and the second predetermined range of the current value are set equal. I have.
- the electric seat belt control unit 35 controls the electric motor 29 in the tightening operation in any of the cases where the stationary object contact is predicted, the moving object contact is predicted, and the brake operation contact is predicted.
- the current value of the electric motor 29 is temporarily increased in the initial stage when the seat belt 14 generates a tension capable of restraining the occupant 10. That is, for a predetermined time immediately after the start of the rotation of the electric motor 29, the current limit is set higher than the current limit when the tension set by the tightening operation is generated.
- the brake operation contact is predicted, as shown by t21 to t22 in FIG. 6, the predetermined first initial time (for example, 50 ms) immediately after the electric motor 29 starts to rotate is equal to the current.
- the current limit is set to a predetermined first limit value (for example, 1 OA) lower than the first initial limit value.
- a predetermined second initial time immediately after the electric motor 29 starts rotating for example, 50 ms
- the current limit is set to a predetermined While the initial limit value is set to 2 (for example, 2 OA), the subsequent current limit is set to a predetermined second limit value (for example, 1 OA) lower than the second initial limit value.
- the current limit is set for a predetermined third initial time (for example, 50 ms) immediately after the electric motor 29 starts rotating. While the third initial limit value (for example, 1 OA) is set, the subsequent current limit is set to a predetermined third limit value (for example, 6 A) lower than the third initial limit value.
- the first predetermined value as the tension F 1 is equal to the second predetermined value as the tension F 2
- the first initial limit value and the second initial limit value are set equal, and The limit value and the second limit value are set equal.
- the broken line is the control target of the current value
- the solid line is the actual operating current value.
- the electric motor 29 may be controlled so as to increase the tension F1 of the motor (that is, F3 ⁇ F2 ⁇ F1).
- the electric seat belt control unit 35 determines whether there is a possibility of contact between the vehicle 100 and an object based on the operation of the brake pedal 106 detected by the stroke sensor 117 and output from the brake control unit 38. If it is determined that there is a possibility of contact based on the driver's brake operation, there is a possibility of contact based on the distance between the vehicle 100 and the object calculated by the radar control unit 39. The fastening tension of the seatbelt 14 by the seatbelt device 15 is increased with priority to the case where the determination is made.
- control is performed so that the third predetermined range of the current value of the electric motor 29 is, for example, 6 to 1 OA. Is controlled to be, for example, 10 to 20 A, and when the brake operation contact is predicted, the first predetermined range of the current value of the electric motor 29 is controlled to be, for example, 20 to 25 A. .
- the first initial limit thus set is also set higher than the second initial limit, and the first limit is also set higher than the second limit.
- the radar control unit 39 detects, for example, an object ahead (for example, a vehicle ahead) with the radar 114, and based on the detection signal of the radar 114, when the distance from the object ahead decreases to within a predetermined value.
- an object ahead for example, a vehicle ahead
- a stationary object signal is output when the preceding object is a stationary object
- a moving object signal is output when the preceding object is a moving object.
- the sound output device is driven to reduce the distance to the object in front of the vehicle. Notify the occupants on the display (primary alarm). In other words, when there is a possibility of contact with an object ahead or when the distance between vehicles is short, the occupants are notified of this by voice and visual display, and the evacuation operation is prompted. No deceleration is performed at this initial stage.
- the radar control unit 39 sets a brake fluid pressure control device.
- the electronic control negative pressure booster 107 is controlled to generate a braking force so that a predetermined degree of deceleration can be obtained in the vehicle, so that the occupant can recognize that the braking force has been generated by experiencing the deceleration by experiencing the first deceleration. Perform the stepwise deceleration generation operation (t42-t43 in Fig. 8).
- the electronic control negative pressure booster 107 which is a brake fluid pressure control device of the device 120, was controlled to generate a braking force so that a higher predetermined deceleration could be obtained in the vehicle, and the occupant generated a braking force.
