Moving obstacle detection system for a vehicle

• US 4,543,577 A
• Filed: 06/15/1982
• Issued: 09/24/1985
• Est. Priority Date: 06/19/1981
• Status: Expired due to Term

• Current Assignee: Nissan Motor Company Limited 2 Takara-Cho Kanagawa-Ku Yokohama-Shi Kanagawa-Ken Japan
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tachibana, Akira, Endo, Hiroshi, Kishi, Norimasa, Fujiki, Norio, Yamaki, Kiyoshi
• Primary Examiner(s): Groody, James J.
• Application Number:
  US06/388,704
• Time in Patent Office: 1,197 Days
• Field of Search: 340/901-904, 340/53, 340/52 H, 343/7 VM, 343/8, 367/909, 367/112, 367/126, 180/169
• US Class Current: 340/904
• CPC Class Codes: G01S 13/52 Discriminating between fixed and moving objects or between objects moving at different speeds
• CPC Class Codes: G01S 13/536 using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
• CPC Class Codes: G01S 13/56 for presence detection presence detection using near field arrangements G01V3/00, e.g. G01V3/08, G01V3/12; burglar, theft or intruder alarms with electrical actuation G08B13/22 - G08B13/26
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

A moving obstacle detection system for an automotive vehicle utilizing a doppler effect of the transmitted wave against an obstacle which runs in front of the vehicle such as another vehicle. The system generally comprises: (a) a doppler radar unit which operates so as to produce a doppler signal when the vehicle is halted; (b) a detecting means which detects the changing phase of a doppler signal produced from the doppler signal; (c) a discriminating means which discriminates the departure of another vehicle from the front area of the vehicle and the intersection of another vehicle or pedestrian traverse to the vehicle on a basis of the frequency changing rate or amplitude level changing rate of the detected doppler signal; and (d) an alarm unit which produces an alarm in a predetermined form only when the departure of another vehicle from the front detection area of the doppler radar unit or in the case when another vehicle straightly approaches or departed from the vehicle and in the case when another vehicle or pedestrian goes across the vehicle, separately from each other.

Claims

1. A moving obstacle detection system for an automotive vehicle, which comprises:

(a) a doppler radar unit which operatively transmits a wave having a fixed frequency toward a forward direction of the vehicle when the vehicle halts, receives the reflected wave from a moving obstacle in front of the vehicle, and outputs a doppler signal having a frequency corresponding to the frequency difference between the transmitted and reflected waves and an amplitude which changes according to the distance between the vehicle and moving obstacle;

(b) a first means responsive to the doppler signal from said doppler radar unit for determining whether the frequency of the doppler signal exceeds a first predetermined value so as to detect the approach or departure of a moving obstacle toward or away from the vehicle;

(c) a second means responsive to the doppler signal for determining whether the duration of the amplitude level of the doppler signal which exceeds a second predetermined value exceeds a predetermined interval of time so as to distinguish the approach or departure of the moving obstacle toward or away from the vehicle from the movement of an obstacle transverse to the vehicle direction; and

(d) an alarm unit which produces an alarm in a predetermined form when said first means determines that the frequency of the doppler signal exceeds the first predetermined value and said second means determine that the duration exceeds the predetermined interval of time,

whereby said alarm unit produces the alarm only when another vehicle approaches toward the forward direction of the vehicle or departs away from the vehicle.

2. A moving obstacle detection system as set forth in claim 1, wherein said first means comprises:

(a) a frequency-to-voltage converter connected to said doppler radar unit which converts the frequency of the doppler signal into a corresponding voltage; and

(b) a voltage comparator connected to said frequency-to-voltage converter which compares the voltage fed from said frequency-to-voltage converter with a reference voltage and outputs a voltage signal into said alarm unit, said the alarm unit responsive to said voltage signal for producing the alarm when the voltage from said frequency to voltage converter exceeds the reference voltage.

3. A moving obstacle detection system as set forth in either claim 1, wherein said second means comprises:

(a) an amplitude detector which receives the doppler signal and produces an one-directional envelope corresponding to each amplitude of the doppler signal;

(b) a amplitude comparator which receives the envelope from said amplitude detector, compares the amplitude level of the doppler signal with a reference voltage corresponding to predetermined value and outputs a voltage signal when the amplitude level exceeds the second predetermined value; and

(c) a time interval discriminator connected to said amplitude comparator which outputs a voltage signal into said alarm unit so as to produce the alarm only when the duration of the voltage signal received from said amplitude comparator exceeds the predetermined interval of time.

4. A moving obstacle detection system as set forth in claim 3, wherein said alarm unit includes a first AND gate circuit at the input terminal thereof which is connected to both first and second judging means.

5. A moving obstacle detection system as set forth in claim 3, wherein said time interval discriminator comprises:

(a) a first monostable multivibrator which outputs a voltage signal for the predetermined interval of time, responsive to the rising edge of the voltage signal from said amplitude comparator;

(b) a first inverter connected to said first monostable multivibrator; and

(c) an AND gate circuit connected to said inverter and to said amplitude comparator which enables the passage of the high-level voltage signal from said amplitude comparator to said alarm unit only when the duration of the high-level voltage signal from said amplitude comparator exceeds the duration of the output high-level voltage signal of said first monostable multivibrator.

