Vehicle and method for controlling the same

Abstract

Vehicle (1) comprising: a seat (1); a first type of roof airbag module (123, 124) provided in a headliner (106) and adjacent to one side of the seat (1); a second type of roof airbag module (123, 124) provided in the headliner (106) and adjacent to a rear side of the seat (1); an angle detector (110) configured to detect a rotation angle of the seat (1); and a controller (140) configured to control the activation of the first type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than a first reference angle and less than or equal to a second reference angle, and to control the activation of the first type of roof airbag module (123, 124) and the second type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than the second reference angle and less than or equal to a third reference angle, characterized in that the vehicle (1) further comprises an image capture device (108) configured to capture an image of the seat (1), wherein the controller (140) is configured to determine whether the angle detector (110) has failed, and if the controller (140) determines that the angle detector (110) has failed, to detect the angle of rotation of the seat (1) based on the image of the seat (1) captured by the image capturing device (108).

Description

BACKGROUND1. Area

[0001] The present disclosure relates to a vehicle for controlling the actuation of an airbag in response to the position of an occupant and a method for controlling the same. 2. Description of the state of the art

[0002] A vehicle is a machine that moves along a roadway by means of driven wheels. The vehicle is equipped with various safety devices to protect an occupant, assist in driving, ensure the safety of an occupant, and enhance ride comfort.

[0003] The safety devices may include an airbag device, which increases the safety of the occupants, e.g., the driver, in the event of a vehicle collision. The safety devices may also include an electronic stability control (ESC), which monitors the vehicle's attitude during acceleration or cornering. The safety devices may also include a traction control system (ASR), which controls the vehicle's driving force to prevent the wheels from spinning due to excessive driving force when the vehicle starts moving or accelerates on slippery roads, e.g., in rain or snow. The safety devices may also include an anti-lock braking system (ABS), which prevents the tires from locking when the vehicle brakes suddenly.The safety devices may also include a tire pressure monitoring system (TPMS), which provides information such as tire pressure and temperature via an automatic sensor attached to the tires.

[0004] Recently, a lot of research has been done on autonomous vehicles that automatically drive to a destination by self-detecting the road environment, determining a driving situation, and controlling the vehicle's travel according to a selected route.

[0005] Such an autonomous vehicle includes various sensors that collect different types of information to control autonomous driving. Accordingly, the autonomous vehicle must control the safety devices with the help of various sensors for autonomous driving.

[0006] For example, since the driver does not need to steer the vehicle manually, the autonomous vehicle can freely rotate all seats, including the driver's seat. This allows the driver to speak face-to-face with the rear seat occupant. In this case, a head-on collision may occur while the driver is not facing forward. Therefore, the autonomous vehicle may not protect the driver even if an airbag device installed on the driver's seat side deploys. This is because the airbag device on the driver's seat side is designed to protect the driver in a forward-facing or forward-facing posture.

[0007] Safety devices are known in particular from DE 10 2018 123 084 A1 and KR 10 2 005 746 B1. SUMMARY

[0008] Therefore, an object of this disclosure is to provide a vehicle for controlling the position of an airbag module adjacent to a seat and the deployment of an airbag based on a rotation angle of the seat. Another object of the present disclosure is to provide a method for controlling the same. The invention therefore provides a vehicle according to claim 1 and a method for controlling a vehicle according to claim 12.

[0009] Another object of the present disclosure is to provide a vehicle for detecting a rotation angle of a seat based on an image captured by an image capture device for capturing an interior image when a detector for detecting the rotation angle of the seat fails. Another object of the present disclosure is to provide a method for controlling the same.

[0010] Additional aspects of the present disclosure will be set forth in part in the description which follows, and in part should be obvious from the description, or in part may be learned by practice of the present disclosure.

[0011] According to one aspect of this disclosure, a vehicle includes: a seat; a first type of roof airbag module provided in a headliner and adjacent to a side of the seat; and a second type of roof airbag module provided in a headliner and adjacent to a rear side of the seat. The vehicle further includes an angle detector configured to detect a rotation angle of the seat. The vehicle further includes a controller configured to control activation of the first type of roof airbag module when the detected rotation angle of the seat is greater than a first reference angle and less than or equal to a second reference angle. The controller is further configured to control activation of the first type of roof airbag module and the second type of roof airbag module when the detected rotation angle of the seat is greater than the second reference angle and less than or equal to a third reference angle.

[0012] The vehicle may further comprise a rail member provided in the roof lining and mounted for the second type of roof airbag module to be movable.

[0013] The controller may control activation of the first type of roof airbag module and the second type of roof airbag module when the detected seat rotation angle is greater than the third reference angle and less than or equal to a fourth reference angle. The controller may control rotation of the second type of roof airbag module based on the detected seat rotation angle. The controller may control movement of the second type of roof airbag module based on the detected seat rotation angle and a seat rotation radius.

[0014] The vehicle may further include an image capture device configured to capture an image of the seat. The controller may determine whether the angle detector has failed. If the controller determines that the angle detector has failed, the controller may detect the rotation angle of the seat based on the image of the seat captured by the image capture device.

[0015] The vehicle may further include an image capture device configured to capture an image of the seat. The controller may determine whether an infant or child is sitting in the seat based on the image of the seat captured by the image capture device. The controller may control deactivation of the first type of roof airbag module and the second type of roof airbag module when the controller determines that the infant or child is sitting in the seat.

[0016] The vehicle may further include a front airbag module disposed in front of the seat and a side airbag module disposed between the seat and a door. The controller may control activation of the front airbag module and the side airbag module when the controller determines that the sensed rotation angle of the seat is less than the first reference angle.

[0017] The vehicle may further include a front airbag module disposed in front of the seat. The controller may control activation of the front airbag module when the controller determines that the sensed angle of rotation of the seat is greater than the first reference angle and less than or equal to the second reference angle.

[0018] The vehicle may further include a front airbag module disposed in front of the seat and a side airbag module disposed between the seat and a door. The controller may control activation of the front airbag module, the side airbag module, and the second type of roof airbag module when the controller determines that the sensed angle of rotation of the seat is greater than a fourth reference angle.

[0019] The second reference angle may be an angle greater than the first reference angle. The third reference angle may be an angle greater than the second reference angle. The fourth reference angle may be an angle greater than the third reference angle.

[0020] The vehicle may also include a collision detector configured to detect a collision with an obstacle. The controller may control the deployment and expansion of the activated airbag module based on the collision information detected by the collision detector.

[0021] A direction in which the second type of roof airbag module is deployed may be opposite to a direction in which the seat is rotated 180 degrees with respect to a forward direction of travel of the vehicle.

[0022] The vehicle may further comprise an external image capture device configured to capture an image of a road and a road detector configured to detect the distance to an obstacle. The controller may control autonomous driving based on the image of the road captured by the external image capture device and the distance to the obstacle detected by the road detector.

[0023] According to another aspect of the present disclosure, a method for controlling a vehicle includes detecting a rotation angle of a seat. The method further includes controlling activation of a first type of roof airbag module provided in a central portion of a headliner and on a side of the seat when the detected rotation angle of the seat is greater than a first reference angle and less than or equal to a second reference angle. The method includes controlling activation of the first type of roof airbag module and a second type of roof airbag module provided in a central portion of the headliner and on a rear side of the seat when the detected rotation angle of the seat is greater than a second reference angle and less than or equal to a third reference angle. The method further includes determining whether a collision with an obstacle has occurred while traveling.The method also includes deploying and expanding the activated airbag module when it is determined that the collision with the obstacle has occurred.

[0024] The first type of roof airbag module may be a fixed roof airbag module attached to the headliner. The second type of roof airbag module may be a movable roof airbag module that is movable and rotatable on a track attached to the headliner and along a track attached to the headliner.

[0025] The method may further comprise controlling activation of the first type of roof airbag module and the second type of roof airbag module when the detected rotation angle of the seat is greater than the third reference angle and less than or equal to a fourth reference angle. The method may further comprise controlling rotation of the second type of roof airbag module based on the detected rotation angle of the seat. The method may further comprise controlling movement of the second type of roof airbag module based on the detected rotation angle of the seat and a rotation radius of the seat.

[0026] Detecting the angle of rotation of the seat may comprise detecting the angle of rotation of the seat by an angle detector mounted on the seat.

[0027] Detecting the angle of rotation of the seat may include detecting the angle of rotation of the seat based on an image captured by an image capture device in the vehicle.

[0028] Detecting the angle of rotation of the seat based on the image may include determining a failure of the angle detector and, if it is determined that the angle detector is failing, detecting the angle of rotation of the seat based on the image captured by the image capture device.