- the second stage deceleration generation action is performed to further recognize this (t43 to t44 in Fig. 8).
- electrostatic dynamic seat belt control Yunitto 3 5 moving object signal You will receive Based on the moving object signal, the belt control unit 35 determines the start of the deceleration generating operation as described above in the state where the input state of the moving object signal is maintained from the start of the input of the moving object signal. (E.g., 1 second) (t42 in FIG. 8), the buckle signal output from the buckle switch 45 is input via the airbag control unit 43, and the seat belt 14 is tightened in the direction of tightening.
- An occupant is alerted by the seat belt 14 by driving the electric motor 29 of the second pretensioner 30 so as to alternately repeat the reverse rotation, which is the direction to release the fastening of the certain forward seat belt 14, several times.
- An alarm action is issued.
- a predetermined first forward rotation drive time for example, 100 ms
- a predetermined first stop time for example, 10 ms
- a predetermined first reverse rotation driving time for example, 5 Oms
- a predetermined pause time for example, 150 ms
- a predetermined second forward drive time for example, 10
- a predetermined third forward rotation drive time for example, 100 ms
- the motor is rotated forward, and a predetermined third stop time (for example, 5 Oms) is stopped
- a predetermined third reverse drive time for example, 100 ms
- the generation and tightening of the tension due to the winding of the seat belt 14 and the release of the tension and the release of the tension due to the extension of the seat belt 14 are alternately repeated. And alerts the occupants via seat belt 14.
- the alarm operation is set to be performed almost in parallel with the deceleration generating operation described above (t42 to t44 in FIG. 8).
- a visual alarm is generated by a warning lamp 48 or the like
- an audible alarm is generated by a sound output device, or the like
- an alarm is generated by another alarm device. It is also possible to combine them. In other words, even when the primary alarm is generated, the vehicle is determined based on the calculated relative relationship.
- the radar control The knit 39 performs light braking with the automatic braking device 120 to generate deceleration that allows the occupant to recognize that braking force has been generated, and the electric seat belt control unit 35 has the seat belt. Light tightening and releasing of seat belts 14 alternately with device 15 (secondary alarm). In other words, when approaching an object further ahead than when the primary alarm occurs, the occupant is made aware of this by the deceleration and the fastening of the seatbelt 14 in addition to the audio and visual display, and the avoidance operation is prompted.
- the radar control unit 39 and the electric seat belt control unit 35 are automatically braked.
- the device 120 and the seat belt device 15 are operated in parallel.
- the radar The control unit 39 controls the electronically controlled negative pressure booster 107, which is a brake fluid pressure control device, to perform an emergency automatic brake operation that generates a braking force so that a higher predetermined deceleration can be obtained in the vehicle (see FIG. 8 after t44).
- the radar control unit 39 further operates by the automatic braking device 120. Generates high deceleration.
- the radar control unit 39 is expected to contact with an object ahead of the vehicle, and either one of the stationary object signal and the moving object signal output during execution of the automatic brake control is output.
- the receiving electric seat belt control unit 35 receives the stationary object signal or the moving object signal based on one of the received stationary object signal and the moving object signal.
- the electric motor 29 is rotated forward for a predetermined normal rotation time (e.g., 1 second), and the sheet is rotated.
- the retractor 20 After retracting and tightening the belt 14, the retractor 20 is fixed in the stopped state for at least a predetermined fixed time (for example, 2 seconds) by the electric motor 29 (that is, the pullout cannot be performed). Tightening operation To It is restrained in seat 1 3 occupants 1 0 in the seat belt 1 4 me You.
- a stationary object signal is output, that is, at the time of prediction of contact with a stationary object in which it is predicted that there is contact with a stationary object ahead, immediately after the start of rotation of the electric motor 29,
- a predetermined third initial time for example, 50 ms
- the current value is temporarily increased to a predetermined third initial limit value (for example, 1 OA) to immediately remove the slack of the seat belt 14.
