Braking system for avoiding a collision of a vehicle with an obstacle thereof
First Claim
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1. A braking system for avoiding a collision of a travelling vehicle with an obstacle ahead thereof, comprising:
- radar means mounted in use on a vehicle for emitting a radar signal forwardly;
a radar sensor mounted on the vehicle for producing a first and a second signal, the first signal representing a distance between the vehicle and an obstacle, and the second signal representing the relative velocity between the vehicle and the obstacle;
a vehicle velocity sensor mounted on the vehicle, sensing the vehicle velocity to produce a third signal representing the same;
first means connected to the radar sensor for receiving the first and the second signal therefrom, generating, based on the received signals, a sixth signal if the following formula is satisfied,
space="preserve" listing-type="equation">V.sub.r.sup.2 /2α
≧
RwhereVr ;
is the relative velocityα
;
is the deceleration of the vehicleR;
is the distance between the vehicle and the obstacle;
second means connected to both the radar sensor and the vehicle velocity sensor for receiving the first, the second, and the third signal therefrom, for generating, based on the received signals, a seventh signal if the following formula is satisfied,
space="preserve" listing-type="equation">V.sub.r (2V.sub.a -V.sub.r)/2α
≧
RwhereVa ;
the vehicle velocity;
third means connected to both the radar sensor and the vehicle velocity sensor for receiving the second and the third signals therefrom, for generating, based on the received signals, an eighth signal representing the difference between the vehicle velocity and the relative velocity;
a comparator connected to the third means for receiving the eighth signal therefrom, generating a ninth signal if the magnitude of the eighth signal is greater than that of the ninth signal, and generating a tenth signal if the magnitude of the eighth signal is smaller than that of the ninth signal;
a first AND gate connected to both the first means and the comparator for receiving the sixth and the tenth signal therefrom, for generating a fourth signal if the sixth signal coincides with the tenth signal, the fourth signal representing a collision imminence with a stationary obstacle;
a second AND gate connected to the second means and the comparator for receiving the seventh and the ninth signals therefrom, for generating a fifth signal if the seventh signal coincides with the ninth signal, the fifth signal representing a collision imminence with a moving obstacle; and
two brake actuator driving circuits connected to the collision imminence computing unit, responding to the fourth and the fifth signals, respectively.
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Abstract
A radar sensor and a vehicle velocity sensor are mounted on a vehicle, producing three signals representative of, vehicle velocity, a distance and a relative velocity between the vehicle and an obstacle ahead thereof. These three signals are fed to a collision imminence computing circuit which generates two signals representative of collision imminences depending upon whether the obstacle is stationary or moving.
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Citations
5 Claims
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1. A braking system for avoiding a collision of a travelling vehicle with an obstacle ahead thereof, comprising:
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radar means mounted in use on a vehicle for emitting a radar signal forwardly; a radar sensor mounted on the vehicle for producing a first and a second signal, the first signal representing a distance between the vehicle and an obstacle, and the second signal representing the relative velocity between the vehicle and the obstacle; a vehicle velocity sensor mounted on the vehicle, sensing the vehicle velocity to produce a third signal representing the same; first means connected to the radar sensor for receiving the first and the second signal therefrom, generating, based on the received signals, a sixth signal if the following formula is satisfied,
space="preserve" listing-type="equation">V.sub.r.sup.2 /2α
≧
Rwhere Vr ;
is the relative velocityα
;
is the deceleration of the vehicleR;
is the distance between the vehicle and the obstacle;second means connected to both the radar sensor and the vehicle velocity sensor for receiving the first, the second, and the third signal therefrom, for generating, based on the received signals, a seventh signal if the following formula is satisfied,
space="preserve" listing-type="equation">V.sub.r (2V.sub.a -V.sub.r)/2α
≧
Rwhere Va ;
the vehicle velocity;third means connected to both the radar sensor and the vehicle velocity sensor for receiving the second and the third signals therefrom, for generating, based on the received signals, an eighth signal representing the difference between the vehicle velocity and the relative velocity; a comparator connected to the third means for receiving the eighth signal therefrom, generating a ninth signal if the magnitude of the eighth signal is greater than that of the ninth signal, and generating a tenth signal if the magnitude of the eighth signal is smaller than that of the ninth signal; a first AND gate connected to both the first means and the comparator for receiving the sixth and the tenth signal therefrom, for generating a fourth signal if the sixth signal coincides with the tenth signal, the fourth signal representing a collision imminence with a stationary obstacle; a second AND gate connected to the second means and the comparator for receiving the seventh and the ninth signals therefrom, for generating a fifth signal if the seventh signal coincides with the ninth signal, the fifth signal representing a collision imminence with a moving obstacle; and two brake actuator driving circuits connected to the collision imminence computing unit, responding to the fourth and the fifth signals, respectively. - View Dependent Claims (2)
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3. A braking system for avoiding a collision of a vehicle with an obstacle ahead thereof, comprising:
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a radar sensor mounted on the vehicle, for producing a first and a second signal, the first signal representing a distance between the vehicle and the obstacle, and the second signal representing the relative velocity between the vehicle and the obstacle; a vehicle velocity sensor mounted on the vehicle, sensing the vehicle velocity to produce a third signal representing the same; a collision imminence computing unit connected to both the radar sensor and the vehicle velocity sensor for receiving the first, the second, and the third signal therefrom, for generating, based on the received signals, a fourth and a fifth signal, the fourth signal representing a collision imminence with a stational obstacle and the fifth signal representing a collision imminence with a moving obstacle; two brake actuator driving circuits connected to the collision imminence computing unit, responding to the fourth and the fifth signal, respectively;
the collision imminence computing unit comprising;first means connected to the radar sensor for receiving the first and the second signal therefrom, for generating, based on the received signals, a sixth signal if the following formula is satisfied
space="preserve" listing-type="equation">V.sub.r.sup.2 /2α
≧
Rwhere Vr ;
is the relative velocityα
;
is the deceleration of the vehicleR;
is the distance between the vehicle and the obstacle;second means connected to both the radar sensor and the vehicle velocity sensor for receiving the first, the second, and the third signal therefrom, for generating, based on the received signals, a seventh signal if the following formula is satisfied
space="preserve" listing-type="equation">V.sub.r (2V.sub.a -V.sub.r)/2α
≧
Rwherein Va ;
is the vehicle velocity;third means connected to both the radar sensor and the vehicle velocity sensor for receiving the second and the third signal therefrom, for generating, based on the received signals, an eighth signal representing the difference between the vehicle velocity and the relative velocity; a comparator connected to the third means for receiving the eighth signal therefrom, for generating a ninth signal if the magnitude of the eighth signal is greater than that of the ninth signal, and for generating a tenth signal if the magnitude of the eighth signal is smaller than that of the ninth signal; a first AND gate connected to both the first means and the comparator for receiving the sixth and the tenth signal therefrom, for generating a fourth signal if the sixth signal coincides with the tenth signal; and a second AND gate connected to the second means and the comparator for receiving the seventh and the ninth signal therefrom, for generating the fifth signal if the seventh signal coincides with the ninth signal. - View Dependent Claims (4, 5)
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Specification