[0029] The method may further comprise: capturing an image of the seat by an image capturing device; determining whether an infant or a child is sitting in the seat based on the image captured by the image capturing device; and controlling deactivation of the first type of roof airbag module and the second type of roof airbag module when it is determined that the infant or child is sitting in the seat.

[0030] The method may further include controlling the activation of a front airbag module provided in front of the seat and a side airbag module provided adjacent to or between the seat and a door when it is determined that the detected angle of rotation of the seat is less than the first reference angle.

[0031] The method may further comprise controlling the activation of a front airbag module provided in front of the seat, a side airbag module provided adjacent to or between the seat and a door, and the second type of roof airbag module when the detected angle of rotation of the seat is greater than the fourth reference angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] These and / or other aspects of the disclosure will be apparent and more easily understood from the following description of the embodiments in conjunction with the accompanying drawings: Fig. 1 is a diagram illustrating the interior of a vehicle according to an embodiment. Fig. 2 is a diagram illustrating an arrangement of a plurality of seats and a plurality of airbag devices provided in a vehicle according to an embodiment; Fig. 3 is a diagram illustrating the structure of a seat provided in a vehicle according to an embodiment; Fig. 4 is a control block diagram illustrating an autonomous driving control device provided in a vehicle according to an embodiment. Fig. 5 is a control block diagram illustrating an airbag device provided in a vehicle according to an embodiment. Fig. 6 is a control flow diagram of a vehicle according to an embodiment. Fig. 7 is a view illustrating a rotation angle of a seat provided in a vehicle according to an embodiment. Fig. 8-10 are views illustrating movement and rotation of a movable roof airbag in response to rotation of a seat provided in a vehicle according to one embodiment. DETAILED DESCRIPTION

[0033] Identical numbers refer to identical or equivalent elements throughout the description. Not all elements of embodiments of the present disclosure are described. Description of features that are well known in the art or duplicated with other embodiments has been omitted. Terms used throughout the description such as "~part," "~module," "~element," "~block," etc., may be implemented in software and / or hardware. A plurality of "~parts," "~modules," "~elements," or "~blocks" may be implemented in a single element, or a single "~part," "~module," "~element," or "~block" may comprise a plurality of elements.

[0034] It should also be understood that the term “connect” or its derivatives refer to both direct and indirect connection, and indirect connection includes a connection via a wireless communications network.

[0035] It should further be understood that the terms "comprises" and / or "comprising," when used in this specification, indicate the presence of specified features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or components. When a component, device, or element of the disclosure is described as having a purpose or performing an operation, function, or the like, the component, device, or element should be considered "configured" herein to fulfill that purpose or perform that operation, function, or the like.

[0036] Although the terms “first,” “second,” “A,” “B,” etc., may be used to describe various components, the terms do not limit the respective components but are used only for the purpose of distinguishing one component from another.

[0037] As used herein, the singular forms “a,” “an,” and “the,” are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0038] The reference numbers used for the procedural steps are for convenience only and do not restrict the order of the steps. Unless the context clearly dictates otherwise, the written order may be used differently.

[0039] In the following, the functional principles and embodiments of the disclosure are described with reference to the accompanying drawings.

[0040] Fig. 1 is a diagram illustrating the interior of a vehicle according to an embodiment. Fig. 2 is a diagram illustrating an arrangement of a plurality of seats and a plurality of airbag devices provided in a vehicle according to an embodiment. Fig. 3 is a diagram illustrating the structure of a seat provided in a vehicle according to an embodiment.

[0041] Vehicle 1 comprises a body with an interior, an exterior, and a chassis, which, with the exception of the body, is a part of vehicle 1. The mechanical devices required for travel are installed on the chassis.

[0042] The exterior of the body includes a front fascia, a hood, a roof panel, a rear panel, and a trunk for loading luggage. The exterior of the body also includes the front, rear, left, and right doors 101 (101a and 101b). Window glass configured to open and close is provided on the front, rear, left, and right doors 101 (101a and 101b).

[0043] According to Fig. 1, the interior of the body includes seats 102 (102a and 102b) on which the occupants can sit, an instrument panel 103, and an instrument cluster (i.e., an instrument cluster or instrument panel 104) mounted on the instrument panel 103 and providing guidance on driving functions and vehicle information. The vehicle information includes, for example, vehicle speed, engine speed, fuel quantity, coolant level, and the like. The interior of the body also includes a main unit 105 provided adjacent to the instrument panel 103 and used to control an audio device, an air conditioner, a Bluetooth device, and a heater wire for the seats. The interior of the body also includes a headliner 106 provided above each door 101 and forming the interior of the roof or ceiling. The interior of the body also includes an overhead console 107 mounted on the headliner 106.

[0044] The ceiling console 107 may be equipped with an interior light that performs an interior lighting function and with an on / off button for receiving on / off commands for the interior light.

[0045] Additionally, the vehicle may include an image capture device 108 provided adjacent to at least one of the overhead console 107 and a rearview or interior mirror and configured to capture an image of the seat 102 and the occupants of the vehicle interior. The image capture device 108 may include at least one camera. In this embodiment, the image capture device 108 includes two or more cameras 108a and 108b. Additionally, the two or more cameras 108a and 108b may capture images of different areas of the vehicle interior.

[0046] The vehicle may also include a terminal 109 embedded in or mounted on the dashboard 103.

[0047] The terminal 109 displays an image relating to at least one function selected by the user from among an audio function, a video function, a navigation function, a broadcasting function (a digital multimedia broadcasting (DMB) function), a radio broadcasting function, a content playback function, an Internet search function, and an autonomous driving information display function.

[0048] The terminal 109 may include a display and an input.

[0049] The terminal 109 may include a screen as a display and a touch panel as an input.

[0050] When terminal 109 is implemented only via the screen, terminal 109 may receive selection of a button displayed on the screen via an input present in the vehicle (not shown). The input receives an on-off command for at least one of a plurality of functions, receives an operation command for the at least one input function, and receives information about a setting value for changing the operating states of the plurality of functions. For example, the input may receive an execution command for at least one radio function, an audio function, a video function, a map display function, a navigation function, an autonomous driving function, a DMB function, a content playback function, or an internet search function.

[0051] The input can be provided using at least one physical knob, button, switch, or lever. The input can be provided using a jog dial (not shown) or a touchpad (not shown) to input a movement command and a selection command of a cursor displayed on a vehicle terminal (audio-video navigation, i.e., "AVN").

[0052] The terminal display shows operating information of the function being performed.

[0053] The display can, for example, show information about a telephone call, information about the content output via terminal 109, information about music playback or information about external broadcasts.

[0054] When a navigation mode is running, the terminal display shows a route from a current location to a destination and road guidance information.

[0055] When autonomous driving mode is running, the terminal display can show a route from a current position to a destination and road environment information of the vehicle's surroundings.

[0056] In relation to Fig. 2, each seat 102 is a chair on which an occupant can sit. The seats 102 include a driver's seat 102a on which a driver sits, and a passenger seat 102b provided adjacent to the driver's seat on which a passenger sits. The seats 102 may also include rear seats 102c and 102d provided behind the driver's seat and the passenger seat 102b, on which additional occupants can sit.

[0057] Each of the seats 102a, 102b, 102c, and 102d is rotatable about an axis (i.e., a vertical axis). Each of the seats 102a, 102b, 102c, and 102d is rotatable 360 ​​degrees to the left and 360 degrees to the right.

[0058] Each of the seats 102a, 102b, 102c, and 102d can be automatically rotated in response to a user command. Furthermore, each of the seats 102a, 102b, 102c, and 102d can be manually rotated by an external force from the user.

[0059] In relation to Fig. 3, each of the seats 102a, 102b, 102c, and 102d includes a seat plate member a1 that contacts the seat occupant's buttocks. Each of the seats 102a, 102b, 102c, and 102d further includes a back plate member a2 provided on one side of the seat plate member a1 and that contacts the occupant's back. Each of the seats 102a, 102b, 102c, and 102d further includes a connecting member a3 fixedly attached to a bottom surface of the seat plate member a1. Each of the seats 102a, 102b, 102c, and 102d further includes a rotating member a4 connected to the connecting member a3 and configured to rotate the seat plate member a1 and the back plate member a2. The rotating member a4 may include a motor.

[0060] Each of the seats 102a, 102b, 102c, and 102d may further include an angle detector 110 that detects a rotation angle of the rotating member a4. In other words, the angle detector 110 can detect the rotation angle of each motor. Thus, the angle detector 110 can detect the rotation direction and rotation amount of the seat 102 according to the rotation direction and rotation amount of the motor. Furthermore, the rotation angle detected by the angle detector 110 may be an angle corresponding to the rotation angle of the back plate member a2 of the seat 102 or the rotation angle of the seat plate member a1 of the seat 102.