6. A moving obstacle detection system as set forth in claim 1, wherein the predetermined interval of time by said second means is approximately three seconds.

7. A moving obstacle detection system as recited in claim 1 wherein said doppler radar unit comprises means for transmitting the wave having a fixed frequency in the forward direction of the vehicle only when the vehicle is halted.

8. A moving obstacle detection system as recited in claim 7 wherein said means for transmitting said wave only when the vehicle is halted comprises vehicle halt detecting means for detecting a halted state of the vehicle and for outputting a voltage signal indicating that the vehicle is halted, and switching means for temporarily stopping transmission of the wave when said vehicle halt detecting means provides no output signal indicative of the halted state of the vehicle.

9. A moving obstacle detection system for an automotive vehicle, which comprises:

(a) a doppler radar unit which transmits a wave having a fixed frequency toward a forward direction of the vehicle when the vehicle is halted, receives the reflected wave from a moving obstacle, and amplifies and outputs a doppler signal having a frequency corresponding to the frequency difference between the transmitted and reflected waves and an amplitude which changes according to the distance between the vehicle and moving obstacle;

(b) a first means which receives the doppler signal from said doppler radar unit for determining whether the frequency of the doppler signal exceeds a first predetermined value so as to detect the approach or departure of an obstacle toward or from the vehicle;

(c) an interval of time setting means which, responsive to the doppler signal from said doppler radar unit, outputs a voltage signal having a first predetermined duration when the amplitude of the doppler exceeds a predetermined threshold value for discriminating the approach or departure from the vehicle and the traversed intersection of a moving obstacle;

(d) a vehicle halt detector which detects the halt state of the vehicle and outputs a voltage signal indicating the vehicle is halted; and

(e) an alarm unit which produces the alarm in a predetermined form to indicate the vehicle driver that an obstacle is approaching or departing from the vehicle when said first means determines that the frequency of the doppler signal exceeds the first predetermined value during the receipt of the voltage signal from said interval of time setting means, and said vehicle halt detector outputs the voltage signal thereinto.

10. A moving obstacle detection system as set forth in claim 9, wherein said interval of time setting means comprises:

(a) an amplitude comparator connected to said doppler radar unit which outputs a first pulse signal whenever the amplitude of the amplified doppler signal exceeds the predetermined threshold value thereof;

(b) a retriggerable monostable multivibrator which outputs a second pulse signal having a second predetermined duration in response to the rising edge of the first pulse signal from said amplitude comparator; and

(c) a second monostable multivibrator which outputs the voltage signal of the first predetermined duration in response to the rising edge of the second pulse signal from said retriggerable monostable multivibrator, the second predetermined duration of said second pulse signal being longer than the first predetermined duration of said voltage signal.

11. A moving obstacle detection system as set forth in claim 9, wherein said interval of time setting means comprises:

(a) an amplitude detector which receives the doppler signal from said doppler radar unit and produces a one-directional envelope corresponding to each amplitude of the amplified doppler signal;

(b) an amplitude comparator which, responsive to the envelope from said amplitude detector, compares the amplitude level of the doppler signal with a predetermined threshold value and outputs a second pulse signal when the amplitude level of the envelope exceeds the predetermined threshold value; and

(c) a second monostable multivibrator which outputs the voltage signal of the first predetermined duration in response to the rising edge of the second pulse signal from said amplitude comparator, the duration of said second pulse signal from said amplitude comparator being longer than the first predetermined duration of the voltage signal outputted from said second monostable multivibrator.

12. A moving obstacle detection system as set forth in claim 9, wherein said interval of time setting means comprises:

(a) a two-threshold amplitude comparator which, responsive to the doppler signal, outputs a voltage signal whenever the amplitude of the doppler signal exceeds a first predetermined threshold value provided therein and also outputs a voltage signal whenever the amplitude level of the doppler signal exceeds a second predetermined threshold value provided therein, the second predetermined threshold value being higher than the first predetermined threshold value;

(b) a retriggerable monostable multivibrator which outputs a pulse signal whenever the voltage signal is received from said two-threshold amplitude comparator indicating the amplitude of the amplified doppler signal exceeds the first predetermined threshold value;

(c) a second monostable multivibrator which outputs the voltage signal of the first predetermined duration in response to the risng edge of the pulse signal from said retriggerable monostable multivibrator, the first predetermined duration of the voltage signal being shorter than the duration of the pulse signal from said retriggerable monostable multivibrator; and

(d) an AND gate circuit having two input terminals, one connected to said amplitude comparator and the other to said second monostable multivibrator, which enables the passage of the voltage signal from said two-threshold amplitude comparator indicating that the amplitude level of the amplified doppler signal exceeds the second predetermined threshold value only when the voltage signal from said second monostable multivibrator agrees with that from said two-threshold amplitude comparator.

13. A moving obstacle detection system as set forth in claim 9, which further comprises,

a second means which, responsive to the doppler signal from said doppler radar unit, determines whether the amplitude level changing rate of the doppler signal exceeds a third predetermined value provided therein during the reception of the voltage signal from said interval of time setting means so as to detect only the forward departure of another vehicle from the vehicle.

