Low impact detection for automated driving vehicles

Patent metadata

Field	Value
Publication number	US-11912306-B2
Application number	US-202017438537-A
Country	US
Kind code	B2
Filing date	Mar 20, 2020
Priority date	Apr 8, 2019
Publication date	Feb 27, 2024
Grant date	Feb 27, 2024

Abstract

A method helps to protect an occupant of a vehicle (10) equipped with an automated driving system (200) and a vehicle safety system (100) by detecting low impact crash events (99) with the vehicle (10). The method includes utilizing automated driving sensors (220, 230, 240, 250, 260) of the automated driving system (200) to identify possible low impact collision risks. The method also includes utilizing vehicle safety system sensors (110, 115, 120, 125, 130) of the vehicle safety system to determine a low impact collision resulting from the identified possible low impact collision. A vehicle safety system (100) includes an airbag controller unit (150) configured to implement the method to determine low impact crash events with the vehicle (10).

First claim

We claim:

1. A method for helping to protect an occupant of a vehicle equipped with an automated driving (AD) system that operates the vehicle without an operator/driver, and a vehicle safety system (VSS) including one or more protection devices by detecting low impact crash events with the vehicle, the method comprising:
identifying possible low impact collision risks using AD sensors of the AD system;
determining a low impact collision resulting from the identified possible low impact collision using VSS sensors of the vehicle safety system; and
controlling the AD system to operate the vehicle in response to determining the low impact collision.

2. The method recited in claim 1 , wherein identifying possible low impact collision risks using AD sensors comprises utilizing at least one of: cameras, short range radar sensors, long range radar sensors, articulating radar sensors, LIDAR laser sensors, and microphone sensors.

3. The method recited in claim 1 , wherein determining a low impact collision resulting from the identified possible low impact collision using VSS sensors to determine a low impact collision comprises utilizing at least one of accelerometers and pressure sensors.

4. The method recited in claim 3 , wherein the accelerometers comprise at least one of front, rear, and side mounted mid/high range accelerometers of the VSS, and airbag controller unit (ACU) accelerometers, the method further comprising detecting the occurrence of vehicle collisions for which actuation of active and/or passive safety is warranted using the at least one of front, rear, and side mounted mid/high range accelerometers of the VSS, and airbag controller unit (ACU) accelerometers.

5. The method recited in claim 3 , wherein the pressure sensors comprise satellite side impact pressure sensors (PSATs) and/or pedestrian protection system (PPS) optimized tube pressure sensors.

6. The method recited in claim 1 , further comprising determining a low impact collision resulting from the identified possible low impact collision using pedestrian protection system (PPS) optimized sensors of the vehicle safety system.

7. The method recited in claim 6 , wherein the PPS optimized sensors comprise PPS optimized accelerometers and/or PPS optimized pressure sensors that are optimized for detecting the occurrence of pedestrian impacts.

8. The method recited in claim 1 , wherein identifying possible low impact collision risks using AD sensors comprises identifying possible low impact collision risks using AD cameras, and determining a low impact collision using VSS sensors comprises determining a low impact collision using at least one of front mid/high impact accelerometers, side mid/high impact accelerometers, ACU accelerometers, and satellite side impact pressure sensors (PSATs).

9. The method recited in claim 8 , wherein determining a low impact collision using VSS sensors further comprises determining the low impact collision using pedestrian protection system (PPS) accelerometers and PPS tube pressure sensors.

10. The method recited in claim 9 , wherein the PPS accelerometers comprise at least one of front, rear, and side mounted PPS accelerometers.

11. The method recited in claim 9 , wherein the PPS accelerometers comprise multi-axis accelerometers, and determining a low impact collision comprises determining directional information related to the low impact collision via the PPS multi-axis accelerometers.

12. The method recited in claim 9 , wherein the front and/or side mid/high impact accelerometers comprise multi-axis accelerometers, and determining a low impact collision comprises determining directional information related to the low impact collision via the front and/or side mid/high impact multi-axis accelerometers.

13. The method recited in claim 9 , wherein determining a low impact collision using VSS sensors further comprises determining the low impact collision using one or more microphone sensors.

14. The method recited in claim 13 , further comprising identifying a vehicle zone for the low impact collision risk using AD cameras, identifying which of the front and side mid/high impact accelerometers of the VSS, ACU accelerometers, satellite side impact pressure sensors (PSATs), PPS accelerometers, PPS tube pressure sensors, and microphone sensors are best suited to determine the occurrence of the low impact collision, and determining the low impact collision using the identified accelerometer(s) and/or pressure sensor(s) and/or microphone sensor(s).

15. The method recited in claim 13 , wherein determining a low impact collision using VSS sensors further comprises determining the low impact collision using an inertial measurement unit (IMU) sensor.

16. The method recited in claim 15 , further comprising identifying a vehicle zone for the low impact collision risk using AD cameras, identifying which of the front and side mid/high impact accelerometers of the VSS, ACU accelerometers, satellite side impact pressure sensors (PSATs), PPS accelerometers, PPS tube pressure sensors, microphone sensors, and IMU sensor are best suited to determine the occurrence of the low impact collision, and determining the low impact collision using the identified accelerometer(s) and/or pressure sensor(s) and/or microphone sensors, and/or IMU sensor.

17. The method recited in claim 16 , wherein using the IMU sensor comprises determining an external yaw torque of the vehicle to help verify the low impact collision.

18. A method for helping to protect an occupant of a vehicle equipped with an automated driving (AD) system that operates the vehicle without an operator/driver, and a vehicle safety system (VSS) including one or more protection devices by detecting low impact crash events with the vehicle, the method comprising:
identifying possible low impact collision risks using AD sensors of the AD system;
determining a low impact collision resulting from the identified possible low impact collision using VSS sensors of the vehicle safety system; and
controlling the AD system to operate the vehicle in response to determining the low impact collision,
wherein identifying possible low impact collision risks using AD sensors comprises identifying possible low impact collision risks using AD cameras, and determining a low impact collision using VSS sensors comprises determining a low impact collision using at least one of front mid/high impact accelerometers, side mid/high impact accelerometers, ACU accelerometers, and satellite side impact pressure sensors (PSATs),
wherein the method further comprises identifying a vehicle zone for the low impact collision risk using AD cameras, identifying which of the front and side mid/high impact accelerometers of the VSS, ACU accelerometers, and satellite side impact pressure sensors (PSATs) are best suited to determine the occurrence of the low impact collision, and determining the low impact collision using the identified accelerometer(s) and/or pressure sensor(s).

19. A method for helping to protect an occupant of a vehicle equipped with an automated driving (AD) system that operates the vehicle without an operator/driver, and a vehicle safety system (VSS) including one or more protection devices by detecting low impact crash events with the vehicle, the method comprising:
identifying possible low impact collision risks using AD sensors of the AD system;
determining a low impact collision resulting from the identified possible low impact collision using VSS sensors of the vehicle safety system; and
controlling the AD system to operate the veh

Assignees

• Zahnradfabrik Friedrichshafen

Inventors

• Kanzler Steven
• Balasubramanian Kiran
• Munch Carl
• Fleckner Andreas
• Pfriender Harald
• Duchowski Michal
• Bartlett Charles
• Yeh Huahn-Fern

Classifications

• B60W60/0017 Primary

  of other traffic participants · CPC title

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W40/114

  Yaw movement · CPC title

• B60W2554/4029

  Pedestrians · CPC title

• B60R21/0134 Primary

  responsive to imminent contact with an obstacle {, e.g. using radar systems} · CPC title