Method and apparatus for the control of the safety distance of a vehicle relative to preceding vehicles

• US 4,158,841 A
• Filed: 05/16/1977
• Issued: 06/19/1979
• Est. Priority Date: 05/26/1976
• Status: Expired due to Term

• Current Assignee: Daimler-Benz AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler-Benz AG (Mercedes-Benz Group AG)
• Inventors: Kostelezky, Walter, Wuchner, Erwin, Heitmeyer, Ulrich
• Primary Examiner(s): Wilbur, Maynard R.
• Assistant Examiner(s): Goodwin, Lawrence
• Application Number:
  US05/796,869
• Time in Patent Office: 764 Days
• Field of Search: 343/7 VM, 343/112 CA, 343/12 MD
• US Class Current: 342/71
• CPC Class Codes: G01S 13/726 Multiple target tracking
• 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 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A method and apparatus for the control of the safety distance of a vehicle with respect to preceding objects wherein various measurements and controls are effected so as to provide control magnitudes for enabling prevention of a collision of the vehicle with an object. The various measurements and controls which may be effected include the determination whether a detected object lies within a maximum inference-free measuring distance from the vehicle, the changing of the pivot angle of an antenna of the vehicle and possibly also the opening angle of the transmitted beam independence on the steering wheel deflection and/or traverse acceleration of the vehicle, suppressing large extended objects by a separate measurement of the distance of the vehicle to the object and relative velocity of the vehicle with respect to the object by comparison of the measure change and distance with a calculated change in distance or the measured relative velocity with a calculated relative velocity, preferring an object recognized as a preceding vehicle among all objects, and combining in accordance with the maximum inference-free measuring distance values of at least one of the measured distance of the vehicle to the object, the measured relative velocity of the vehicle with respect to the object and the measured velocity of the vehicle to provide the control magnitudes.

Claims

1. A method for the control of the safety distance of a vehicle with respect to preceding objects, which vehicle is equipped with measuring means for measuring at least one of distance and relative velocity, comprising the following steps (a) through (e):

(a) determining whether a detected object lies within a maximum interference-free measuring distance from the vehicle,

(b) changing at least the pivot angle of an antenna of a transmitter of the vehicle dependent on at least one of steering wheel deflection and transverse acceleration of the vehicle,

(c) determining extended objects which are to be suppressed by a separate measurement of the distance of the vehicle to the object and of the relative velocity between the vehicle and the object by comparing one of (i) measured distance change with a calculated distance change or (ii) measured relative velocity with a calculated relative velocity,

(d) preferring among all objects, an object recognized as "preceding vehicle", and

(e) combining in accordance with the maximum interference-free measuring distance values of at least one of the measured distance of the vehicle to the object, the measured relative velocity between the vehicle and the object and the measured velocity of the vehicle to provide control magnitudes for enabling prevention of a collision of the vehicle with the object.

2. A method according to claim 1, characterized in that the step of determining whether a detected object is located inside the maximum disturbance-free measuring distance takes into consideration the pivoting-angle and opening angle of the antenna of the transmitter.

3. A method according to claim 2, characterized in that in addition to the change of the pivot angle of the antenna, also the opening angle of the transmitter beam is changed according to step (b) in dependence on at least one of steering wheel deflection and transverse acceleration.

4. A method according to claim 1, characterized in that in accordance with step (c), the calculated change in distance is obtained by integration of the relative velocity or the calculated relative velocity is obtained by differentiation of the measured distance.

5. A method according to claim 1, characterized in that in accordance with step (e), the measured distance of the vehicle to the object, the measured relative velocity between the vehicle and the object and the measured velocity of the vehicle are combined to provide the control magnitudes.

6. A method according to claim 1, characterized in that step (a) includes determining whether a detected object lies within the maximum interference-free measuring distance from the vehicle by means of at least one of steering wheel deflection and transverse acceleration of the vehicle.

7. An apparatus for the control of the safety distance of a vehicle with respect to preceding objects, which apparatus comprises at least one of distance and relative velocity measuring means, including

first means utilizing at least one of steering wheel deflection and transverse acceleration of the vehicle for determining whether a detected object is located inside a maximum interference-free measuring distance from the vehicle,

second means for changing the pivot angle of an antenna of a transmitter of the apparatus in dependence on at least one of steering wheel deflection and transverse acceleration,

third means for determining extended objects to be suppressed including separate measuring means for measuring distance of the vehicle to the object and relative velocity between the vehicle and the object and comparing means for comparing one of measured distance change and measured relative velocity with one of calculated distance change and calculated relative velocity, and

fourth means for preferring among objects, an object recognized as preceding vehicle, and further including

fifth means for combining in accordance with the maximum interference-free measuring distance values of at least one of the measured distance of the vehicle to the object, the measured relative velocity between the vehicle and the object and the measured velocity of the vehicle to provide control magnitudes for enabling prevention of a collision of the vehicle with the object.

8. An apparatus according to claim 7, characterized in that the first means for determining whether a detected object lies inside the maximum interference-free measuring distance includes means taking into consideration the pivot and opening angle of an antenna forming part of the distance-measuring means.

9. An apparatus according to claim 7, characterized in that the second means changes the pivot angle of the antenna and also the opening angle of the transmitted beam in dependence on at least one of steering wheel deflection and transverse acceleration.