[0061] The angle detector 110 may include at least one encoder, a Hall sensor, a resolver, a current sensor, or a voltage sensor.

[0062] Each of the seats 102a, 102b, 102c, and 102d may also include an input configured to receive a rotation command of the seat 102 as user input.

[0063] According to Fig. 2, the vehicle may include an airbag device 120.

[0064] The airbag device 120 includes a plurality of front airbag modules 121 provided in the instrument panel 103 or in an area adjacent to the instrument panel 103, and a plurality of side airbag modules 122 provided in an area adjacent to the door 101.

[0065] The plurality of front airbag modules 121 may include a first front airbag module 121a provided in a region of the instrument panel 103 adjacent to the driver's seat 102a. The plurality of front airbag modules 121 may further include a second front airbag module 121b provided in a region of the instrument panel 103 adjacent to the passenger seat 102b. In this embodiment, the first front airbag module 121a may be provided in a steering wheel.

[0066] The first front airbag module 121a and the second front airbag module 121b may each include a permanently installed airbag.

[0067] The plurality of side airbag modules 122 includes a first side airbag module 122a provided in a panel between the door 101a of the driver's seat 102a and the rear seat 102c behind the driver's seat 102a. The plurality of side airbag modules 122 also includes a second side airbag module 122b provided in a panel between the door 101b of the front passenger seat 102b and the rear seat 102d behind the front passenger seat 102b.

[0068] The first side airbag module 122a is provided in a side region of the headliner 106 and extends from a top surface of the door 101a of the driver's seat 102a to a top surface of a door of the rear seat 102c behind the driver's seat 102a.

[0069] The second side airbag module 122b is provided in a side region of the headliner 106 and extends from a top surface of the door 101b of the front passenger seat 102b to a top surface of a door of the rear seat 102d behind the front passenger seat 102b.

[0070] The first side airbag module 122a and the second side airbag module 122b may be curtain airbags.

[0071] The first side airbag module 122a and the second side airbag module 122b may each include a permanently installed airbag.

[0072] The airbag device 120 also includes a plurality of roof airbag modules 123 and 124, which are provided in the central region of the roof lining 106.

[0073] The plurality of roof airbag modules 123 and 124 include a fixed roof airbag module 123 fixedly provided in the center region of the headliner 106 and a movable roof airbag module 124 movably provided in the center region of the headliner 106.

[0074] The fixed roof airbag module 123 includes a first fixed roof airbag module 123a fixedly provided in a region of a central region of the headliner 106 corresponding to an area between the driver's seat 102a and the front passenger seat 102b. The fixed roof airbag module 123 also includes a second fixed roof airbag module 123b fixedly provided in a region of the central region of the headliner 106 corresponding to an area between the two rear seats 102c and 102d.

[0075] One or two units of the first fixed roof airbag module 123a may be provided.

[0076] When two units of the first fixed roof airbag modules 123a are provided, one of the first fixed roof airbag modules 123a may be an airbag module deploying toward the driver's seat 102a and the other may be an airbag module deploying toward the front passenger's seat 102b.

[0077] One or two units of the second fixed roof airbag module 123b may be provided.

[0078] When two units of the second fixed roof airbag module 123b are provided, one of the second fixed roof airbag modules 123b may be an airbag module that is deployed toward the left seat 102c of the rear seats, and the other may be an airbag module that is deployed toward the right seat 102d of the rear seats.

[0079] The first fixed roof airbag module 123a is an airbag module that deploys upon impact when at least one of the conditions in which the driver seat 102a is rotated 90 degrees in a first direction and the passenger seat 102b is rotated 90 degrees in a second direction.

[0080] The second fixed roof airbag module 123b is an airbag module that is deployed upon impact when at least one of the conditions occurs in which the left seat 102c of the rear seats is rotated 90 degrees in the first direction and the right seat 102d of the rear seats is rotated 90 degrees in the second direction.

[0081] The movable roof airbag module 124 includes first and second movable roof airbag modules 124a and 124b provided in a region of the central region of the headliner 106 corresponding to an area between the front seats, including the driver's seat 102a and the front passenger seat 102b, and the rear seats 102c and 102d. The movable roof airbag module 124 also includes third and fourth movable roof airbag modules 124c and 124d provided in a region of the central region of the headliner 106 corresponding to an area between the rear seats 102c and 102d and a trunk area 102e.

[0082] The first and second movable roof airbag modules 124a and 124b and the third and fourth movable roof airbag modules 124c and 124d may be provided rotatably.

[0083] The first and second movable roof airbag modules 124a and 124b and the third and fourth movable roof airbag modules 124c and 124d may be movable to the left and right.

[0084] The first and second movable roof airbag modules 124a and 124b and the third and fourth movable roof airbag modules 124c and 124d are airbag modules that deploy upon impact when a seat 102 is rotated at an angle between 30 degrees and 150 degrees.

[0085] Several rail elements 125 can be provided on the roof lining 106 of the vehicle.

[0086] The plurality of rail members 125 include a first rail member 125a provided in a region of the central portion of the headliner 106 corresponding to an area between the front seats, including the driver's seat 102a and the front passenger seat 102b, and the rear seats 102c and 102d. The plurality of rail members 125 further include a second rail member 125b provided in a region of the central portion of the headliner 106 corresponding to an area between the rear seats 102c and 102d and the trunk 102e.

[0087] The first and second movable roof airbag modules 124a and 124b may be disposed in the first rail member 125a so as to be movable left and right. The third and fourth movable roof airbag modules 124c and 124d may be provided in the second rail member 125b so as to be movable left and right.

[0088] The left-right direction may be a direction corresponding to the direction of movement between the driver's seat 102a and the passenger seat 102b.

[0089] Fig. 4 is a control block diagram of a vehicle according to an embodiment. Fig. 4 describes the control of autonomous driving.

[0090] The vehicle according to the present embodiment is an autonomous driving vehicle. The vehicle detects a road environment while driving, determines a driving situation, and controls the driving based on information related to the detected road environment, information related to the driving situation, and a selected route.

[0091] The vehicle according to the present embodiment may include an external image capture device 131, a distance detector 132, a speed detector 133, a communicator 134, a controller 140, a memory 141, a driver 135 for controlling autonomous driving, and a terminal 109.

[0092] The external image capture device 131 is a device for capturing an image of an object and converting the captured image into an electrical image signal. The external image capture device 131 is used to capture an image of the surroundings of an exterior of a host vehicle at the current position of the host vehicle. In one embodiment, the external image capture device 131 captures an image of a road on which the host vehicle is traveling. The external image capture device 131 also captures images of objects at the front, rear, left, and right sides of the host vehicle. The external image capture device 131 transmits an image signal containing information related to the captured images to the controller 140.

[0093] The image of the road may be an image of a road in a forward direction based on the direction of travel of the main vehicle.

[0094] The external image capture device 131 may include a front camera that captures an image of the front of the vehicle. The external image capture device 131 may also include at least one left or right camera that captures images of the left and right sides of the vehicle. The external image capture device 131 may also include a rearview camera that captures an image of the rear of the vehicle.

[0095] The image capture device 131 is a camera and may comprise a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) image sensor.

[0096] The image capture device 131 may be provided on a window pane of a front surface of the vehicle inside the vehicle, on a rearview or interior mirror inside the vehicle, or on the outward-facing roof panel.

[0097] The distance detector 132 detects a signal to detect an object located outside the host vehicle. In one embodiment, the object may be a preceding vehicle traveling in front of the host vehicle, a stationary object such as a structure installed near a road, or a vehicle approaching the host vehicle in an oncoming lane.

[0098] In other words, the distance detector 132 outputs a signal corresponding to the detection of the object in front of, to the left, or to the right of the host vehicle at the host vehicle's current position. The distance detector 132 transmits a signal corresponding to the relative distance to the detected object to the controller 140.

[0099] The speed detector 133 detects a driving speed of the main vehicle.

[0100] The speed detector 133 includes a plurality of wheel speed sensors provided on the front, rear, left, and right wheels of the host vehicle. The plurality of wheel speed sensors are configured to output detection information (i.e., wheel speed information) corresponding to the rotational speeds of the wheels.

[0101] The speed detector 133 may also include an acceleration sensor that outputs detection information (ie, acceleration information) corresponding to the acceleration of the host vehicle.

[0102] The speed detector 133 may include both the plurality of wheel speed sensors and the acceleration sensor.

[0103] The communicator 134 transmits and receives information between various electronic devices and sensors provided in the host vehicle. The communicator 134 communicates with an external server, road infrastructure, and other vehicles.

