CN102259628A - Method And Apparatus For Collision Detection In Vehicles - Google Patents
Method And Apparatus For Collision Detection In Vehicles Download PDFInfo
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- 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
- B60R21/0136—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 actual contact with an obstacle, e.g. to vehicle deformation, bumper displacement or bumper velocity relative to the vehicle
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Abstract
The invention provides a method for collision detection in vehicles, comprising a step of providing a vibration signal in the frequency range, wherein the vibration signal is a superposition of signal components rightly by an impact on the vehicle caused and signal components excited by the impact on the vehicle structure. Furthermore, the method comprises a step of applying a non-linear processing instructions provided on the vibration signal to obtain a processed vibration signal. Also, the method includes a step of transferring the processed vibration signal in the time domain with a quefrency to obtain a time-domain vibration signal. The method further comprises a step of separating the time domain vibration signal to obtain first signal components with a low quefrency and second signal components with a high quefrency. At last, the invention also includes information about the impact on the vehicle and / or the impact of the vehicle using the first and / or second signal component.
Description
Technical field
The present invention relates to be used for the impact detection of vehicle method, be used for the device and the corresponding computer programs product of the impact detection of vehicle.
Background technology
The orthodox method that is used for impact detection is preferably used the acceleration information about vehicle, so that detect the collision to object of the collision of this vehicle or this vehicle.This mode is subjected to following restriction, promptly is being installed in before sensor on the vehicle can react, and at first the chassis of this gross vehicle must surpass predetermined acceleration rate threshold.
DE 10 2,004 038 984A1 show the device that is used for impact detection, and this device has at least one first sensor, analyze the signal of this first sensor, be used at least one second, the authenticity examination of the signal of the sensor of collision detection.
Summary of the invention
Under this background,, a kind of corresponding computer programs product has been proposed in addition by the present invention proposes as described a kind of improved method and the improved device that is used for the impact detection of vehicle of independent claims.Provided favourable design plan in each dependent claims and the following specification sheets.
The present invention has realized a kind of method that is used for the impact detection of vehicle, this method has the step that the oscillator signal in the frequency domain is provided, wherein, described oscillator signal is represented by to the stack with the signal section that is generated in vehicle structure by this collision of the signal section that collision directly caused of described vehicle; This method also have with the Nonlinear Processing rule application to the described oscillator signal that provides so that obtain the step of treated oscillator signal; This method has also that the oscillator signal that this is treated is converted to scramble rate time domain so that obtain the step of time domain oscillator signal; This method also has this time domain oscillator signal is separated into the step that has low first component of signal of falling frequency values and have the high secondary signal component that falls frequency values; And this method also have by use this first and/or the secondary signal component detection about step to the information of the collision of the collision of this vehicle and/or this vehicle.
Describing a kind of with the scramble rate is the standard time of unit with the second, uses this standard time when treated signal is converted to time domain in frequency domain.Determine time domain based on the scramble rate.This standard time or scramble rate be not corresponding to time of reality but corresponding to by the virtual time that conversion determined, and be commonly used when carrying out cepstrum analysis as technical personnel.Have the low component of signal of frequency values and be regarded as for other component of signals of time domain oscillator signal, having the low component of signal of frequency values.These first component of signals usually form one group of a plurality of value in succession, and it has high value frequency values, equally in succession separately with one group.
The present invention has also realized a kind of device that is used for the impact detection of vehicle in addition, this device has following feature: be used for providing the device of the oscillator signal of frequency domain, wherein said oscillator signal is represented by the stack to the signal section that collision directly caused with the signal section that is encouraged in vehicle structure by this collision of described vehicle; Be used for the Nonlinear Processing rule application to the described oscillator signal that provides so that obtain the device of treated oscillator signal; Be used for this treated oscillator signal is converted to scramble rate time domain so that obtain the device of time domain oscillator signal; Be used to separate described time domain oscillator signal so that obtain to have first component of signal of low frequency values and have the high device of the secondary signal component of frequency values; And be used for by use one or more described first and/or the secondary signal component detection about device to the information of the described collision of the described collision of described vehicle and/or described vehicle.
In addition, this invention has also realized having the computer program of program code, is used for carrying out when implementing this program on control setup preceding method.In particular, this computer program can be stored on the machine-readable carrier containing such as semiconductor memory, harddisk memory or optical memory, and be used to when program at control setup or when correspondingly being implemented on the design-calculated device, carry out method according to aforementioned embodiments.