- the current limit is reduced to a predetermined third limit value (for example, 6 A) lower than the third initial limit value to suppress the current value, and a third predetermined value (for example, 5 ON) is set to the seat belt 14 as the tension F 3. generate.
- the electric motor 29 rotates.
- the current limit is temporarily increased to a predetermined second initial limit value (for example, 20 A), and the slack of the seat belt 14 is immediately increased.
- the current value is reduced to a predetermined second limit value (for example, 10 A) lower than the second initial limit value, and the current value is suppressed, and the second predetermined value (for example, 10 ON) is set as the tension F2.
- the second predetermined value for example, 10 ON
- the electric seatbelt control unit 35 releases the fixing of the seatbelt 14 in the stopped state by the seatbelt device 15. I do.
- the broken line in FIG. 8 indicates the deceleration caused by the occupant's braking operation.
- the depression speed of the brake pedal 106 is an emergency brake operation faster than a predetermined speed based on the output of the stroke sensor 1 17 which is a brake operation speed sensor.
- the brake control unit 38 predicts that there will be contact with an object ahead of the vehicle and performs brake assist control. As a result, the deceleration will increase at a stretch (see FIG. 8).
- the dashed line) indicates that the electric seat belt control unit is running during the execution of this brake assist control.
- the airbag control unit 43 inflates the airbag device 121 and ignites the explosive type first pretensioner 28 to seat belt. Immediately pull in and tighten 4. That is, when the crash sensor 49 detects the collision of the vehicle, the airbag control unit 43 controls the operation of the airbag device 121 and the irreversible first pretensioner 28.
- the automatic brake device 120 can decelerate the vehicle in a plurality of different deceleration patterns, and the seat belt device 15 can tighten and release the seat belt 14. Can be performed in a plurality of different operation patterns.
- a switch is provided for the occupant to manually turn off the driving safety device 123.
- the radar control unit 39 determines whether the vehicle 100 and the object present in the traveling direction of the vehicle 100 based on the detection result of the radar 114. When the relative relationship including the distance is calculated, it is determined whether there is a possibility of contact between the vehicle 100 and the object based on the calculated relative relationship. When there is a possibility of contact, the radar control unit 39 automatically turns the vehicle 100 on by the automatic braking device 120 which is a safety device 122 provided on the vehicle 100. At the same time, the seatbelt 14 is tightened and the fastening is released by the seatbelt device 15. Such deceleration by the automatic braking device 120 causes the occupant to experience the deceleration force.
- the automatic brake device 120 can decelerate the vehicle 100 in a plurality of different deceleration patterns, and the seat belt device 15 can tighten and release the seat belts 14 in a plurality of different operation patterns. It is possible to reduce the speed and the operation of the seat belt 14 depending on whether the alarm is issued to the occupant or to avoid contact with an object.
- the operation of 1 4 can be made different.
- the radar control unit When the distance between the vehicle 100 and the object is within a predetermined distance, the radar control unit The automatic braking device 120 generates a deceleration that allows the occupant to recognize that braking force has been generated, and the electric seat belt control unit 35 By alternately repeating the tightening and releasing of the belt 14, the occupant can be surely recognized. Therefore, an alarm can be issued so that the occupant can be surely recognized.
- the radar control unit 3 9 generates even higher deceleration with the automatic braking device 120. Therefore, even in the event of a collision, the damage can be reduced.
- the state where the distance between the vehicle 100 and the object is within a predetermined distance is maintained for a predetermined time, that is, when the distance between the vehicle 100 and the object is not separated even if a report is issued, the electric After the seatbelt control unit 35 tightens the seatbelt 14 with the seatbelt device 15, the seatbelt 14 is stopped and fixed for at least a predetermined period of time.
- the forward movement of the occupant due to the increase in speed can be suppressed. Therefore, the occupant can perform the operation of avoiding contact with the object in a favorable posture.
