Obstacle detecting control device of vehicle

• US 20070239358A1
• Filed: 04/02/2007
• Published: 10/11/2007
• Est. Priority Date: 04/07/2006
• Status: Active Grant

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Ohmura, Hiroshi, Nakagami, Takashi, Seto, Takayuki, Okazaki, Haruki
• Granted Patent: US 7,835,865 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60R 2021/01272 Belt tensioners
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

An offset distance of an obstacle from a traveling-path center line of a vehicle at the time the obstacle is detected is calculated, and then this offset distance of the obstacle from the traveling-path center line of the vehicle is corrected based on a turning radius of the traveling vehicle detected at the time a specified period of time has lapsed. Thereby, even in a case where the vehicle travels on a road with a curve that changes a radius of curvature of the traveling-path center line (turning radius of the traveling vehicle) quickly during the specified period of traveling time, the above-described offset distance can be properly corrected based on an updated turning radius of the traveling vehicle. Thus, a relative position of the obstacle with respect to the vehicle can be predicted accurately.

Claims

1. An obstacle detecting control device of a vehicle, comprising:

a radar device to detect an obstacle in front of the vehicle and a position of the obstacle detected;

an operational-device control device to control an operational device of the vehicle based on obstacle-detection information detected by said radar device; and

a vehicle-turning radius detecting device to detect a turning radius of the vehicle,

wherein said radar device is configured to predict a position of the detected obstacle that moves relatively with respect to the vehicle during a specified period of time, said prediction of the position of the obstacle by said radar device comprising calculation of an offset distance of the obstacle from a traveling-path center line of the vehicle at the time the obstacle is detected and correction of said offset distance of the obstacle from the traveling-path center line of the vehicle that is made based on the turning radius of the traveling vehicle detected by said vehicle-turning radius detecting device at the time said specified period of time has lapsed.

2. The obstacle detecting control device of a vehicle of claim 1, wherein said radar device is a millimeter-wave radar device.

3. The obstacle detecting control device of a vehicle of claim 1, wherein said vehicle-turning radius detecting device comprises a yaw-rate detection sensor to detect a yaw rate of the vehicle.

4. The obstacle detecting control device of a vehicle of claims 1, wherein said vehicle-turning radius detecting device comprises a lateral-acceleration detection sensor to detect a lateral acceleration of the vehicle.

5. The obstacle detecting control device of a vehicle of claim 1, wherein the operational device of the vehicle is a brake operating device to operate brake of the vehicle.

6. The obstacle detecting control device of a vehicle of claim 1, wherein the operational device of the vehicle is a seatbelt pre-tensioner to restrain a passenger with application of a specified tension to a seatbelt by winding up the seatbelt.