The present invention is based on following understanding, understanding according to the component of signal of the low frequency (low scramble rate) of power cepstrum and/or high frequency (high scramble rate), can realize the very good differentiation of object, as information about collision to the colliding part and/or the collision velocity of vehicle.In particular, come into the market more in future, with in the vehicle such as the lightweight construction of carbon fiber or aluminium, the high and low frequency signal section occurs when the element fracture of these lightweight constructions, it can be applied to differentiating different impact site and/or the speed of object to vehicle.Can for example cause the low frequency signal part by transfer function in this analysis, this low frequency signal is partly produced because of the caused high frequency pumping of fracture by vehicle structure.Caused under the situation of this representative type signal curve when knowing object to the predetermined impingement position of vehicle and/or projected angle of impact following may, have the low signal section (signal section of low scramble rate) that falls frequency values and can determine about object to the actual impact site of vehicle and/or the indication of projected angle of impact.Can should be definite with the relatively realization of predetermined scramble rate characteristic by having the low signal section that falls frequency values.
An important aspect of the present invention utilize exactly the dissociative excitation incident with to the transfer function of this actuation event (for example can be acceleration signal and/or solid-borne noise signal), and utilize subsequently resolution.
According to the embodiment of the present invention, carry out the windowing of the incoming signal in the time domain in the step and subsequently described incoming signal through windowing is converted into frequency domain described providing, so that obtain the described oscillator signal in the frequency domain.Described incoming signal through windowing to the conversion of frequency domain can be Fourler transform, discrete Fourier transformation, Fourier series or continuous fourier transform.Same wavelet transform also is possible.Oscillator signal in the frequency domain can be a frequency spectrum and in the intensity of single frequency shown in the time domain.This embodiment of the present invention provides following advantage, and the method by the technical maturation in numerical value ground can obtain the signal that can handle well in the frequency domain.
According to other embodiment of the present invention, in step is provided, can determine the incoming signal in the time domain portions of the spectrum energy and subsequently with this portions of the spectrum LPF, so that obtain oscillator signal in the frequency domain.Frequency band that can be by the incoming signal in the time domain that previous filtering obtained, by on a time period to the adding up or integration of the signal strength in this frequency band, carry out the determining of energy of the portions of the spectrum of the incoming signal in the time domain.Can realize the level and smooth signal of forming by single value by LPF subsequently.This embodiment of the present invention provides following advantage, can obtain signal in the frequency domain in very simple mode thus.
Other embodiment according to the present invention can be provided in applying step by the logarithmetics of the oscillator signal that is provided, so that obtain treated oscillator signal.The logarithmetics that the oscillator signal that provided is provided can be converted to the addition of part by the multiplication of part with the part of the single stack in the oscillator signal, thus the single part of the signal simply in the separation frequency domain.Logarithmetics be computation-intensive but be very accurately.
In other embodiment of the present invention, value that the described oscillator signal that provides also can be provided in described applying step and comparison from the value of predetermined look-up table, and according to distributing to value described look-up table and that stored, carry out the described value that the described oscillator signal that provides is provided by predetermined value, so that obtain described treated oscillator signal.Also can promptly handle process in real time with limited calculated performance as soon as possible by look-up table is alternative as the logarithmetics of Nonlinear Processing rule to the time requirement strictness.Remedied the less loss of detailed logarithmetics on accuracy by shorter signal processing time with respect to the signal that is provided.
Can carry out signal transformation according to an embodiment of the invention in switch process, discrete fourier inverse transform especially is so that obtain described time domain oscillator signal.The discrete fourier inverse transform is corresponding to the signal of the signal synthesis in the frequency domain to the time domain.By aforesaid logarithmetics or based on the correction that should be used for advantageously realizing the information in the treated oscillator signal of the Nonlinear Processing rule of look-up table, this has just realized the simple analysis of signal section.Signal in the time domain that is produced has international unit second, and its correct explanation is as the frequency through conversion.
According to an embodiment of the invention, in switch process, can treated oscillator signal be converted to the time domain oscillator signal by using bank of filters.Avoiding from the treated oscillator signal numerical value ground of frequency domain, be converted under the situation of time domain oscillator signal exactly, and substitute based on the method for bank of filters pass through simply of producing thus thereupon under the situation of transform method accurately, can avoid the computation process of costliness and reduce signal processing time.Can in separating step, window function be applied to described time domain oscillator signal according to other embodiment of the present invention, so that obtain to have first component of signal of low frequency values and have the high secondary signal component of frequency values.It is possible the different scope of signal being separated from each other with simple mode and method by separation of signals.Different information is comprised in the different frequency values in the time domain oscillator signal.Yet the single analysis of the different information of frequency values needs the separation of time domain oscillator signal.
According to other embodiment of the present invention, in described separating step, can carry out the signal filtering of described time domain oscillator signal, so that obtain to have first component of signal of low frequency values and have the high secondary signal component of frequency values.The separation of finishing the time domain oscillator signal with simple, low cost method by the use filter function is possible.Because the signal range of transfer function and excitation on scramble rate scale mutually away from, so the intersection in zone the or hardly result who is obtained is exerted an influence by falling fade out (Ausblendung) that separation caused, the central area of frequency values.