[0104] Communicator 134 may perform vehicle-to-infrastructure (V2I) communication between the host vehicle and an infrastructure. Communicator 134 may perform vehicle-to-vehicle (V2V) communication with at least one of a plurality of other vehicles.

[0105] The communicator 134 may include a Global Positioning System (GPS) receiver.

[0106] The GPS receiver receives position information provided by multiple satellites to acquire the current position information of the host vehicle. In this embodiment, the GPS receiver includes an antenna for receiving signals from multiple GPS satellites. The GPS receiver also includes software for acquiring the position of the host vehicle using distance and time information corresponding to the position signals from the multiple GPS satellites. The GPS receiver also includes an output for outputting the acquired current position information of the host vehicle.

[0107] The driving control 135 actuates at least one of the following devices in response to a command from the controller 140: a power device, a braking device, a steering device, a transmission device, and a suspension device. In this way, the vehicle can accelerate, decelerate, brake, and steer while traveling along a selected route.

[0108] The vehicle may also include terminal 109. Terminal 109 may also include the entrance and display.

[0109] The input of terminal 109 can receive the input of an autonomous driving mode and a manual driving mode, in which the driver directly controls the vehicle. The input can receive destination information or, in autonomous driving mode, information about a selected route.

[0110] The display of terminal 109 can display image information generated during program execution, such as various types of menu image information, digital broadcast image information, or navigation image information under the control of controller 140. The display of terminal 109 can display map information coordinated with selected route information. The display of terminal 109 can display external image information related to the front of the host vehicle.

[0111] The display of terminal 109 may display information about a currently executing mode, as well as information about the current position and destination. The destination information may include address information, total distance information, total required time information, remaining distance information, remaining time information, and the like.

[0112] When the destination information is received via terminal 109, controller 140 identifies the current position information. Based on the identified current position information and the destination information, controller 140 searches for multiple routes from the current position to the destination. Controller 140 identifies a route selected by the user from the plurality of found routes. Controller 140 sets a level based on road information of the identified route.

[0113] After receiving image information of the road during the autonomous driving control, the controller 140 performs image processing to detect lane lines of the road and detects a lane on which the main vehicle is traveling based on the detected position information of the lane lines.

[0114] The controller 140 detects the position information of an obstacle based on the detection information transmitted from the distance detector 132 during autonomous driving control. In this embodiment, the position information of the obstacle includes distance information about a relative distance to the obstacle.

[0115] The controller 140 identifies the distances to other vehicles traveling in the lanes to the left and right of the main lane based on the detection information received from the distance detector 132 during autonomous driving control. The controller 140 identifies the speeds of the other vehicles according to the identified distances between the other vehicles. The controller 140 simultaneously controls autonomous driving along the selected route and controls an evasive maneuver based on information about the identified speeds of the other vehicles and the identified distances to the other vehicles.

[0116] The controller 140 may change the selected route based on information about the road environment, traffic information, weather information, and the like received via the communicator 134 during autonomous driving control. The controller 140 may enable the terminal 109 to display the received road environment information, traffic information, weather information, and the like via the display 109.

[0117] The controller 140 may display a map image consistent with the selected route, the received road environment information, or obstacle information surrounding the host vehicle via the terminal 109 during the autonomous driving control.

[0118] The controller 140 may be a controller of an autonomous driving controller for the autonomous driving control, one of a plurality of electronic control units (ECUs) provided in the vehicle, or a controller in the airbag device 120.

[0119] Fig. 5 is a control block diagram of the vehicle according to the embodiment, that is, a control block diagram for controlling the airbag device 120.

[0120] The vehicle includes the image capture device 108, an input 109a, the angle detector 110, a collision detector 115, the airbag device 120, a controller 142, a memory 143, and a seat driver 150.

[0121] The image capture device 108 is an interior image capture device configured to capture an image of an object inside the host vehicle. The image capture device 108 may comprise one or more cameras. The multiple cameras may capture images of different areas within the host vehicle.

[0122] The input 109a receives a rotation command for one of the plurality of seats 102.

[0123] The input 109a may also receive a rotation angle from one of the plurality of seats 102.

[0124] The input 109a may also receive location information from one of the plurality of seats 102. In this embodiment, the seat location information may be information about a direction in which the occupant is facing when sitting on one of the plurality of seats 102.

[0125] The input 109a may be an input in the vehicle terminal 109, an input in the head unit 105 or in the center instrument panel, or an input in each of the plurality of seats 102. The input 109a may be provided as at least one input via a touchpad, a knob, a button, a switch, or a control lever.

[0126] The angle detector 110 may be provided in each of the seats 102.

[0127] The angle detector 110, provided in each of the seats 102, can detect an angle through which each of the seats 102 rotates. The angle detector 110 can transmit the detected information to the controller 142.

[0128] The angle detector 110 may be a current sensor that detects a current flowing in a rotating element (a4, ie, a motor), a voltage sensor that detects a voltage flowing in the motor, or an encoder, a resolver, or a Hall sensor that detects a rotation angle of the motor.

[0129] The collision detector 115 detects the occurrence of a collision of the host vehicle and a collision intensity (ie, the magnitude of the collision).

[0130] The collision detector 115 may include a plurality of collision detection sensors mounted at the front, rear, and both sides of the host vehicle. For example, the collision detection sensor may include a microswitch, a limit switch, an acceleration sensor, a pressure sensor, a force sensor, and other various sensors for converting physical information into an electrical signal.

[0131] Each of the airbag modules 121, 122, 123, and 124 of the airbag device 120 includes an airbag element that deploys and expands toward an interior space upon impact with the host vehicle. Each of the airbag modules 121, 122, 123, and 124 also includes a housing in which the airbag element is accommodated in a folded or rolled state. Each of the airbag modules 121, 122, 123, and 124 also includes an inflator that is controlled by an operating signal from the controller 142 to generate gas and supply the generated gas to the airbag element.

[0132] Some airbag modules 121, 122 and 123 of the plurality of airbag modules 121, 122, 123 and 124 include a deployment driver 126 as an airbag driver that deploys an airbag in accordance with a control command of the controller 142.

[0133] For example, each of the airbag modules 121, 122, and 123 can deploy and expand the airbag element in response to the driving of the deployment driver 126 upon a collision of the host vehicle. Thus, the front and both sides of an occupant leaning against the back plate member a2 can be protected while the occupant is sitting on the seat 102.

[0134] The movable roof airbag modules 124 include an airbag drive 127 for driving the movable roof airbag modules 124. The airbag drive 127 includes a deployment drive 127a electrically and mechanically connected to each of the first, second, third, and fourth movable roof airbag modules 124a, 124b, 124c, and 124d. The deployment drive 127a deploys a movable airbag responsive to a control command from the controller 142. The airbag drive 127 also includes a rotation drive 127b provided within and electrically and mechanically connected to each of the plurality of movable roof airbag modules 124a, 124b, 124c, and 124d. The rotation drive 127b rotates a movable roof airbag responsive to a control command from the controller 142.The movable airbag drive 127 further includes a translation drive 127c provided in and electrically and mechanically connected to each of the plurality of movable roof airbag modules 124a, 124b, 124c, and 124d. The translation drive 127c moves a movable roof airbag in the left and right directions along a track member in response to a control command from the controller 142.

[0135] For example, each roof airbag module 124 may deploy and expand in response to the driving of the deployment drive 127a upon a collision of the host vehicle. Thus, the front and both sides of an occupant leaning against the back plate member a2 may be protected while the occupant is seated on the seat 102.

[0136] The movable roof airbag modules 124 can move along the respective rail members (125: 125a and 125b) and rotate depending on the deployment drive direction in response to the driving of the rotation drive 127b and the translation drive 127c. Accordingly, the plurality of movable roof airbag modules 124 can protect the occupants by deploying and expanding the airbag elements forward and to both sides of the occupant in a lower lateral direction upon a collision of the host vehicle.

[0137] The rotation driver 127b can adjust the deployment angle of the movable airbag modules 124. For example, the rotation driver 127b rotates the housing of the movable airbag modules 124 using a driving force generated by the motor. In another embodiment, the rotation driver 127b rotates the housing toward the outside or inside of the rail member 125 using fluid pressure. This allows the deployment angle of the movable airbag modules 124 to be adjusted.

[0138] The translation drive 127c may include a motor that generates a driving force according to a control signal from the controller 142 and a movement module that receives the driving force generated by the motor to move the airbag module along the rail member 125.

[0139] If input 109a is provided for each seat 102, controller 142 can control the rotation of seat 102 with input 109a upon receiving a rotation command via input 109a. Input 109a transmits the rotation command to rotate by a predetermined angle at a predetermined time interval from a start time at which the rotation command is received to an end time.