10. An apparatus according to claim 7, characterized in that the third means determines extended objects to be suppressed by comparing the measured distance change with the calculated distance change determined by integration of the relative velocity.

11. An apparatus according to claim 7, characterized in that the third means compares the measured relative velocity with the relative velocity calculated by differentiation of the measured distance.

12. An apparatus according to claim 7, characterized in that the measuring means includes radar means operable to determine the distance to objects loaded within the measuring range and the relative velocity between said objects and the vehicle, said radar means being operatively connected with a computer means forming part of at least some of said first-through-fourth means, said computer means having inputs to which are fed measured distances, relative velocities, velocity of the vehicle and at least one of steering wheel deflection and transverse acceleration as well as search period and being operable to compute therefrom the control magnitudes.

13. An apparatus according to claim 12, characterized in that the control magnitudes are operable to control at least one of an antenna of the radar means, adjusting members of a drive means of the vehicle and brakes of the vehicle.

14. An apparatus according to claim 13, characterized in that the control magnitudes are operable to produce warning signals for the driver.

15. An apparatus according to claim 12, characterized in that the computer means includes a first decision means having a curvature computer means which computes the road curvature from at least one of steering wheel deflection and transverse acceleration and from the velocity of the vehicle, a measuring distance computer means which computes the maximum interference-free measuring distance from the road radius and at least one of pivot and opening angle, and a first comparison means which decides whether or not a detected object lies inside of the maximum interference-free measuring distance.

16. An apparatus according to claim 15, characterized in that the computer means includes a pivot angle computer means which determines from the radius of curvature, the optimum pivot angle of the antenna in relation to the vehicle longitudinal axis.

17. An apparatus according to claim 16, characterized in that the computer means includes an opening angle computer means which determines from the radius of curvature and the pivot angle the opening angle of the transmitted beam.

18. An apparatus according to claim 15, characterized in that a second decision means is provided in the computer means which includes a differentiating element that determines from measured distances of the object the relative velocity thereof and which includes a second comparison means which compares the calculated relative velocity with the measured relative velocity.

19. An apparatus according to claim 15, characterized in that a second decision means is provided in the computer means which includes an integrating element which determines from the measured relative velocity of the object the distance thereof and which includes a second comparison means which compares the calculated distance with the measured distance.

20. An apparatus according to claim 15, characterized in that the computer means includes an object-tracking means which determines whether the changes of the relative velocity and of the distance of a detected object remain within predetermined limits and which, when this is the case, causes the radar means to track this object preferredly, and means for starting the object-tracking means when the object lies inside the maximum interference-free measuring distance and represents no extended interference object and for stopping the object-tracking means when the object exceeds the predetermined limits.

21. An apparatus according to claim 18, characterized in that the computer means includes a computer unit with inputs, to which are fed the relative velocity and the distance of the object, the velocity of the vehicle and the decisions from the first and second comparison means as well as of a object-tracking means and which is operable to calculate therefrom the safety distances necessary for an interaction of the drive means of the vehicle or for an actuation of the brakes and which further determines on the basis of the decision, the points of time for the response to the control magnitudes.

22. An apparatus according to claim 19, characterized in that the computer means includes a computer unit with inputs, to which are fed the relative velocity and the distance of the object, the velocity of the vehicle and the decisions from the first and second comparison means as well as of a object-tracking means and which is operable to calculate therefrom the safety distances necessary for an interaction of the drive means of the vehicle or for an actuation of the brakes and which further determines on the basis of the decision, the points of time for the response to the control magnitudes.

23. An apparatus according to claim 12, characterized in that the computer means includes a pivot angle computer means which determines from the radius of curvature, the optimum pivot angle of the antenna in relation to the vehicle longitudinal axis.

24. An apparatus according to claim 12, characterized in that the computer means includes an opening angle computer means which determines from the radius of curvature and the pivot angle the opening angle of the transmitted beam.

25. An apparatus according to claim 12, characterized in that a decision means is provided in the computer means which includes a differentiating element that determines from measured distances of the object the relative velocity thereof and which includes a second comparison means which compares the calculated relative velocity with the measured relative velocity.

26. An apparatus according to claim 12, characterized in that a decision means is provided in the computer means which includes an integrating element which determines from the measured relative velocity of an object the distance thereof and which includes a second comparison means which compares the calculated distance with the measured distance.

27. An apparatus according to claim 12, characterized in that the computer means includes an object-tracking means which determines whether the changes of the relative velocity and of the distance of a detected object remain within predetermined limits and which, when this is the case, causes the radar means to track this object preferredly, and means for starting the object-tracking means when the object lies inside the maximum interference-free measuring distance and represents no extended interference object and for stopping the object-tracking means when the object exceeds the predetermined limits.

28. An apparatus according to claim 12, characterized in that the computer means includes a computer unit with inputs, to which are fed the relative velocity and the distance of the object, the velocity of the vehicle and the decisions from the first and second comparison means as well as of an object-tracking means and which is operable to calculate therefrom the safety distances necessary for an interaction of the drive means of the vehicle or for an actuation of the brakes and which further determines on the basis of the decision, the points of time for the response to the control magnitudes.