According to another embodiment of the present invention, in detecting step, can compare with predetermined scramble rate curve having low first component of signal of frequency values, wherein said predetermined scramble rate curve is represented the information about colliding part and/or crash type, and wherein has the high secondary signal component that falls frequency values by representing information about impact strength in the peaked quantity and/or the peaked intensity of scramble rate at interval.Can be by in the emulation of the collision on the virtual vehicle or by the record during standardized collision, for example the record under laboratory condition obtains predetermined scramble rate curve.At this, this predetermined scramble rate curve is represented the colliding part of determining of vehicle and/or definite collision velocity.In comparison procedure, can compare with the value of predetermined scramble rate curve according to the conformability of maximum possible, so that the accurate localization as much as possible and the classification of extracting about the information of colliding part and crash type and realizing thus colliding having the low component of signal of frequency values.Have the low component of signal of frequency values at this and can be assigned to such scramble rate curve, this scramble rate curve determines that with relevant the actual of scramble rate curve the value of (that is, based on measuring) is the most similar.Can obtain in addition and have the high peaked ratio of the component of signal of frequency values.The maxim of high quantity can also be assigned to high impact strength in scramble rate interval, and in contrast, the maxim of low quantity is represented low impact strength in relevant scramble rate interval.With it similarly, have the high peaked sum of the signal section of frequency values by analysis, the information that obtains about impact strength is possible.Based on information, can activate the active safety element in the vehicle targetedly, for example personnel's constrained system or passenger restraint system about impact strength, colliding part and/or crash type (mode).Similarly, promptly opening circuit of Vehicular system in the zone relevant with collision of vehicle, that determine also is possible.
In addition, the present invention has also realized a kind of control setup (that is, device), and this control setup has the unit, and it is constructed to so that carry out or realize the step of foundation method of the present invention.By being that this enforcement modification of the present invention of form can also be fast and solve task as basis of the present invention efficiently with the control setup.
At this electric apparatus that control setup/device can be interpreted as the processes sensor signal and export control signal in view of the above.This control setup can have can be with the interface of hardware and/or software mode structure.In the structure with hardware mode, described interface can for example be the part of so-called ASIC system, and described ASIC system comprises the various functions of control setup.Yet also possible is that described interface is distinctive, integrated circuit or is made up of separate member at least in part.In the structure with software mode, described interface can be a software module, and described software module for example is present on the microcontroller that also has other software modules in addition.
The accompanying drawing rule
Exemplarily explain the present invention in detail according to appended accompanying drawing below.In the accompanying drawing:
Fig. 1 shows the block scheme of first embodiment impact detection, foundation method of the present invention that is used for vehicle;
Fig. 2 shows by object and produces to the collision of vehicle under the situation of signal, the scheme drawing of the signal distortion by transfer function;
Fig. 3 shows the figure according to the example results after the step of using the Nonlinear Processing rule of the embodiment impact detection that is used for vehicle, foundation method of the present invention;
Fig. 4 shows the figure according to the example results after the method step that oscillator signal is back to the time domain oscillator signal the time domain from frequency domain of the embodiment impact detection that is used for vehicle, foundation method of the present invention;
Fig. 5 shows the diagram of circuit of another embodiment impact detection, foundation method of the present invention that is used for vehicle;
Fig. 6 shows according to an embodiment of the invention, is used for the diagram of circuit of method of simplification of the impact detection of vehicle; And
Fig. 7 shows the block scheme of the embodiment as device of the present invention.
The specific embodiment
Identical or similar element in the accompanying drawings green phase with or similar Reference numeral represent wherein no longer repeat specification.In addition, the explanation of the figure in the accompanying drawing, figure and claim comprise a lot of features of combination.This it will be clear to someone skilled in the art that can consider individually these features or with its be combined into other, in this combination of not describing in detail.By using different sizes and size that the present invention is set forth, wherein the present invention can not be understood that to be limited to this size and size in this subsequently external explanation.In addition, can implement steps of a method in accordance with the invention repeatedly and with the order different with described order.If embodiment be included between first feature and second feature " and/or " connect, then this can be interpreted as, according to an embodiment, this embodiment had both had first feature, has second feature again, and according to another embodiment, this embodiment only has first feature, is exactly only to have second feature.
Estimate according to the expert, with the designed new-type vehicle structure of lightweight construction at the traditional signal that distortion was produced that obviously is different from aspect the collision alarm by steel beam structure.Synthetic material and play an important role in lightweight construction by carbon fiber-reinforced synthetic material.The structural damage of this kind synthetic material can cause brittle fracture process, and this has encouraged the vehicle structure such as the support of aluminium chassis.This framework also has the transmission performance of determining until crash sensor.