[0140] When the input 109a is provided for each seat 102, the controller 142, after receiving angle information of the seat 102 from the input 109a, may rotate the seat 102 based on the received angle information.

[0141] If the input 109a is provided for each seat 102, upon receiving a rotation command from the input 109a, the controller 142 may check the identification information of the seat 102 that matches the input 109a that transmitted the rotation command.

[0142] When the input 109a for rotating the plurality of seats 102 is provided as a single unit, the controller 142 may control the rotation of one of the plurality of seats 102 in response to identification information and angle information of the seat 102 input to the input 109a.

[0143] When the input 109a for rotating the respective seats is provided as a single unit, the controller 142 may control the rotation of the seat 102 in response to posture information of the seat 102 and identification information of the seat 102 input to the input 109a.

[0144] The controller 142 receives an image signal captured by the image capture device 108 and performs signal processing on the received image signal. In this embodiment, the controller 142 can change the size and format to increase the signal processing speed and perform a process to improve image quality.

[0145] The controller 142 performs deletion and noise reduction on the image signal to generate image information. The controller 142 applies vision techniques to the image information to decompose an object from the image information. As a result, objects are extracted from the image information.

[0146] The controller 142 may determine whether an occupant is sitting in any seat 102 based on the image information captured by one or more image capture devices (108: 108a and 108b).

[0147] If an occupant detector is provided in each seat 102, the controller 142 may determine whether an occupant is sitting on one of the seats 102 based on the detection information detected by the occupant detector of each seat 102.

[0148] When the controller 142 identifies a seat 102 that does not have an occupant, the controller 142 checks and stores the airbag module identification information provided at a location corresponding to the identified seat 102. In the event of a vehicle impact, the controller 142 controls the non-deployment of the airbag module using the stored identification information.

[0149] The controller 142 may detect a rotation angle of each seat 102 based on the image information acquired by one or two or more, ie, the plurality of the image capture devices (108: 108a and 108b).

[0150] The controller 142 detects a failure of the plurality of angle detectors 110. If the controller 142 determines that at least one of the plurality of angle detectors 110 is failing, the controller 142 checks the identification information of the seat 102 equipped with the failed angle detector 110. The controller 142 checks the rotation angle of the seat 102 with the verified identification information based on the image information.

[0151] If the controller 142 determines that at least one of the plurality of angle detectors 110 has failed, the controller 142 checks the identification information of the seat 102 equipped with the failed angle detector 110. The controller 142 checks the position in which the seat 102 is arranged based on the identification information of the seat 102. The controller 142 checks the image capture device 108 that has captured an image of an area corresponding to the checked position. The controller 142 detects the rotation angle of the seat 102 with the checked identification information based on the image information acquired by the checked image capture device 108.

[0152] The controller 142 uses the image information to determine whether an infant or child is traveling in the vehicle. If the controller 142 determines that an infant or child is traveling in the vehicle, the controller 142 tests an airbag module, from the plurality of airbag modules 121, 122, 123, and 124, that is adjacent to the position of the infant or child. The controller 142 stores identification information of the tested airbag module. The controller 142 controls the non-deployment of the tested airbag module with the stored identification information in the event of a vehicle impact.

[0153] The controller 142 determines whether a child seat (i.e., a seat for children) is installed based on the image information. If the controller 142 determines that a child seat is installed, the controller 142 checks an airbag module provided adjacent to the position where the child seat is installed, from among the plurality of airbag modules 121, 122, 123, and 124. The controller 142 stores identification information of the checked airbag module. The controller controls non-deployment of the checked airbag module with the stored identification information in the event of a vehicle collision.

[0154] The controller 142 can receive, via input 109a, installation information of the child seat and identification information of a seat 102 corresponding to a mounting position of the car seat. The controller 142 can store the received identification information. The controller 142 can control the non-deployment of an airbag module in accordance with the stored identification information in the event of a vehicle impact.

[0155] The controller 142 determines whether a collision has occurred based on the detection information output by the collision detector 115. If the controller 142 determines that a collision has occurred, the controller 142 checks the collision position and the collision amount. If the collision amount is greater than or equal to a reference amount, the controller 142 controls the deployment drive of an airbag module provided in the collision position.

[0156] The controller 142 determines whether a child seat is installed on the rear seats 102c and 102d based on the image information acquired by the image capture device 108. If the controller 142 determines that a child seat is installed on the rear seats 102c and 102d, the controller 142 controls the deactivation of the roof airbag modules 123b, 124c, and 124d provided in the headliner 106 on one side of the rear seats 102c and 102d. The controller 142 also limits the rotation and movement of the movable roof airbag modules 124c and 124d. This prevents an infant or child in the child seat from being injured in a vehicle collision.

[0157] The controller 142 controls the activation of the deployment drives of the first and second front airbag modules 121a and 121b, the first and second side airbag modules 122a and 122b, the first and second fixed roof airbag modules 123a and 123b, and the first through fourth movable roof airbag modules 124a to 124d. When the controller 142 determines that a collision has occurred in at least one of the front, rear, and side regions of the vehicle, the controller 142 controls the deployment of at least one of the first and second front airbag modules 121a and 121b, the first and second side airbag modules 122a and 122b, the first and second fixed roof airbag modules 123a and 123b, and the first through fourth movable roof airbag modules 124a to 124d.

[0158] The controller 142 may control the activation of at least one of the deployment drives of the first front airbag module 121a, the first side airbag module 122a, the first fixed roof airbag module 123a, and the first movable roof airbag module 124a when only the driver is traveling in the vehicle with no passengers. If the controller 142 determines that a collision has occurred, the controller 142 controls the at least one activated deployment drive to control the deployment of the at least one airbag module.

[0159] If the controller 142 determines that at least one occupant is sitting in at least one of the rear seats, the controller 142 may control the activation of at least one of the deployment drives of the first and second side airbag modules 122a and 122b, the second fixed roof airbag module 123b, and the third and fourth movable roof airbag modules 124c and 124d. If the controller 142 determines that a collision has occurred, the controller 142 controls the at least one activated deployment drive to deploy the at least one airbag module.

[0160] The controller 142 may maintain the initial states of movement and rotation of the first, second, third, and fourth movable roof airbag modules 124a, 124b, 124c, and 124d. In another embodiment, the controller 142 may control the movement and rotation of the first, second, third, and fourth movable roof airbag modules 124a, 124b, 124c, and 124d based on the rotation angle of the seat 102.

[0161] In particular, the controller 142 controls the activation of the deployment drives of the front airbag modules 121a and 121b and the side airbag modules 122a and 122b when the rotation angle of the seat 102 is less than or equal to a first reference angle. The controller 142 controls the activation of the deployment drives of the first front airbag module 121a and the first side airbag module 122a when only the driver's seat 102a is occupied by an occupant and the rotation angle of the driver's seat 102a is less than or equal to the first reference angle.

[0162] The controller 142 controls the activation of the deployment drives of the second front airbag module 121b and the second side airbag module 122b when only the front passenger seat 102b is occupied by an occupant and the rotation angle of the front passenger seat 102b is less than or equal to the first reference angle. In this embodiment, the rotation direction of the front passenger seat 102b when the rotation angle of the front passenger seat 102b is detected may be opposite to the rotation direction of the driver seat 102a when the rotation angle of the driver seat 102a is detected.

[0163] The controller 142 controls the activation of the deployment drives of the front airbag module 121 and the fixed roof airbag module 123 when the rotation angle of the seat 102 is greater than the first reference angle and less than or equal to a second reference angle. The controller 142 controls the activation of the deployment drives of the front airbag module 121, the fixed roof airbag module 123, and the movable roof airbag module 124 when the rotation angle of the seat 102 is greater than the second reference angle and less than or equal to a third reference angle.

[0164] The controller 142 controls the activation of the deployment drives of the front airbag module 121, the fixed roof airbag module 123, and the movable roof airbag module 124 when the rotation angle of the seat 102 is greater than the third reference angle and less than or equal to a fourth reference angle. The controller 142 controls the rotation and movement of the movable roof airbag module 124 based on the rotation angle of the seat 102.

[0165] The controller 142 controls the activation of the deployment drives of the front airbag module 121, the side airbag module 122 and the movable roof airbag module 124 when the rotation angle of the seat 102 is greater than the fourth reference angle.

[0166] In an embodiment in which the seats 102a and 102c are provided on the left side of the vehicle, the detected rotation angle of the seat 102 refers to an angle at which the seat 102 rotates clockwise with respect to a forward direction, ie, a traveling direction of the vehicle.

[0167] In another embodiment where the seats 102b and 102d are provided on the right side of the vehicle, the detected rotation angle of the seat 102 refers to an angle at which the seat 102 rotates counterclockwise with respect to the forward direction, ie, the traveling direction of the vehicle.

