Apparatus for and method of detecting object on road

• US 20030028291A1
• Filed: 07/15/2002
• Published: 02/06/2003
• Est. Priority Date: 07/31/2001
• Status: Active Grant

• Current Assignee: Omron Automotive Electronics Company Limited (Nidec Corporation)
• Original Assignee: Omron Corporation
• Inventors: Matsuura, Yoshio
• Granted Patent: US 6,810,330 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

A detector set on a motor vehicle emits a beam of light forward and receives a beam reflected from an object and determines the distance to the object. Displacement in the direction of emission of the beam is detected and corrected by recognizing the received beam as having been reflected by an overhead beam reflector of a known height of a part of the road surface and by measuring the distance to the point where the reflection has taken place. The slope of the beam-reflecting road surface may be used to determine the displacement of the direction of beam emission. The speedometer of the motor vehicle may be checked to determine whether it is running at a constant speed such that only measurements taken while the vehicle is running smoothly can be used for the calculation.

Claims

1. A detector for an object on a road surface, said detector comprising:

beam emitting means for emitting a beam;

beam receiving means for receiving reflected beam of the beam emitted from said beam emitting means by an object;

distance measuring means for measuring a distance to said object from said reflected beam received by said beam receiving means;

recognizing means for recognizing an overhead beam reflector with a known height based on the reflected beam received by said beam receiving means;

distance identifying means for identifying a distance to said overhead beam reflector immediately before said overhead beam reflector becomes unrecognizable by said recognizing means; and

displacement detecting means for detecting a directional displacement of the beam emitted from said beam emitting means based on the distance to said overhead beam reflector identified by said distance identified means.

2. The detector of claim 1 further comprising correcting means for correcting said directional displacement detected by said displacement detecting means.

3. The detector of claim 1 further comprising:

displacement judging means for judging whether or not said directional displacement detected by said displacement detecting means is within a specified range; and

warning means for outputting a warning signal when said displacement judging means judges that said directional displacement detected by said displacement detecting means is not within said specified range.

4. The detector of claim 1 wherein said detector is installed on a motor vehicle, said detector further comprising:

speed detecting means for detecting a running speed of said motor vehicle; and

speed judging means for judging whether or not said motor vehicle is traveling at a stable rate on the basis of outputs from said speed detecting means;

wherein said displacement detecting means detects said directional displacement when said speed judging means judges that said motor vehicle is running at a stable rate.

5. The detector of claim 2 wherein said correcting means adjusts the direction of emission from said beam emitting means by continuously change the angle of said emission in a vertical direction.

6. The detector of claim 2 wherein said correcting means corrects said directional displacement by selecting one of a plurality of preselected angles in a vertical direction closest to a standard angle and causing said emission at said selected angle.

7. A method of detecting an object on a road surface, said method comprising the steps of:

emitting a beam;

receiving a reflected beam of the emitted beam, reflected by an object;

measuring a distance to said object based on said reflected beam;

recognizing an overhead beam reflector with a known height based on the received reflected beam;

identifying a distance to said overhead beam reflector immediately before said overhead beam reflector becomes unrecognizable; and

detecting a directional displacement of the emitted beam based on the distance to said overhead beam identified.

8. The method of claim 7 further comprising the step of correcting said directional displacement.

9. A detector for an object on a road surface, said detector comprising:

beam emitting means for emitting a beam;

beam receiving means for receiving reflected beam of the beam emitted from said beam emitting means by an object;

distance measuring means for measuring a distance to said object from said reflected beam received by said beam receiving means;

judging means for judging whether or not said object which reflected the emitted beam received by said receiving means was said road surface;

distance identifying means for identifying a distance to said road surface if said judging means judges that said object was said road surface; and

displacement detecting means for detecting a directional displacement of the beam emitted from said beam emitting means based on the distance to said road surface identified by said distance identified means.

10. The detector of claim 9 further comprising correcting means for correcting said detected displacement based on the distance to said road surface.

11. The detector of claim 9 further comprising:

displacement judging means for judging whether or not said directional displacement detected by said displacement detecting means is within a specified range; and

warning means for outputting a warning signal when said displacement judging means judges that said directional displacement detected by said displacement detecting means is not within said specified range.

12. The detector of claim 9 wherein said detector is installed on a motor vehicle, said detector further comprising:

speed detecting means for detecting a running speed of said motor vehicle; and

speed judging means for judging whether or not said motor vehicle is traveling at a stable rate on the basis of outputs from said speed detecting means;

wherein said displacement detecting means detects said directional displacement when said speed judging means judges that said motor vehicle is running at a stable rate.

13. The detector of claim 10 wherein said correcting means adjusts the direction of emission from said beam emitting means by continuously change the angle of said emission in a vertical direction.

14. The detector of claim 10 wherein said correcting means corrects said directional displacement by selecting one of a plurality of preselected angles in a vertical direction closest to a standard angle and causing said emission at said selected angle.

15. A method of detecting an object on a road surface, said method comprising the steps of:

emitting a beam;

receiving a reflected beam of the emitted beam, reflected by an object;

measuring a distance to said object based on said reflected beam;

judging whether or not said object which reflected the received beam was said road surface;

identifying a distance to said road surface if it has been judged that said object was said road surface; and

detecting a directional displacement of the emitted beam based on said identified distance to said road surface.

16. The method of claim 15 further comprising the step of correcting said directional displacement.

17. A detector for an object on a road surface, said detector comprising:

beam emitting means for emitting a beam;

beam receiving means for receiving reflected beam of the beam emitted from said beam emitting means by an object;

judging means for judging whether or not said object which reflected the emitted beam received by said receiving means was said road surface;

distance measuring means for measuring a distance to said road surface based on said reflected beam received by said beam receiving means;

slope calculating means for calculating a slope of said road surface based on said distance to said road surface measured by said distance measuring; and

controlling means for controlling an angle of emission of the beam emitted from said beam emitting means based on the slope of said road surface calculated by said slope calculating means.

18. A method of detecting an object on a road surface, said method comprising the steps of:

emitting a beam;

receiving a reflected beam of the emitted beam, reflected by an object;

judging whether or not said object which reflected the received beam was said road surface;

measuring a distance to said road surface based on said reflected beam;

calculating a slope of said road surface based on said measured distance to said road surface measured; and

controlling an angle of emission of the emitted beam based on said calculated slope of said road surface.