This excitation for example can comprise velocity information, and this transfer function has the potential information about the variation (distortion, hardening, shorten) of the structure in colliding part and the collision.
For this reason advantageously; from accident signal, extract the information be included in the excitation and in the transfer function and it is analyzed, so that for example trigger the personal protection means in the vehicle and optimally protect Vehicular occupant thus based on the crash type of being discerned, impact strength and/or colliding part.Yet the improved analysis possibility of this kind need be with respect to the transfer function dissociative excitation, and it can not be carried out simply, because no matter be that the signal section or the signal section of transfer function that encourages is present in the signal in combination.
Can in cepstrum analysis, see the mode of being set up that is used for signal analysis, as its by B.P.Bogen, M.J.R.Healy and J.W.Tukey at " The Quefrency Alanysis of Time Series for Echoes:Cepstrum; Pseudo-Autocovariance; Cross-Cepstrum; and Saphe Cracking " Proceedings of the Symposiuman Time Series Analysis (Hrsg:M.Rosenblatt), Kapitel 15, S.209-243.New York:Wiley, proposed in 1963 like that.This mode that is used for signal analysis for example is used to encourage and the separating of transfer function.Cepstrum analysis is mainly used in voice coding and speech analysis.Cepstrum analysis for example is applied to distinguishing in the field of seismaesthesia signal of earthquake with respect to atom bomb test in addition.Be used for impact detection, advantageously the use of method, the especially cepstrum analysis of dissociative excitation and transfer function is not known in background technology.Therefore based on this a kind of improved mode that is used for the separation and the extraction of collision alarm relevant information has been proposed at length below the background technology.
Fig. 1 shows the block scheme of embodiment impact detection, foundation method 90 of the present invention who is used for vehicle.Show the step that the oscillator signal in 100 frequency domains is provided.Carry out subsequently Nonlinear Processing rule application 102 to the oscillator signal that is provided so that obtain the step of treated oscillator signal.Carry out subsequently with treated oscillator signal conversion 104 to time domain so that obtain the step of time domain oscillator signal.Carrying out subsequently the time domain oscillator signal is separated 106 is the step of first component of signal and secondary signal component.Carry out at last by using first and second component of signals to detect the step of 108 information.
In step 100, the oscillator signal in the frequency domain is provided, this oscillator signal is formed by the signal section of collision with by the signal section that is encouraged of collision in vehicle structure.Two signal sections superpose.The output signal that oscillator signal in the frequency domain is represented in the time domain to be received.In order to obtain the oscillator signal in the frequency domain, for example can carry out discrete analysis of the oscillation such as discrete Fourier transformation.
In step 102, the oscillator signal that is provided is carried out in frequency domain has for example processing of the processing rule of logarithmetics of nonlinear characteristic.Obtain treated oscillator signal thus.
In step 104, treated oscillator signal is changed back time domain by frequency domain by using processing rule.By described step, the especially application of Nonlinear Processing rule and inverse transform subsequently, the time domain that is obtained is an abstract time domain rather than real time domain.This time domain for example is described to the scramble rate in speech processes.This time domain can be interpreted as a kind of form of frequency, and it can the analyzed and feasible possibility of inferring especially as based signal that becomes.The result of inverse transform is the time domain oscillator signal.
In step 106, the time domain oscillator signal is separated into one or more first component of signals and one or more secondary signal component.These one or more first component of signals are illustrated in has part lower value, the time domain oscillator signal in the abstract time domain (scramble rate).These one or more secondary signal representation in components have part higher value, the time domain oscillator signal in abstract time domain (scramble rate).
In step 108, analyze two component of signals, analyze in two component of signals at least, so that obtain information about collision.At this, use one or more first component of signals,, and use one or more secondary signal components so that obtain about the performance of vehicle and state or object information to the colliding part or the collision angle of vehicle, so that obtain, especially about the information of collision velocity about actual collision.
Can in the other system of vehicle, further use the information that in step 108, is obtained now.For example can be by the information Control passenger restraint system that obtains like this.
Fig. 2 shows the scheme drawing of the signal stack that is caused to the collision of vehicle by object, and the signal stack causes the signal that has produced by two signal section branch stacks.Figure 200 is settled side by side with 202 and is connected by arrow.
Figure 200 represents by the signal section that directly caused of collision.Figure 20 2 is illustrated in the transfer function of object vehicle in the zone of the colliding part of vehicle.In Figure 200, understand the amplitude x (t) that depends on time t at the clear time t of abscissa subscript and at the ordinate subscript.The amplitude curve of being described in Figure 200 is represented to collide or is caused thus with the fracture process in the material of light-duty vehicle structure.In Figure 20 2, the abscissa subscript understand frequencies omega and the ordinate subscript understand gain/transmission rate for this frequency (
) H (ω).The line of being described among Figure 20 2 is represented the transfer function or the transfer function of vehicle structure, with this filter effect by vehicle structure, by the caused signal section of collision become distortion or hangover.
