Optical radar system for vehicles

• US 4,632,543 A
• Filed: 02/13/1984
• Issued: 12/30/1986
• Est. Priority Date: 05/06/1983
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Endo, Hiroshi
• Primary Examiner(s): Buczinski, Stephen C.
• Assistant Examiner(s): Koltak, Melissa
• Application Number:
  US06/579,694
• Time in Patent Office: 1,051 Days
• Field of Search: 356/4, 356/5, 356/28, 356/141, 356/152, 180/165, 180/167, 180/169
• US Class Current: 356/5.08
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2401/00 Indexing codes relating to the type of sensors based on the principle of their operation
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/04 and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2021/161 characterised by additional means for controlling deployment trajectory
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

An optical radar system for vehicles has a stationary receiver and a transmitter which scans the road surface ahead of the vehicle, the scan area being shifted in accordance with the direction of steering of the vehicle. The scan area is covered by periodically sweeping a narrow-beam pulse laser through the designated scan area and monitoring the return lag of pulses reflected by objects in the scan area. The scan area is centered over the longitudinal axis of the vehicle while the latter is moving straight ahead. The axis of the scan area is shifted in proportion to the orientation of the steering wheel of the vehicle.

Claims

1. An optical radar system for a vehicle, comprising:

(a) first means for transmitting a search beam toward possible objects in a road along which the equipped vehicle is travelling;

(b) second means for automatically repeatedly scanning the search beam in a scan having a variable central angle with respect to a central axis of said first means, said variable central angle depending on the direction of the vehicle'"'"'s movement so as to scan parallel to and across the road surface;

(c) third means for receiving a reflection of the search beam reflected by an object present on the road; and

(d) fourth means for determining the distance from the vehicle to the object on the basis of the timing relationship between the transmitted search beam and the received reflection.

2. An optical radar system according to claim 1, further including means for sensing the steering angle of the vehicle and for producing a steering-angle signal indicative of the steering angle, and wherein said second means defines the orientation of the search beam relative to a central axis of said first means in accordance with the steering-angle signal.

3. An optical radar system according to claim 2, wherein said second means includes means for directing the search beam toward possible objects, said directing means having a shaft about which said directing means is pivotable so as to change the direction of the search beam, and means for moving said directing means in accordance with the steering-angle signal.

4. An optical radar system according to claim 3, wherein said directing means is a mirror and said moving means includes means for producing a magnetic field and an electromagnet disposed in the magnetic field and connected firmly to said shaft of said mirror, said electromagnet being rotated in accordance with the steering-angle signal when supplied with an electric current corresponding to the steering-angle signal, thereby pivotting said mirror and hence the search beam.

5. An optical radar system according to claim 4, wherein said shaft extends through said electromagnet and said shaft has a pair of slip rings fixed to said shaft of said mirror, one for each side of said electromagnet for allowing electric current to flow therethrough to said electromagnet for energization.

6. An optical radar system according to claim 5, further includes means for stopping said electromagnet at a position corresponding to the electric current.

7. An optical radar system according to claim 6, wherein said magnetic-field producing means includes a pair of permanent magnets aligned anti-parallelly with a spacing therebetween, said electromagnet being disposed in said spacing so as to be freely pivotable.

8. An optical radar system according to claim 4, further including a second mirror disposed so as to direct the search beam toward said first-mentioned mirror before said first-mentioned mirror re-directs the search beam.

9. An optical radar system according to claim 2, further including control means for determining whether the object is within a detection distance limit from the vehicle, and for determining whether the distance to the object is greater than a minimum braking distance through which the vehicle will travel before coming to a stop after maximum braking force is applied to the brake when the distance to the object is less than the detection distance limit.

10. An optical radar system according to claim 9, further including means for producing an alarm when the distance to the object is less than the minimum braking distance.

11. An optical radar system according to claim 9, wherein said detection distance limit is a function of the steering angle.

12. An optical radar system according to claim 9, wherein said detection distance limit is a function of the width of the road.