- the electric seat belt control unit 35 releases the fixed state of the seatbelt 14 in the stopped state by the seatbelt device 15. This eliminates the need for a reset switch.
- the vehicle 1 calculated by the radar control unit 39
- the tightening tension of the seat belt 14 by the seat belt device 15 is increased in preference to the case where it is determined that there is a possibility of contact based on the distance between the object 0 and the object. It can be suppressed immediately. Therefore, for various forms such as sudden interruption from the side Also, the occupant 10 can perform the operation of avoiding contact with an object in a favorable posture.
- the first pretensioner that tightens the airbag device 122 and the irreversible seat belt by the airbag control unit 43 is used. 2 8 can be operated. Therefore, in the event of a collision of the vehicle 100, the first pretensioner 28 securely restrains the occupant to the seat 13 and activates the airbag device 121 to reduce the damage caused by the collision. After decelerating at 120, the first pretensioner 28 can be operated, so that the first pretensioner 28 can be downsized. Furthermore, the airbag device 121 and the first pretensioner 28 can be simultaneously operated by detecting the collision of the vehicle with the crash sensor 49.
- the air bag device 12 1 can be activated by detecting the collision of the vehicle with the crash sensor 49. Therefore, when the airbag device 122 is operated, the own vehicle is sufficiently decelerated and the occupant is restrained, so that the airbag device 122 can be downsized.
- the radar control unit 39, the brake control unit 38, and the electric seat belt device control unit 35 are connected to the connection path 36 of the in-vehicle LAN, for example, the calculation result of the radar control unit 39
- the electric seat belt control unit 35 can control the seat belt device 15 based on the BA signal of the brake control unit 38 output based on the brake control unit 38. Timing can be easily controlled.
- the seatbelt device 15 differs between when there is a possibility of contact with a stationary object and when there is a possibility of contact with a moving object, the object that comes into contact with the host vehicle is a stationary object.
- the occupant can be recognized as a moving object or a moving object through the operation of the Sea 1, the Bell 1, and the device 15.
- the seat belt device 15 has the following effects.
- the electric seat belt control unit 35 drives the electric motor 29 so as to alternately rotate forward and reverse, thereby driving the seat belt 14 in the tightening direction.
- the electric seat belt control unit 35 drives the electric motor 29 so as to alternately rotate forward and reverse, thereby driving the seat belt 14 in the tightening direction.
- the forward drive time of the electric motor 29 to fasten the seat belt 14 is set immediately after that, and the reverse drive time to loosen the seat belt 14 is set longer.
- the amount of unfastening after fastening the seat belt can be reduced, so that the occupant 10 can feel the driving of the seat belt 14 in the fastening direction and the repeated driving in the unfastening direction without causing the occupant 10 to feel uncomfortable. be able to.
- the warning can be issued by the seat belt 14 without causing the occupant 10 to feel uncomfortable.
- the electric seat belt control unit 35 performs a tightening operation of rotating the electric motor 29 forward and tightening the seat belt 14 after performing the alarm operation, thereby increasing the possibility of vehicle contact.
- the occupant 10 can recognize the possibility of contact with the vehicle at an early stage before the fastening operation of the seat belt 14 is performed, and can perform an operation to avoid the contact. Therefore, the occupant 10 can be effectively alerted.
- the case where both the first pretensioner 28 of the explosive type and the second pretensioner 30 by the electric motor 29 are provided on the retractor 20 side has been described as an example.
- the first pretensioner 28 may be provided on the retractor 20 side
- the second pretensioner 30 may be provided on the buckle 26 side.
- the second pretensioner 30 tightens the seat belt by retracting the buckle 26 with the electric motor 29.
- the relationship between the first pretensioner 28 and the second pretensioner 30 may be reversed.
- the seat belt device 15 is provided not only for the driver but also for the seats of occupants other than the driver.