Diagram among Fig. 2 shows the model of " signal generation " in vehicle or in the vehicle structure, and this " signal generation " caused by the physical property of vehicle structure.In practice, owing to the difference of the frequency transmission rate of vehicle structure produces as at the collision alarm s of the method that this proposed incoming signal (t), to be analyzed.The distortion or the alienation of pumping signal x (t) have been caused thus.Therefore, advantageously, two of separation signal parts as far as possible exactly are promptly by fracture process and the signal section that produced by the caused hangover of vehicle structure for the further analysis of signal.
The new mode that is used to analyze current signal is the analysis of high-frequency signal part.Simple with the popular analysis of baseband signal produce with definite frequency band in the relevant signal of energy.This resolution is being carried out in the combined feature space of new feature expansion, and wherein, new feature is represented by first and second signal sections.
Subsequently, according to Rabiner ﹠amp; (http://cobweb.ecn.purdue.edu/～ee649/notes/cepstrum.html Kapitel4.5.2-3) is described in detail aforesaid way " the Cepstrum Analysis " of Juang.For mode described herein, substitute the example of in described works, being discussed from the speech analysis field by the signal model in the vehicle at fracture process.
Basis as mode described herein, based on following hypothesis, there is the linear filtering model that is used for according to the signal generation of pumping signal x (t) and transfer function H (ω) in diagram according to Fig. 2, produces by signal and generates output or the initial signal s (t) that is used for further signal conditioning.Can this relation table be shown following formula by formula:
S (t)=x (t) * h (t), wherein, this pass ties up in the frequency domain can be expressed as following formula:
S(ω)＝X(ω)·H(ω)
Be separating of X (ω) and H (ω) in the purpose of the mode that this proposed, so that according to excitation (that is fracture process) with transmit performance (that is, vehicle structure is to the reaction of fracture process) analysis collision information.
Application examples such as logarithmetics obtain following relation thus as the Nonlinear Processing rule:
log|S(ω)＝log[|X(ω)|·|H(ω)|]＝log|X(ω)|+log|H(ω)|
This means log|S (ω) | have two plus items:
-transfer function H (ω) generates " low frequency wave " (resonance of vehicle structure)
-excitation X (ω) generates " high frequency waves " (fracture process)
According to following relation, can separate this " ripple " by (instead) Fourler transform:
IDFT[log|S(ω)|]＝IDFT[log|H(ω)|]+IDFT[log|X(ω)|]
By logarithmetics the multiplication of signal section is converted to the addition of individual signals part at this, can realizes the separation of simplifying significantly of individual signals component thus.
Fig. 3 shows the figure of the example results after the step that practices the Nonlinear Processing rule.In Figure 30 0, understand with Hz to be the frequency of unit and understand the frequency intensity LOG|F (ω) of logarithm at the ordinate subscript at the abscissa subscript |
2Additionally, on abscissa, also indicated the window width 1/T that measures as second.Line 302 expressions are about the averaged curve of the intensity of the oscillator signal of a frequency limit.The frequency intensity of line 304 expression accurate Calculation, it has the curve of mound shape by windowing.
Therefore, the curve 302 that has carried out the frequency spectrum of logarithmetics has been shown among Fig. 3.When signal produces, the signal section of multiplication ground stack only is shown with addition ground with superposeing thus.Be easier to separate again two signal sections or component thus subsequently.
Fig. 4 show according to the impact detection that is used for vehicle the Figure 40 0 of the example results after implementing oscillator signal is back to from frequency domain the method step of the time domain oscillator signal (scramble rate) time domain of embodiment of method.For example can realize that this returns, in this conversion, calculate power cepstrum by IDFT (discrete fourier inverse transform).At this, power cepstrum is corresponding to function IDFT[log|S (ω) |].In Figure 40 0, understand the strength rating J of discrete fourier inverse transform at the ordinate subscript in the clear abstract time [t] (scramble rate) of abscissa subscript
2[LOG|F (ω) |
2].Select name " scramble rate " according to frequency.As shown in Figure 4, excitation and transfer function are further superposeed by addition ground, yet can be separated well.The part 402 of the figure among Figure 40 0 is illustrated in by the transmission characteristic by the vehicle of object after the caused excitation that fracture process caused in vehicle structure of the collision of vehicle.Part 404 expressions of another of the figure among Figure 40 0 are by the caused original oscillating part of collision.Abstract time t (scramble rate) on abscissa though unit for second be not the real time.Unit is a millisecond, yet it can not be interpreted as time shaft.The abstract time more is appreciated that a quefrency.Also can derive thus, part 402 be positioned in corresponding in the zone of lower frequency and curved portion 404 be positioned in the zone corresponding to upper frequency.Part 402 for example comprises about the information at the position of collision with about subsequently the information at the deformation and failure of the vehicle structure of colliding part.Part 404 comprises for example about providing about the type of collision and the information of seriousness.For the further application of the information that is obtained, should these two parts of separate consideration.Be necessary it disconnected from each other for this reason.