13. An optical radar system according to claim 9, wherein said detection distance limit is a function of the central angle.

14. An optical radar system according to claim 4, wherein said electromagnet includes an operational amplifier (OP) having negative and positive input terminals, a resistor (Ri) connected at one end to said negative input terminal for conducting the electrical current therethrough to said operational amplifier, the positive input terminal being grounded, a coil winding (Ci) connecting the negative input terminal and the output of said operational amplifier.

15. An optical radar system for a vehicle, comprising:

(a) first means for transmitting a search beam toward possible objects in a road along which the vehicle is travelling;

(b) second means for automatically repeatedly scanning the search beam across the road surface, including means for sensing a steering angle of the vehicle and for producing a steering-angle signal indicative a steering angle of the vehicle, said second means being operable for calculating the orientation of the search beam relative to an optical axis of said first means on the basis of the steering-angle signal, and for repeatedly producing a deflection angle signal to pivot the search beam, the deflection angle signal being of a periodically changing triangular waveform;

(c) third means for receiving the reflection of the search beam as reflected by an object; and

(d) fourth means for determining the distance from the vehicle to the object on the basis of the timing relationship between the transmitted search beam and the received reflection.

16. An optical radar system according to claim 15, wherein said second means is further operable for detecting whether the vehicle is travelling along a straight or a curved road, for calculating a detection distance limit which varies according to whether the vehicle is travelling along a straight or a curved road, for detecting whether the distances to the objects are within the detection distance limit, and for determining whether the distances to the objects are within a braking distance through which the vehicle will travel before coming to a stop after the vehicle has been braked with a maximum force applied.

17. An optical radar system according to claim 16, wherein when the vehicle is detected to be travelling along a curved road, said measurable distance limit is approximately represented by ##EQU9## where θ

is the deflection angle of the beam, β

is the angle between the optical axis of said transmitter means and the direction in which front road wheels roll, Lh is the wheel base of the vehicle, W is the width of the road and θ

s is the steering angle of the vehicle.

18. An optical radar system according to claim 16, wherein when the vehicle is detected to be travelling along a straight line said detection distance limit rc is represented by W/2|θ

| where W is the width of the road and |θ

| is a deflection angle of the search beam.

19. An optical radar system according to claim 16, wherein said braking distance is represented by Va·

Td+Va² /2α

₀ where Va is vehicle speed, Td is a time required from when the driver has detected the objects to when he begins to brake the vehicle, and α

₀ is a deceleration factor which depends on the structure of the vehicle.

20. An optical radar system according to claim 15, wherein said control means is also operable for calculating a second angle between the axis of scanning of said search beam and the optical axis of said transmitter means on the basis of the steering angle signal, calculating an electrical signal defining one extreme of scan of the search beam on the basis of the second angle, said electrical signal being of a periodic triangular waveform.

21. A method of detecting and ranging objects in a road on which a vehicle travels, comprising the steps of:

(a) transmitting a search beam toward the objects;

(b) automatically scanning the search beam repeatedly in a scan having a variable central angle with respect to a central axis of said first means, said variable central angle depending on the direction of the vehicle'"'"'s movement so as to scan across the road surface;

(c) receiving a reflection of the search beam reflected by an object; and

(d) determining the distance from the vehicle to the object on the basis of the timing relationship between the transmitted search beam and the received reflection.

22. A method according to claim 21, further including sensing a steering angle of the vehicle, and determining a deflection angle of the search beam on the basis of the sensed steering angle.

23. A method according to claim 22, wherein the step of determining a deflection angle includes the step of determining one extreme of the scan of the search beam.

24. A method according to claim 23, further including the step of determining whether the vehicle is travelling along a straight road or along a curved road, calculating a detection distance limit in accordance with the result of the immediately preceding step, determining whether the distances to the objects are less than the calculated detection distance limit, determining whether the distances to the objects are less than a braking distance through which the vehicle travels during the tme required for the driver to recognize the objects, brake the vehicle with a predetermined braking force and bring the vehicle to a complete stop.