Obstacle detection system

• US 4,658,385 A
• Filed: 05/10/1985
• Issued: 04/14/1987
• Est. Priority Date: 05/25/1984
• Status: Expired due to Term

• Current Assignee: Casio Computer Company Limited
• Original Assignee: Casio Computer Company Limited
• Inventors: Tsuji, Akio
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): STEINBERGER, BRIAN
• Application Number:
  US06/733,504
• Time in Patent Office: 704 Days
• Field of Search: 340/904, 340/909, 340/943, 367/93, 367/95, 367/99, 367/103, 367/105, 367/106, 367/117, 367/118, 367/120, 367/122, 367/124, 367/127, 367/129, 367/137, 367/909, 367/910, 901/1, 901/46, 181/123, 343/5 PD, 343/7 VC, 343/7 VM, 180/169
• US Class Current: 367/105
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

An obstacle detection system has a sensor unit including a plurality of ultrasonic transducers and sequentially changes the number of pulses provided to groups of transducers, thereby performing front center sensing, front right sensing and front left sensing. The time between emission of ultrasonic waves and reception of waves reflected by an obstacle is calculated by a timer. A microcomputer computes the distance data and position data of the obstacle in accordance with obtained timer data and sensing region data.

Claims

1. In an obstacle detection system including ultrasonic wave radiating means comprising a plurality of ultrasonic transducers, and means for supplying transmitting pulses for driving each transducer, the improvement comprising:

said ultrasonic transducers are arranged in a row symmetrically about a central transducer with a rightmost and a leftmost transducer relative to said system, the transducers being arranged to radiate ultrasonic waves in a forward direction in response to transmitting pulses;

said means for supplying transmitting pulses includes drive control means for cyclically performing first to third radiating operations, wherein during said first operation the number of transmitting pulses supplied to central ultrasonic transducers is set to a maximum and the number of transmitting pulses supplied to each remaining ultrasonic transducer is set to decrease from said maximum number according to the distance of said each transducer from said central transducer;

wherein during said second operation said drive control means sets the number of transmitting pulses supplied to said rightmost ultrasonic transducer to a maximum and the number of transmitting pulses supplied to each remaining transducer is set to decrease from said maximum number according to the distance of said each transducer from said rightmost transducer; and

wherein during said third operation said drive control means sets the number of transmitting pulses supplied to said leftmost ultrasonic transducer to a maximum and the number of transmitting pulses supplied to each remaining transducer is set to decrease from said maximum number according to the distance of said each transducer from said leftmost transducers; and

said drive control means includes means for setting the number of transmitting pulses supplied to each of said ultrasonic transducers during said first to third radiating operations, so that a changing parabolic-like sensing region is produced by ultrasonic waves radiated by said transducers in said forward direction in an obstacle detection region.

2. A system according to claim 1, further comprising:

ultrasonic wave receiving means coupled to said central transducer for receiving waves reflected by an obstacle in said detection region;

timer means for counting elapsed time, including means for starting said counting upon emission of ultrasonic waves by said transducers and for stopping said counting in response to a signal received by said ultrasonic wave receiving means; and

microcomputer means coupled to said timer means and forming a part of said drive control means, for computing relative distance and position data of an obstacle in said detection region, in accordance with time data obtained from said timer means during each of the first to third radiating operations of said drive control means.