Separate if will encourage with transmission now, will carry out so-called " power cepstrum liftering " (Cepstral liftering) so.The higher coefficient that is obtained by this liftering function (higher fall frequency values) is corresponding to excitation, and lower coefficient (lower fall frequency values) is corresponding to the value of transfer function.
Can power cepstrum be introduced segregator with two plus items now, the outstanding scramble rate T that this segregator analysis for example encourages with and amplitude.Low scramble rate characterizes to be transmitted.Can perhaps convert it to spectrum domain, for example as level and smooth transfer function with low scramble rate directly as the cepstral coefficients analysis.
Fig. 5 shows the block scheme of another embodiment impact detection, foundation method of the present invention that is used for vehicle.In step 502, pending signal s (t) is carried out windowing.In step 504, thus obtained signal is carried out discrete Fourier transformation subsequently, and then in step 506, consequent signal is carried out logarithmetics.In step 508, the signal that obtains in this mode is carried out the discrete fourier inverse transform subsequently.Then in the step 510 of power cepstrum liftering, be first scope 512 and second scope 514 with the separation of signals that is obtained and in step 516, single scope classified subsequently so that detect feature to the collision of vehicle.Therefore from the step 516 of classification, produce the resolution feature 518 that is used to distinguish different crash typees.
In windowing 502, by continuous but obviously limited window limit in time by the signal s (t) that device provided that is fit to, so that can carry out for example discrete Fourier transformation 504 value in the window.By Fourler transform 504, signal s (t) is converted to frequency domain and available as frequency spectrum.Change this frequency spectrum by step, so that can carry out improved separation or be extracted in signal section in the signal in the frequency domain as the logarithmetics 506 of Nonlinear Processing rule.In step 508, the signal through changing is back to time domain again in form by the discrete fourier inverse transform, and this time domain is not represented the real time certainly.Not equal to this time domain more should be interpreted as standard time (scramble rate) and its expression frequency.Discrete fourier inverse transform 508 provides so-called power cepstrum, and its expression is about the intensity of the signal of scramble rate.The unit of account of scramble rate is second.It is very simple that the signal that will superpose in output signal s (t) in power cepstrum is separated from each other.In liftering step 510, realized this kind separation, in this step, will have the signal section of lower scramble rate and the signal section of high scramble rate and be separated.Among the embodiment described herein, have self-oscillation performance or the transfer function of the signal section of lower scramble rate, and the signal section of high scramble rate is corresponding to the direct influence of collision or excitation corresponding to vehicle.Therefore, in step 516, analyze this two component of signals discretely, and use this result together (perhaps independent), be used to differentiate 518 or distinguish collision process and collision consequence.
Fig. 6 shows the diagram of circuit of method of the simplification of impact detection according to another embodiment of the present invention, that be used for vehicle.Have the bank of filters of band logical 604 by use, for example in structure-borne sound sensor 602, at the device processing signals s (t) that is used for received signal s (t) and treated signal is introduced into the analysis 606 of energy content.Subsequently the signal about energy content that is obtained is introduced into LPF 608 in addition, so that obtain the oscillator signal of frequency domain.Can in the peculiar hardware of the sensor of structure-borne sound sensor or acceleration pick-up, implement said units.Then, in the step that substitutes of signal value,, wherein be stored in the look-up table (Look-Up-Table) at signal value to be read in and the nonlinear relationship between the substitution value by from the signal in the substitution value change frequency domain of non-linear look-up table.In bank of filters again after the filtering 612, in separating 614 step, select single passage to be used for low frequency signal partly partly being separated with high-frequency signal and from high-frequency signal part 618, extracting low frequency signal part 616 at those passages.In classification 620, check two signal sections (perhaps having only wherein single signal section) and use resolution feature 622 according to differentiating feature 622, be used for the other safety device of control example such as vehicle such as safety air bag or belt pretensioner.