14. A moving obstacle detecting and informing system as set forth in claim 13, wherein said second means comprises:

(a) an amplitude detector which receives the doppler signal from said doppler radar unit and produces a one-directional envelope according to the amplitude level change of the doppler signal;

(b) a first differentiator which receives and differentiates the envelope produced by said amplitude detector so as to produce a signal whose level changes according to the changing rate of the amplitude level of the doppler signal with respect to time;

(c) a voltage comparator which receives the voltage signal from said first differentiator and compares the voltage signal with a reference voltage corresponding to the third predetermined value so as to detect whether the amplitude changing rate of the doppler signal exceeds the third predetermined value; and

(d) an AND gate which receives a voltage signal from said voltage comparator when the amplitude changing rate of the doppler signal exceeds the third predetermined value and enable the passage of the voltage signal from said voltage comparator to said alarm unit when the voltage signal of the same level having the first predetermined duration is received from said interval of time setting means.

15. A moving obstacle detection system as set forth in claim 13, wherein said second means comprises:

(a) a switching unit which enables the passage of the amplified doppler sigal from said doppler radar unit therethrough when the voltage signal having the first predetermined duration is received from said interval of time setting means;

(b) an amplitude detector which receives the doppler signal from said doppler radar unit through said switching unit and produces a one-directional envelope according to the amplitude level change of the doppler signal;

(c) a first differentiator which receives and differentiates the envelope produced by said amplitude detector so as to produce a signal whose level changes according to the changing rate of the amplitude level of the doppler signal with respect to time; and

(d) a voltage comparator which receives the voltage signal from said first differentiator and compares the voltage signal with a reference voltage corresponding to the third predetermined value so as to detect whether the amplitude changing rate of the doppler signal exceeds the third predetermined value.

16. A moving obstacle detection system as set forth in claim 9, wherein the duration of the output signal of said interval of time setting means is about 0.2 seconds.

17. A moving obstacle detection system for an automotive vehicle, which comprises:

(a) a doppler radar unit which transmits a wave having a fixed frequency toward a forward direction of the vehicle, receives reflected waves reflected from a moving obstacle, and outputs a doppler signal having a frequency corresponding to a frequency difference between the transmitted and reflected waves and an amplitude whch changes according to the distance between the vehicle and moving obstacle when the vehicle is halted;

(b) a first means, responsive to the doppler signal from said doppler radar unit for determining whether the frequency of the doppler signal exceeds a first predetermined value so as to detect the approach or departure of a moving obstacle toward or from the vehicle;

(c) a second means, responsive to the doppler signal from said doppler radar unit for determining whether a frequency changing rate or amplitude level changing rate of the dopler signal exceeds a second predetermined value so as to detect approach or departure of a moving obstacle toward or from the vehicle;

(d) a third means which, responsive to said doppler signal, outputs a voltage signal when an interval of time predetermined therein exceeds an interval of time during which the doppler signal appears for a single moving obstacle so as to detect an intersection of another vehicle transverse to the vehicle;

(e) a vehicle halt detector which detects the halted state of the vehicle and outputs a voltage signal indicating that the vehicle is halted;

(f) a first alarm unit which produces an alarm urgently in a predetermined form when the voltage signal from said third means is received or when said first means determines that the frequency of the doppler signal exceeds the first predetermined value, with the output voltage signal from said vehicle halt detector received and with said second means determining that neither the frequency changing rate nor the amplitude level changing rate exceed the second predetermined value;

(g) a second alarm unit which produces an alarm in another predetermined form when said first means determines that the frequency of the doppler signal exceeds the first predetermined value with the output voltage signal from said vehicle halt detector received and with said second means determining that either the frequency changing rate or the amplitude level changing rate exceeds the second predetermined value; and

(h) a doppler radar unit switching unit which temporarily halts the transmission of the wave from said doppler radar unit when said vehicle halt detector outputs no voltage signal.

18. A moving obstacle detection system as set forth in claim 17, wherein said doppler radar unit as a gunn oscillator and a heating element for warming the gunn oscillator so as to provide a stable oscillation of the gunn oscillator and said doppler radar unit switching means turns off the power of said doppler radar unit with said heating element turned on when said vehicle halt detector outputs no voltage signal.

19. A moving obstacle detection system as set forth in claim 17, wherein said doppler radar unit has a waveguide switch and dummy load, said waveguide switch connecting a mainframe of said doppler radar unit having a gunn oscillator to an antenna when said vehicle halt detector outputs the voltage signal and to said dummy load when said vehicle halt detector outputs no voltage signal.

20. A moving obstacle detection system as set forth in claim 17, which further comprises a third alarm unit connected to said third means which produces an alarm in a predetermined form so as to indicate to another vehicle driver at a different traffic lane and/or at the rear of the vehicle that a pedestrian goes across the vehicle.

21. A moving obstacle detection system as set forth in claim 17 further comprising amplifying means for amplifying the doppler signal from said doppler radar unit and for providing the amplified signal to said second means.