- the electric seat belt control unit 35 controls the electric motor 29 and the reel for winding the seat belt 14 off.
- the above operation is performed by alternately repeating the tightening and releasing of the seat belt 14 by controlling the connection and disconnection of the mechanical engagement between the 3 1 and the electric motor 29.
- the present invention relates to a traveling safety device for a vehicle that improves safety during traveling.
- the safety device operation control device when the relative relationship calculation device calculates the relative relationship including the distance between the vehicle and the object existing in the traveling direction from the detection result of the object detection device, the safety device operation control device based on the calculated relationship. Determine whether there is a possibility of contact between the vehicle and the object. If there is a possibility of contact, the safety device operation control device automatically decelerates the vehicle with the automatic brake device, which is a safety device provided on the vehicle, and in parallel with this, uses the seat belt device. Tighten and release the seat belt. Such deceleration by the automatic brake device causes the occupant to experience the deceleration force, and concurrently tightening and releasing the seatbelt by the seatbelt device causes the occupant to experience the swinging caused by the seatbelt. become. In other words, an alarm is issued to the crew. Therefore, it is possible to satisfactorily issue a warning to the occupant to prompt the occupant to perform a contact avoidance operation.
- the automatic brake device which is a safety device provided on the vehicle, and in parallel with
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Automotive Seat Belt Assembly (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04702803A EP1586490B1 (en) | 2003-01-24 | 2004-01-16 | Travel safety device for motor vehicle |
US10/542,934 US7828104B2 (en) | 2003-01-24 | 2004-01-16 | Travel safety device for motor vehicle |
DE602004014473T DE602004014473D1 (de) | 2003-01-24 | 2004-01-16 | Fahrtsicherheitsvorrichtung für kraftfahrzeug |
CA002513968A CA2513968C (en) | 2003-01-24 | 2004-01-16 | Travel safety device for vehicle |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003016312 | 2003-01-24 | ||
JP2003-16312 | 2003-01-24 | ||
JP2003-192935 | 2003-07-07 | ||
JP2003192935 | 2003-07-07 |
Publications (1)
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WO2004069615A1 true WO2004069615A1 (ja) | 2004-08-19 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2004/000295 WO2004069615A1 (ja) | 2003-01-24 | 2004-01-16 | 車両の走行安全装置 |
Country Status (5)
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US (1) | US7828104B2 (ja) |
EP (1) | EP1586490B1 (ja) |
CA (1) | CA2513968C (ja) |
DE (1) | DE602004014473D1 (ja) |
WO (1) | WO2004069615A1 (ja) |
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- 2004-01-16 EP EP04702803A patent/EP1586490B1/en not_active Expired - Lifetime
- 2004-01-16 US US10/542,934 patent/US7828104B2/en active Active
- 2004-01-16 DE DE602004014473T patent/DE602004014473D1/de not_active Expired - Lifetime
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EP1745995A1 (en) * | 2005-07-20 | 2007-01-24 | Nissan Motor Co., Ltd. | Seat belt controlling system and method of controlling seat belt |
US11500388B2 (en) | 2015-11-04 | 2022-11-15 | Zoox, Inc. | System of configuring active lighting to indicate directionality of an autonomous vehicle |
US11500378B2 (en) | 2015-11-04 | 2022-11-15 | Zoox, Inc. | Active lighting control for communicating a state of an autonomous vehicle to entities in a surrounding environment |
Also Published As
Publication number | Publication date |
---|---|
EP1586490A1 (en) | 2005-10-19 |
EP1586490A8 (en) | 2006-05-24 |
EP1586490B1 (en) | 2008-06-18 |
CA2513968A1 (en) | 2004-08-19 |
US7828104B2 (en) | 2010-11-09 |
US20060097504A1 (en) | 2006-05-11 |
CA2513968C (en) | 2009-12-15 |
DE602004014473D1 (de) | 2008-07-31 |
EP1586490A4 (en) | 2006-03-22 |
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