In other words, according to embodiment, be structure-borne sound sensor 602 or device acceleration pick-up, that be used for receiving reception and/or ready signal s (t) in this case according to Fig. 6.By filtering, integration and again filtering signal s (t) is transformed into frequency domain from time domain.By this way, can analyze the intensity of the frequency of individually calling now simply.In step 610,, wherein in this look-up table, can represent substituting corresponding to the signal value of logarithmetics by the signal value of replacing the signal in the frequency domain that is obtained from the value of non-linear look-up table.The signal of logarithmetics or make that by the filtering again 612 of the signal that substitutes from the numerical value in the non-linear look-up table separating 614 subsequently simply has the high and low signal section of frequency values and become possibility, this again filtering corresponding to the inverse transform of signal in the frequency domain to time domain.Realize this separation 614 at this with two subdivisions: the information that value 616 expression with low scramble rate is caused by the transfer function of vehicle, and have the information of value 618 expressions of high scramble rate corresponding to the direct influence of collision.
In order to make it more clear: second filtering 612 is similar to the Fourier inversion in cepstrum analysis.The input value of filter is at the output signal of current system time, frequency bands that handle by step 606-610, in 604.
In classification 620 steps subsequently, analyze two scramble rate subdivisions.Obtain information in 620 analyzing or classify about distortion in collision velocity and the structure and destruction.This information is exactly the resolution feature 622 that is used to distinguish different crash typees.
The embodiment of last described foundation method of the present invention is particularly suitable for based on the complexity of its low numerical value, still can be implemented or be implemented in vehicle with the high processing ability especially soon with acceptable speed in vehicle with lower processing capacity.According to the embodiment shown in Fig. 6, as one man substitute the function of numerical value or circuit engineering complexity by the function that can implement simply.The modification of the simplification of signal analysis is the form of simplification that is used for the aforementioned manner of signal analysis, does not need to carry out DFT, therefore can easily realize.Simultaneously, by alternative so-called Fourier analysis or the conversion in the aforementioned embodiment of the bank of filters that is fit to.Be similar to present SBS sensor, calculate the energy in the single passage.Grey illustrates sensor in Fig. 6, for example is to have relevant functional structure-borne sound sensor.The formation of logarithm is substituted by the exchange of values function by using non-linear look-up table.Substitute the IFFT function by signal conditioning by means of second bank of filters.In " liftering " step, realize the selection of single passage to be analyzed, the selection of promptly high and low scramble rate and affiliated signal section.Can carry out classification by the similar analysis of passage output.
Can for example realize the classification of crash type thus, partly value or curve are compared with predetermined value or predetermined signal curve with the value of first signal section or curve and/or secondary signal.Can for example depict these predetermined signal curves by the record of the numerical value in the calculating of theory or the test accident under experiment condition, and with its reference as the numerical curve under the crash type of determining.Then, can so determine the in fact crash type of appearance, promptly this crash type will be identified as the crash type that is occurred, when the signal under the crash type that is occurred or value curve to measured in the step 620 or 516 of classification or handled signal curve is the most similar.From the high-frequency signal part, can for example realize speed or the impact site of object to vehicle by the height that the definite of ratio or the maxim (" spike ") in high scramble rate scope occur.
The present invention has also realized a kind of device 700 that is used at the impact detection of vehicle, as its among Fig. 7 as shown in the block scheme like that.This device 700 has the device 720 (for example interface) of the oscillator signal that is used for providing frequency domain, and wherein, described oscillator signal is represented directly by to caused signal section of the collision of vehicle and stack by the signal section that encourages in this collision vehicle structure.In addition this device 700 also comprise 720 that be connected with the device that is used to provide, be used for the Nonlinear Processing rule application to the oscillator signal that is provided so that obtain the device 740 of treated oscillator signal.This device 700 also comprises and is used for the scramble rate treated oscillator signal being converted to the time domain with scramble rate so that obtain the device 760 of time domain oscillator signal.In addition this device 700 also comprise 760 that couple with the device that is used to change, be used to separate the time domain oscillator signal so that obtain to have low first component of signal of falling frequency values and have the device 780 of the high secondary signal component that falls frequency values.At last this device 700 also comprise be used for by use one or more first and/or the secondary signal component detection about device 790 to the information of the collision of the collision of vehicle and/or vehicle.
Claims (12)
1. be used for the method (90,500,600) of the impact detection of vehicle, have following steps:
Provide (100,502-504, the 604-608) oscillator signal in the frequency domain, wherein, described oscillator signal is represented by to the stack with the signal section that is encouraged in vehicle structure by described collision of the signal section that collision directly caused of described vehicle;
With Nonlinear Processing rule application (102,506,610) to the described oscillator signal that provides, so that obtain treated oscillator signal;
With the scramble rate described treated oscillator signal is changed (104,508,612) to time domain, so that obtain the time domain oscillator signal;
Separate (106,510,614) described time domain oscillator signal, so that obtain to have first component of signal of low frequency values and have the high secondary signal component of frequency values; And
By use described first and/or secondary signal component detection (108,516,620) about information to the collision of the collision of described vehicle and/or described vehicle.