[0168] In other words, the controller 142 checks the rotation angles of the driver's seat 102a and the front passenger's seat 102b based on the detection information output from the angle detectors 110 provided on the driver's seat 102a and the front passenger's seat 102b, respectively. The controller 42 controls the activation of the deployment drive of the fixed roof airbag module 123a, the activation of the deployment drives of the movable roof airbag modules 124a and 124b, and the movement and rotation of the movable roof airbag modules 124a and 124b based on the rotation angles of the driver's seat 102a and the front passenger's seat 102b.

[0169] For example, if a condition in which the driver seat 102a is rotated 90 degrees in the first direction and / or a condition in which the passenger seat 102b is rotated 90 degrees in the second direction is determined, the controller 142 controls the activation of the deployment drive 126 connected to the first fixed roof airbag module 123a. Thus, the first fixed roof airbag module 123a is deployed upon a vehicle impact.

[0170] A state in which the driver's seat 102a is rotated 90 degrees in the first direction refers to a state in which the driver faces the front passenger seat 102b. A state in which the front passenger seat 102b is rotated 90 degrees in the second direction refers to a state in which the front passenger faces the driver's seat 102a.

[0171] After determining at least one condition in which a left side seat 102c of the rear seats behind the driver seat 102a is rotated 90 degrees in the first direction and a condition in which a right side seat 102d of the rear seats is rotated 90 degrees in the second direction, the controller 142 controls the activation of the deployment drive 126 connected to the second fixed roof airbag module 123b. Thus, the second fixed roof airbag module 123b is deployed upon a vehicle impact.

[0172] A state in which the left side seat 102c is rotated 90 degrees in the first direction from or below the driver's seat 102a refers to a state in which an occupant in the left side seat 102c of the rear seats faces the right side seat 102d of the rear seats. A state in which the right side seat 102d of the rear seats is rotated 90 degrees in the second direction refers to a state in which an occupant in the right side seat 102d of the rear seats faces the left side seat 102c of the rear seats.

[0173] When the controller 142 controls the movement and rotation of the first and second movable roof airbag modules 124a and 124b, the controller 142 controls the movement and rotation of the first and second movable roof airbag modules 124a and 124b so that a direction in which the seat plate member a1 of the seat 102 points is opposite to a direction in which the first and second movable roof airbag modules 124a and 124b are deployed.

[0174] When the controller 142 determines that a child safety seat is not installed on the rear seats 102c and 102d, the controller 142 checks the rotation angles of the rear seats 102c and 102d based on the detection information output from the angle detectors 110 provided in the rear seats 102c and 102d. Based on the checked rotation angles of the rear seats 102c and 102d, the controller 142 controls the activation of the second fixed roof airbag module 123b and controls the activation, movement, and rotation of the third and fourth movable roof airbag modules 124c and 124d.

[0175] The controller 142 outputs a control signal to control at least one of the deployment drives, the translation drives, and the rotation drives, which are airbag drives of each airbag module, based on the rotation angle of each seat 102, the occupancy of each seat 102, and the attachment of a child car seat.

[0176] The seat drive 150 may be provided in each of the plurality of seats 102.

[0177] Additionally, the seat drive 150 may be connected to the plurality of seats 102 and selectively transmit a rotation drive signal to at least one seat 102 based on a control command from the controller 142.

[0178] The seat drive 150 rotates the at least one seat 102 in response to the control command from the controller 142.

[0179] In response to receiving rotation angle information from the controller 142, the seat drive 150 may rotate the seat 102 based on the received rotation angle information.

[0180] The seat drive 160 may also rotate the seat 102 from a start time at which a rotation command is input via the input 109a to an end time at which the input of the rotation command ends.

[0181] As described above, the present disclosure can determine the direction and posture of each occupant according to the rotation of each seat 102 provided in the autonomous driving vehicle. The present disclosure can control the adjustment of the positions of the airbag modules and the deployment angles of the airbags according to the determination result. Accordingly, the present disclosure can protect the safety of an occupant by preventing an impact due to a collision from being transmitted to the occupant in the event of a vehicle collision.

[0182] Fig. 6 is a control flow diagram of a vehicle according to an embodiment used in conjunction with Fig. 7 and Fig. 8 is described.

[0183] Fig. 7 is a view illustrating the rotation angle of a seat provided in a vehicle according to an embodiment. Fig. 8-10 are views illustrating movement and rotation of a movable roof airbag in response to rotation of a seat provided in a vehicle according to one embodiment.

[0184] When an autonomous driving mode is selected, the vehicle supplies power to the airbag device 120 via a battery (not shown) provided in the vehicle. The vehicle initializes various components provided in the airbag device 120 and prepares to deploy various airbag modules of the airbag device 120 according to the occupant's posture and direction in the event of a vehicle impact.

[0185] The vehicle rotates at least one seat 102 based on a rotation command input through at least one of the inputs 109a provided in the plurality of seats 102.

[0186] The vehicle detects the rotation angles of the plurality of seats 102 using the angle detectors 110 provided in the plurality of seats 102. The vehicle detects the rotation angle information of each seat 102 based on the detection information detected by each angle detector 110.

[0187] The vehicle checks the rotation angle of each seat 102 based on the rotation angle information of each seat 102 to drive the multiple airbag modules of the airbag device 201. In this embodiment, checking the rotation angle of each seat 102 includes checking the posture and direction of the occupant on each seat 102. The rotation angle of the seat 102 is detected with respect to an angle (0 degrees) when the seat 102 faces forward in the vehicle's traveling direction.

[0188] Before detecting the rotation angle of each seat 102 using the plurality of angle detectors 110, the vehicle diagnoses a failure of the plurality of angle detectors 110. If the vehicle determines that at least one of the plurality of angle detectors 110 is failing, the vehicle checks the identification information of the seat 102 equipped with the failed angle detector 110. The vehicle detects the rotation angle of the seat 102 with the verified identification information based on the image information acquired by the image capture device 108.

[0189] If the seat 102 is not equipped with an angle detector 110, the vehicle may additionally detect the rotation angle of the seat 102 with the verified identification information based on the image information acquired by the image capture device 108.

[0190] Additionally, after receiving information about a rotation angle and identification information of a seat 102 through the input 109a, the vehicle can rotate the seat with the obtained identification information based on the obtained rotation angle information. In this embodiment, the vehicle can identify the rotation angle of each seat 102 by checking the rotation angle information input for each seat 102.

[0191] The vehicle acquires the image information from the image acquisition device 108 (202). Based on the acquired image information, the vehicle determines whether or not a child car seat (i.e., a car seat for children) is installed (203). If the vehicle determines that a child car seat is installed, the vehicle inspects a seat 102 provided at the location where the child car seat is installed (204). The vehicle inspects the fixed roof airbag module 123 and the movable roof airbag module 124 provided at the position corresponding to the inspected seat 102, and controls the deactivation of the deployment drives of the inspected fixed roof airbag module 123 and the inspected movable roof airbag module 124 (205). Furthermore, the vehicle maintains the position of the movable roof airbag module 124 provided at the position corresponding to the inspected seat 102.In other words, the vehicle does not move or rotate the movable roof airbag module 124 provided at a position corresponding to the tested seat 102.

[0192] The vehicle checks at least one seat 102 on which no child seat is installed. Based on the rotation angle of the checked seat, the vehicle controls the activation of a portion of the deployment drives of at least one airbag module provided at the position corresponding to the at least one seat 102.

[0193] For example, if the vehicle detects that a child car seat is mounted on the left side seat 102c of the rear seats, the vehicle may control the activation of the deployment drive of at least one of the first and second front airbag modules 121a and 121b, the second side airbag module 122b, the first fixed roof airbag module 123a, and the first, second, and fourth movable roof airbag modules 124a, 124b, and 124d.

[0194] If the vehicle detects that a child car seat is not installed on one of the seats 102, the vehicle may control the activation of some or all of the deployment drives of the plurality of airbag modules based on the rotation angles of the plurality of seats 102 (206). In this embodiment, the plurality of airbag modules may include the first and second front airbag modules 121a and 121b, the first and second side airbag modules 122a and 122b, a first type of roof airbag module, and a second type of roof airbag module.

[0195] The first type of roof airbag module is a fixed roof airbag module 123. The fixed roof airbag module 123 may be the first or second fixed roof airbag module 123a or 123b. The second type of roof airbag module is a movable roof airbag module 124. The movable roof airbag module 124 may be the first, second, third, or fourth movable roof airbag module 124a, 124b, 124c, or 124d.

