Obstacle detector for a vehicle

• US 4,383,238 A
• Filed: 09/11/1980
• Issued: 05/10/1983
• Est. Priority Date: 09/13/1979
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Endo, Hiroshi
• Primary Examiner(s): Brigance, Gerald L.
• Application Number:
  US06/186,329
• Time in Patent Office: 971 Days
• Field of Search: 340/31 R, 340/31 A, 340/38 P, 340/32, 340/34, 356/5
• US Class Current: 340/901
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A pulse signal generator produces a first pulse signal having a pulse width substantially equal to twice the travel time required for light to travel a braking distance. A light transmitter radiates a light beam signal representing the first pulse signal so as to cover a detection area in which the braking distance is contained. A photoreceptor receives the light signal reflected by an obstacle present in the detection area and converts the received light beam signal to a second corresponding electric pulse signal. A determination device determines whether the time width of a pulse of the first signal is larger than the time interval taken from the time when the corresponding pulse of the light signal is transmitted to the time when the pulse of the light signal is received by the receptor after reflection by the obstacle.

Claims

1. An obstacle detector for a vehicle comprising:

means for producing a first pulse signal having pulse with a width substantially equal to twice the travel time required for light to travel a braking distance;

means responsive to the first pulse signal for transmitting a light signal of duration substantially equal to the pulse width of the first pulse signal so as to cover a detection area which extends to include the braking distance away from the vehicle;

means for receiving a light signal reflected by an obstacle present in the detection area and for converting the received light signal to a second corresponding electric pulse signal;

means for determining whether the time width of a pulse of the first signal is larger than the time interval taken from the time when the light signal is transmitted to the time when the light signal is received by said receiving means after reflection by the obstacle; and

said first pulse signal producing means including means for generating a clock signal, means for generating a ramp function starting each time a pulse of the clock signal is inputted thereto, means for creating the sum of a braking distance signal and a signal indicative of the distance which the vehicle travels during the driver'"'"'s response time, depending on the vehicle speed, and means for defining the width of a pulse of the first signal as the time interval from the time when each ramp function starts to the time when the value of the ramp function exceeds the sum.

2. An obstacle detector according to claim 1, wherein said determining means compares the end of the pulse of the first signal with the beginning of the pulse of the second signal and determines that an obstacle exists within the detection area when the beginning of the pulse of the second signal precedes the end of the pulse of the first signal.

3. The obstacle detector according to claim 1, wherein said determining means includes means for outputting a gating pulse in the vicinity of the trailing edge of a pulse of the first pulse signal from said producing means, means responsive to the gating pulse for sampling the output of said receiving means, means for integrating the output of said sampling means, and means for comparing a predetermined reference value with the output of said integrating means.

4. The obstacle detector according to claim 1, further including means for producing a modulation signal with a frequency lower than that of the first signal and means provided between said first pulse signal producing means and said transmitting means for modulating the amplitude of the first pulse signal with the modulating signal from said modulation signal producing means.

5. The obstacle detector according to claim 4, wherein said determining means further includes a low pass filter provided between said sampling means and said integrating means.

6. The obstacle detector according to claim 4, wherein said modulating means includes a pair of first and second transistors connected in parallel, the first transistor being normally conductive and the second transistor being normally nonconductive, the second transistor receiving at its base electrode the first signal from said first pulse signal producing means thereby being rendered conductive and turning off said first transistor, and a third transistor connected in series with said pair of first and second transistors for receiving at its base electrode the modulation signal from said modulation signal producing means to cause an electric current proportional to the output of said first pulse signal producing means to flow between the collector and emitter of the third transistor.

7. The obstacle detector according to claim 6, wherein said transmitting means includes a light emitting element connected in series with said second transistor.

8. The obstacle detector according to claim 7, wherein said receiving means includes a photoelectric element and a resistor connected in series therewith, a field effect transistor, a capacitor coupling the junction between the photoelectric element and the resistor to the gate electrode of said field effect transistor, and a second resistor connected between the source electrode of said field effect transistor and ground to produce an output from the source of said field effect transistor.

9. The obstacle detector according to claim 1, wherein said braking distance is calculated using the expression (U_a² /2δ

)+U_a ·

T_d where U_a is the vehicle speed, δ

is the maximum deceleration during the braking, and T_d is a driver response time lag.

10. The obstacle detector according to claim 1, wherein said transmitting means includes a box having an opening in a front wall thereof and a light emitting element in an inner rear wall thereof whereby light emitted from said light emitting element is radiated outward through said opening.

11. The obstacle detector according to claim 1, wherein said receiving means includes a box having an opening in a front wall thereof and a photoelectric element in an inner rear wall thereof whereby light entering the opening is received by said photoelectric element.

12. The obstacle detector according to claim 1, wherein said receiving means includes a box having an opening in a front wall thereof, a light receiving photoelectric element in an inner rear wall thereof, and a partition provided between said front and rear walls, said partition being provided with a convex lens for focusing the light which enters the opening onto said photoelectric element.