2. method according to claim 1, it is characterized in that, described provide incoming signal (s (the t)) windowing (502) that is implemented as in the step in the time domain and subsequently with described incoming signal conversion (504) through windowing to frequency domain, so that obtain oscillator signal in the described frequency domain.
3. method according to claim 1, it is characterized in that, described provide in the step incoming signal in the time domain (s (t)) is separated (604) for portions of the spectrum and determine energy value of (606-608) described portions of the spectrum, so that obtain the oscillator signal in the described frequency domain.
4. according to any described method in the aforementioned claim, it is characterized in that, in described applying step, carry out the logarithmetics of the described oscillator signal that provides, so that obtain described treated oscillator signal.
5. according to any described method in the claim 1 to 3, it is characterized in that, value that the described oscillator signal that provides is provided in described application (610) step and comparison from the value of predetermined look-up table, and according to distributing to value described look-up table and that stored, carry out the described value that the described oscillator signal that provides is provided by predetermined value, so that obtain described treated oscillator signal.
6. according to any described method in the aforementioned claim, it is characterized in that, in described conversion (508) step, carry out signal transformation, especially carry out the discrete fourier inverse transform, so that obtain described time domain oscillator signal.
7. according to any described method in the claim 1 to 5, it is characterized in that, in described conversion (612) step, described treated oscillator signal is converted to described time domain oscillator signal by the use bank of filters.
8. according to any described method in the aforementioned claim, it is characterized in that, in described separation (510) step, window function is applied to described time domain oscillator signal, so that obtain to have described first component of signal of low frequency values and have the high described secondary signal component of frequency values.
9. according to any described method in the claim 1 to 7, it is characterized in that, in described separation (612) step, carry out the signal filtering of described time domain oscillator signal, so that obtain to have described first component of signal of low frequency values and have the high described secondary signal component of frequency values.
10. according to any described method in the aforementioned claim, it is characterized in that, in described detection (518,620) will have low described first component of signal of frequency values in the step and compare with predetermined scramble rate curve, wherein said predetermined scramble rate curve is represented the information about colliding part and/or crash type; Wherein has the high described secondary signal component that falls frequency values by representing information about impact strength in the peaked quantity and/or the peaked intensity of scramble rate at interval.
11. be used for the device (700) of the impact detection of vehicle, have following feature:
Be used for providing the device (720) of the oscillator signal of frequency domain, wherein said oscillator signal is represented by the stack to the signal section that collision directly caused with the signal section that is encouraged in vehicle structure by described collision of described vehicle;
Be used for the Nonlinear Processing rule application to the described oscillator signal that provides, so that obtain the device (740) of treated oscillator signal;
Be used for described treated oscillator signal being converted to time domain, so that obtain the device (760) of time domain oscillator signal with the scramble rate;
Be used to separate described time domain oscillator signal, so that obtain to have first component of signal of low frequency values and have the high device (780) of the secondary signal component of frequency values; And
Be used for by use described first and/or the secondary signal component detection about device (790) to the information of the described collision of the described collision of described vehicle and/or described vehicle.
12. the computer program with program code is used for when described program is implemented on control setup or device (700), carries out according to any described method in the claim 1 to 10.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201010028845 DE102010028845A1 (en) | 2010-05-11 | 2010-05-11 | Method of detecting vehicle crash, involves directing processed oscillation signal to time domain by performing quefrency analysis to form time domain oscillation signal from which signal components with high/low quefrencies are separated |
| DE102010028845.4 | 2010-05-11 |
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| CN102259628A true CN102259628A (en) | 2011-11-30 |
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| CN201110124872.5A Expired - Fee Related CN102259628B (en) | 2010-05-11 | 2011-05-11 | Method And Apparatus For Collision Detection In Vehicles |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108216101A (en) * | 2016-12-13 | 2018-06-29 | 大陆汽车电子（连云港）有限公司 | Vehicle collision signal processing method and processing device |
| CN108582070A (en) * | 2018-04-17 | 2018-09-28 | 上海达野智能科技有限公司 | robot collision detecting system and method, storage medium, operating system |
| CN113602225A (en) * | 2020-05-04 | 2021-11-05 | 罗伯特·博世有限公司 | Method for determining a collision type of a vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014001258A1 (en) * | 2014-01-30 | 2015-07-30 | Hella Kgaa Hueck & Co. | Device and method for detecting at least one structure-borne sound signal |
| CN104807538A (en) * | 2015-02-12 | 2015-07-29 | 无锡市崇安区科技创业服务中心 | Vehicle collision noise characteristic detection system |
| DE102019218069A1 (en) * | 2019-11-22 | 2021-05-27 | Zf Friedrichshafen Ag | Device and method for recognizing and classifying an opponent in an accident |
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| DE102010028845A1 (en) | 2011-11-17 |
| CN102259628B (en) | 2014-01-08 |
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