[0196] The vehicle may control the movement and rotation of the movable roof airbag module 124 provided at a location corresponding to at least one seat 102 based on the rotation angle of the at least one seat 102 (207). In this embodiment, the rotation angle of the at least one seat 102 may be an angle when a front seat 102a or 102b is rotated toward a rear seat 102c or 102d. Additionally, the rotation angle of the at least one seat 102 may be an angle when a rear seat 102c or 102d is rotated toward the trunk.

[0197] Next, the vehicle determines whether a collision has occurred based on the detection information acquired by the collision detector 115 (208). If the vehicle determines that a collision has occurred, it checks a collision position and a collision amount. If the collision amount is greater than a reference amount, the vehicle controls an activated deployment drive to deploy at least one airbag module (209).

[0198] In this embodiment, the configuration for deploying an airbag is described

[206] . The vehicle generates an ignition signal to ignite an inflator provided in the airbag module with an activated deployment drive. At this time, the inflator is ignited by the ignition signal to generate gas and supply the generated gas to the airbag element. Thus, the airbag module is deployed and expanded by absorbing the generated gas from the gas generator to protect the occupant.

[0199] The configuration of the deployment control of the deployment drive 126 of the plurality of airbag modules and the movement and rotation control of the plurality of movable roof airbag modules 124a, 124b, 124c and 124d are described in more detail below.

[0200] In addition, a configuration of controlling the operation of the airbag device based on the rotation angle of the driver's seat 102a of the plurality of seats 102 will be described.

[0201] The seat can be rotated 360 degrees both clockwise and counterclockwise. In the case of the driver's seat 102a, the driver's seat 102a can be rotated toward the passenger seat side or toward the rear seat side, but hardly toward the door 101a adjacent to the driver's seat 102a.

[0202] The driver's seat 102a can generally be rotated between a zero (0) degree position, in which the driver's seat 102a faces forward in the direction of travel of the vehicle, and an approximately 240 degree position.

[0203] With reference to Fig. 7, reference angles are used as information for switching the activation and deactivation of the deployment drives 126 of the plurality of airbag modules 121, 122, 123, and 124 provided adjacent to the driver's seat 102a. The reference angles are also used as information for changing the moving distance and rotation angle of the movable roof airbag module 124 between the airbag modules 121, 122, 123, and 124. The reference angles may include a first reference angle RA1, a second reference angle RA2, a third reference angle RA3, and a fourth reference angle RA4.

[0204] In the case of the driver's seat 102a, each reference angle may be an angle at which the driver's seat 102a is rotated clockwise with respect to the zero (0) degree position in which the driver's seat 102a is directed forward in the direction of travel of the vehicle.

[0205] The second reference angle RA2 is an angle that is greater than the first reference angle RA1. The third reference angle RA3 is an angle that is greater than the second reference angle RA2. The fourth reference angle RA4 is an angle that is greater than the third reference angle RA3. For example, the first reference angle RA1 may be approximately 30 degrees, the second reference angle RA2 approximately 60 degrees, the third reference angle RA3 approximately 120 degrees, and the fourth reference angle RA4 approximately 240 degrees.

[0206] Additionally, in the case of the passenger seat 102b, each reference angle may be an angle at which the passenger seat 102b is rotated counterclockwise with respect to the zero (0) degree position in which the passenger seat 102b faces forward in the direction of travel of the vehicle.

[0207] The vehicle controls the activation of the trigger drives 126 of the first front airbag module 121a and the first side airbag module 122a when the rotation angle of the driver's seat 102a is less than or equal to the first reference angle RA1.

[0208] Additionally, the vehicle controls the activation of the deployment drives 126 of the second front airbag module 121b and the second side airbag module 122b when only the front passenger seat 102b is occupied by an occupant and the rotation angle of the front passenger seat 102b is less than or equal to the first reference angle. In this embodiment, the rotation direction of the front passenger seat 102b when the rotation angle of the front passenger seat 102b is detected may be opposite to the rotation direction of the driver seat 102a when the rotation angle of the driver seat 102a is detected.

[0209] The vehicle controls the activation of the deployment drives 126 of the first front airbag module 121a and the first fixed roof airbag module 123a when the rotation angle of the driver's seat 102a is greater than the first reference angle RA1 and less than or equal to the second reference angle RA2. The vehicle controls the activation of the deployment drives 126 and 127 of the first front airbag module 121a, the fixed roof airbag module 123a, and the first movable roof airbag module 124a when the rotation angle of the driver's seat 102a is greater than the second reference angle RA2 and less than or equal to the third reference angle RA3.

[0210] The vehicle controls the activation of the deployment drives 126 and 127 of the front airbag module 121, the first fixed roof airbag module 123a, and the first movable roof airbag module 124a when the rotation angle of the driver's seat 102a is greater than the third reference angle RA3 and less than or equal to the fourth reference angle RA4. The vehicle controls the rotation and movement of the movable roof airbag module 124 based on the rotation angle of the driver's seat 102a.

[0211] The vehicle controls the activation of the deployment drives 126 and 127 of the first front airbag module 121a, the first side airbag module 122a and the first movable roof airbag module 124a when the rotation angle of the driver's seat 102a is greater than the fourth reference angle RA4.

[0212] The following describes the configuration of controlling the rotation and movement of the movable roof airbag module 124 based on the rotation angle of the driver's seat 102a when the rotation angle of the driver's seat 102a is greater than the third reference angle RA3 and less than or equal to the fourth reference angle RA4.

[0213] When controlling the movement and rotation of the first and second movable roof airbag modules 124a and 124b, the vehicle controls a left-right movement distance and a rotation angle of the first movable roof airbag module 124a based on the rotation angle of the driver's seat 102a. Thus, a direction in which the seat plate member a1 of the driver's seat 102a faces is opposite to a direction in which the first and second movable roof airbag modules 124a and 124b are deployed.

[0214] With reference to Fig. 8, when the driver's seat 102a is rotated 180 degrees to face the left side seat 102c of the rear seats, the deployment direction of the first movable roof airbag module 124a faces the seat plate member a1 of the driver's seat 102a. In this embodiment, the direction in which the first movable roof airbag module 124a faces forward in the vehicle travel direction may be set to zero (0) degrees, that is, as a reference point for left-right movement.

[0215] When the driver's seat 102a is rotated 180 degrees, the first movable roof airbag module 124a facing the seat plate member a1 of the driver's seat 102a has the rotation angle zero and the left-right moving distance zero.

[0216] The first movable roof airbag module 124a rotates, with respect to a state facing the seat plate member a1 of the driver's seat 102a, by a rotation angle at which the driver's seat 102a is rotated and in a direction opposite to the direction in which the driver's seat 102a is rotated.

[0217] The vehicle checks the length between the rotation axis of the driver's seat 102 and the end portion of the seat plate member a1 of the driver's seat 102. The vehicle detects a left-right movement distance based on the checked length and the rotation angle of the first movable roof airbag module 124a. The vehicle moves the first movable roof airbag module 124a based on the detected left-right movement distance.

[0218] The length between the rotation axis of the driver's seat 102a and the end portion of the seat plate member a1 of the driver's seat 102a corresponds to a rotation radius r of the driver's seat 102a. The rotation radius r is preset information.

[0219] In relation to Fig. 9, the vehicle obtains a deviation angle (b = 90 - a) from the 180-degree position based on the rotation angle (90 + a) of the driver's seat 102a. The vehicle rotates the first movable roof airbag module 124a counterclockwise by the detected deviation angle (b = 90 - a).

[0220] The vehicle detects a left-right movement distance based on the preset rotation radius r and the deflection angle of the driver's seat 102a. The vehicle moves the first movable roof airbag module 124a based on the detected left-right movement distance. In this embodiment, when the rotation angle of the driver's seat 102a is less than 180 degrees, the vehicle moves the first movable roof airbag module 124a in the right direction by a movement distance L1. L1=r*(90−a)

[0221] According to Fig. 10, the vehicle detects a deviation angle (b = 90 - a) from the 180-degree position based on the rotation angle (90 + a) of the driver's seat 102a. The vehicle rotates the first movable roof airbag module 124a clockwise by the detected deviation angle (b = 90 - a).

[0222] The vehicle detects a left-right movement distance based on the preset rotation radius r and the deflection angle of the driver's seat 102a. The vehicle moves the first movable roof airbag module 124a based on the detected left-right movement distance. In this embodiment, when the rotation angle of the driver's seat 102a is greater than 180 degrees, the vehicle moves the first movable roof airbag module 124a in the left direction by a movement distance L2.

[0223] In other words, the vehicle checks the rotation angles of the respective seats based on the detection information output from the angle detectors 110 provided in the seats 102, respectively. The vehicle controls the activation of the deployment drive 126 of the fixed roof airbag module 123. The vehicle controls the activation of the deployment drive 127 of the movable roof airbag module 124. The vehicle also controls the movement and rotation of the movable roof airbag module 124 based on the rotation angles of the seats 102.

[0224] As described above, the vehicle determines the direction and posture of each occupant according to the rotation angle of each seat 102 provided in the autonomous vehicle. The vehicle controls the position of the airbag module, the distance between the deployed airbag and the occupant, and the airbag deployment angle according to the determination result. Accordingly, when the vehicle collides with an obstacle, it can protect the occupant by preventing the impact from being transmitted to the occupant.

[0225] Meanwhile, the disclosed embodiments may be embodied in the form of a recording medium having computer-executable instructions stored thereon. The instructions may be stored in the form of program code and, when executed by a processor, generate a program module that performs the operations of the disclosed embodiments. The recording medium may be embodied as a computer-readable recording medium.

[0226] The computer-readable recording medium includes all types of recording media on which the instructions can be decoded by a computer, e.g. a read-only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device and the like.

[0227] As discussed previously, the direction in which each occupant is facing (in other words, a direction in which the occupant is sitting) is determined based on the rotation angle of each seat in the autonomous vehicle. The position and rotation of an airbag device are controlled according to a result of the determination. The deployment of the airbag device is controlled upon impact with an obstacle. This prevents the impact force caused by the impact from being transmitted to the occupant, thus safely protecting the occupant.

[0228] As described above, the present disclosure can improve the quality and marketability of the vehicle equipped with the airbag device. The present disclosure can further increase user satisfaction, improve user comfort and vehicle safety, and ensure the competitiveness of the vehicle.

Claims

[1] Vehicle (1) comprising: a seat (1); a first type of roof airbag module (123, 124) provided in a headliner (106) and adjacent to one side of the seat (1); a second type of roof airbag module (123, 124) provided in the headliner (106) and adjacent to a rear side of the seat (1); an angle detector (110) configured to detect a rotation angle of the seat (1); and a controller (140) configured to control the activation of the first type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than a first reference angle and less than or equal to a second reference angle, and to control the activation of the first type of roof airbag module (123, 124) and the second type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than the second reference angle and less than or equal to a third reference angle, characterized by that the vehicle (1) further comprises an image capture device (108) which is arranged to capture an image of the seat (1), wherein the controller (140) is configured to determine whether the angle detector (110) has failed, and if the controller (140) determines that the angle detector (110) has failed, to detect the angle of rotation of the seat (1) based on the image of the seat (1) captured by the image capturing device (108). [2] The vehicle (1) according to claim 1, further comprising a rail member (125) provided in the headliner (106) and mounted for slidability of the second type of roof airbag module (123, 124). [3] Vehicle (1) according to claim 1 or 2, wherein the controller (140) is configured to control the activation of the first type of roof airbag module (123, 124) and the second type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than the third reference angle and less than or equal to a fourth reference angle, to control the rotation of the second type of roof airbag module (123, 124) based on the detected angle of rotation of the seat (1), and to control the movement of the second type of roof airbag module (123, 124) based on the detected angle of rotation of the seat (1) and a radius of rotation of the seat (1). [4] Vehicle (1) according to one of the preceding claims, wherein the controller (140) is arranged to determine whether an infant or a child is sitting on the seat (1) based on the image of the seat (1) acquired by the image acquisition device (108), and to control the deactivation of the first type of roof airbag module (123, 124) and the second type of roof airbag module (123, 124) when the controller (140) determines that the infant or the child is sitting on the seat (1). [5] Vehicle (1) according to one of the preceding claims, further comprising a front airbag module (121a, 121b) provided in front of the seat (1) and a side airbag module (122a, 122b) provided between the seat (1) and a door (101), wherein the controller (140) is arranged to control the activation of the front airbag module (121a, 121b) and the side airbag module (122a, 122b) when the controller (140) determines that the detected angle of rotation of the seat (1) is smaller than the first reference angle. [6] Vehicle (1) according to one of the preceding claims, further comprising a front airbag module (121a, 121b) provided in front of the seat (1), wherein the controller (140) is arranged to control the activation of the front airbag module (121a, 121b) when the controller (140) determines that the detected angle of rotation of the seat (1) is greater than the first reference angle and less than or equal to the second reference angle. [7] Vehicle (1) according to one of the preceding claims, further comprising a front airbag module provided in front of the seat (1) and a side airbag module provided between the seat (1) and a door (101), wherein the controller (140) is arranged to control the activation of the front airbag module (121a, 121b), the side airbag module (122a, 122b) and the second type of roof airbag module (123, 124) when the controller (140) determines that the detected angle of rotation of the seat (1) is greater than a fourth reference angle. [8] Vehicle (1) according to one of the preceding claims, wherein the second reference angle is an angle greater than the first reference angle, the third reference angle is an angle greater than the second reference angle and a fourth reference angle is an angle greater than the third reference angle. [9] Vehicle (1) according to one of the preceding claims, further comprising a collision detector (115) configured to detect a collision with an obstacle, wherein the controller (140) is configured to control the deployment and expansion of the activated airbag module (123, 124) on the basis of collision information detected by the collision detector (115). [10] A vehicle (1) according to any one of the preceding claims, wherein a direction in which the second type of roof airbag module (123, 124) is deployed is opposite to a direction in which the seat (1) is rotated by 180 degrees with respect to a forward travel direction of the vehicle (1). [11] Vehicle (1) according to one of the preceding claims, further comprising: an external image capture device (108) configured to capture an image of a road; and a road detector configured to detect a distance to an obstacle, wherein the controller (140) is configured to control autonomous driving based on the image of the road captured by the external image capture device (108) and the distance to the obstacle detected by the road detector. [12] Method for controlling (140) a vehicle (1), the method comprising: Detecting a rotation angle of a seat (1); Controlling the activation of a first type of roof airbag module (123, 124) provided in a central portion of a roof liner (106) and arranged on one side of the seat (1) when the detected angle of rotation of the seat (1) is greater than a first reference angle and less than or equal to a second reference angle; Controlling the activation of the first type of roof airbag module (123, 124) and a second type of roof airbag module (123, 124) provided in a central portion of the headliner (106) and provided behind the seat (1) when the detected angle of rotation of the seat (1) is greater than a second reference angle and less than or equal to a third reference angle; Determine whether a collision with an obstacle has occurred during the journey; and Deploying and expanding the activated airbag module (123, 124) when it is determined that a collision with the obstacle has occurred, characterized by that detecting the angle of rotation of the seat (1) comprises detecting the angle of rotation of the seat (1) on the basis of an image captured by an image capture device (108) in the vehicle (1), wherein detecting the angle of rotation of the seat (1) based on the image comprises: Diagnosing a fault of an angle detector (110); and upon determining that the angle detector (110) fails, detecting the angle of rotation of the seat (1) on the basis of the image captured by the image capturing device (108). [13] The method of claim 12, wherein the first type of roof airbag module (123, 124) is a fixed type of roof airbag module (123, 124) attached to the headliner (106) and the second type of roof airbag module (123, 124) is a movable type of roof airbag module (123, 124) attached to a rail (125) provided on the headliner (106) and movable and rotatable along this rail (125). [14] The method of claim 12 or 13, further comprising: Controlling the activation of the first type of roof airbag module and the second type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than the third reference angle and less than or equal to a fourth reference angle; and Controlling the rotation of the second type of roof airbag module (123, 124) based on the detected angle of rotation of the seat (1) and controlling the movement of the second type of roof airbag module (123, 124) based on the detected angle of rotation of the seat (1) and a radius of rotation of the seat (1). [15] The method according to any one of claims 12 to 14, wherein detecting the angle of rotation of the seat (1) comprises detecting the angle of rotation of the seat (1) using an angle detector (110) provided on the seat (1). [16] A method according to any one of claims 12 to 15, further comprising: Determining whether an infant or a child is sitting on the seat (1) based on the image captured by the image capture device (108); and Controlling deactivation of the first type of roof airbag module (123, 124) and the second type of roof airbag module (123, 124) when it is determined that the infant or child is sitting on the seat (1). [17] Method according to one of claims 12 to 16, further comprising controlling the activation of a front airbag module (121a, 121b) provided in front of the seat (1) and a side airbag module (122a, 122b) provided between the seat (1) and a door (101) when it is determined that the detected angle of rotation of the seat (1) is smaller than the first reference angle. [18] A method according to any one of claims 12 to 17, further comprising controlling the activation of a front airbag module (121a, 121b) provided in front of the seat (1), a side airbag module (122a, 122b) provided between the seat (1) and a door (101), and the second type of roof airbag module (123, 124) when the detected angle of rotation of the seat (1) is greater than the fourth reference angle.

Images