Leading-vehicle detection apparatus

• US 4,948,246 A
• Filed: 02/22/1989
• Issued: 08/14/1990
• Est. Priority Date: 02/22/1988
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Shigematsu, Takashi
• Primary Examiner(s): NOT, DEFINED
• Assistant Examiner(s): Lieberman, Rochelle
• Application Number:
  US07/313,065
• Time in Patent Office: 538 Days
• Field of Search: 356/5, 356/28, 342/192, 342/90, 342/70, 342/71, 342/72
• US Class Current: 356/5.08
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4813 Housing arrangements

Abstract

The leading-vehicle detection apparatus, mounted on a sensing vehicle, radiates a laser beam from a transmitter of a laser radar. The laser beam is reflected by objects including any vehicle in front of the sensing vehicle, and is received by a receiver in the laser radar. The distances between the vehicle and the objects are calculated based on a comparison of the radiated laser beam and the reflected, received laser beam. The calculated distances are stored corresponding to the sweeping positions of the laser beam. Relative speeds between the vehicle and the objects are calculated from the variations over time in the distances. Based on the relative speeds, only the distance information for objects moving at almost the same speed as the sensing vehicle is selected. On the other hand, comparison patterns of inherent vehicular characteristics are stored beforehand. The selected distance information is compared with the comparison patterns. Information matching the comparison patterns is selected. Through this pattern-matching process, distance information for only the leading vehicle is quickly selected. Distance information for a guardrail, a center line, or other objects that are mistaken for moving objects is eliminated.

Claims

1. A leading-vehicle detection apparatus mounted on a detecting vehicle to detect distance information about a leading vehicle where both the detecting vehicle and the leading vehicle are moving, the apparatus comprising:

a transmitter for transmitting a series of waves and a receiver for receiving reflections of said transmitted waves from leading objects;

distance-information detection means for detecting a distance between the detecting vehicle and the leading objects according to time differences between wave transmission by the transmitter and reflected wave reception by the receiver;

distance-information selection means for selecting detected-distance information relating to those leading objects reflecting the transmitted wave which have a speed relative to the speed of the detecting vehicle that is less than or equal to a predetermined value;

comparison-pattern storage means for storing vehicle inherent wave-reflection patterns as comparison patterns; and

matching-pattern detection means for comparing the distance information selected by the distance-information selection means with the comparison patterns, and using the distance information matching the comparison patterns to determine the leading vehicle'"'"'s position.

9. A leading-vehicle detection apparatus according to claim 1, 2, or 3 in which the vehicle inherent wave-reflection pattern is obtained from a light beam reflected by taillights of the leading vehicle.

2. A leading-vehicle detection apparatus mounted on a detecting vehicle to detect distance information about a leading vehicle where both the detecting vehicle and the leading vehicle are moving, the apparatus comprising:

laser radar means comprising a transmitter for radiating a laser beam, a receiver for receiving the laser beam radiated from the transmitter and reflected by objects, means for driving the laser beam in a sweeping pattern, and a sweeping position detector for detecting the sweeping position of the laser beam;

distance-information detection means for calculating distance information for the detecting vehicle about objects reflecting the laser beam, based on the laser beam radiated from the transmitter and the reflected beam received by the receiver;

distance-information storage means for storing the calculated distance information corresponding to the sweeping position of the laser beam;

relative-speed detection means for detecting a relative speed between the detecting vehicle and objects reflecting the laser beam, based on time variations in the distance information;

distance-information selection means for selecting distance information about objects moving at almost the same speed as the detecting vehicle moves, based on the distance information and the relative speed;

comparison-pattern storage means for storing vehicle inherent wave-reflection patterns as comparison patterns;

matching-pattern detection means for comparing comparison patterns with the distance information selected by the distance-information selection means to detect the distance information that matches the comparison patterns; and

output means for receiving the distance information obtained by the matching-pattern detection means, and for outputting distance and direction information about the leading vehicle.

4. A leading-vehicle detection apparatus according to claim 2 or 3 in which the laser beam radiated from the transmitter of the laser radar horizontally sweeps a vertical, elliptical area.

5. A leading-vehicle detection apparatus according to claim 4 in which the means for driving the laser beam in a sweeping pattern is a pulse motor for rotating and driving the laser radar means to sweep the laser beam.

6. A leading-vehicle detection apparatus according to claim 2 or 3 in which the distance-information selection means includes filtering means for filtering the distance information selected by the distance-information selection means to eliminate the variations in distance information.

7. A leading-vehicle detection apparatus according to claim 6 in which the filtering means determines the distance information according to the formula:

h_i =(Xg_i-1 +yg_i +zg_i+i)/(x+y+z), in which g_i denotes distance information, and x, y, and z denote weighted functions.

8. A leading-vehicle detection apparatus according to claim 2 or 3 in which the distance-information selection means selects the distance information relating to those leading objects reflecting the laser beam which have a speed relative to the speed of the detecting vehicle that is less than or equal to a predetermined value.

10. A leading-vehicle detection apparatus according to claim 2 or 3 in which the matching-pattern detection means includes subtraction means for subtracting the comparison patterns from the distance information and for determining if the difference is zero or substantially zero, thus finishing the pattern matching.

3. A leading-vehicle detection apparatus mounted on a detecting vehicle to detect distance information about a leading vehicle where both the detecting vehicle and the leading vehicle are moving, the apparatus comprising:

laser radar means comprising a transmitter for radiating a laser beam, a receiver for receiving the laser beam radiated from the transmitter and reflected by objects, means for driving the laser beam in a sweeping pattern, and a sweeping position detector for detecting the sweeping position of the laser beam;

distance-information calculation means for calculating the distance information for the detecting vehicle about objects reflecting the laser beam, based on the laser beam radiated from the transmitter and the reflected beam received by the receiver;

distance-information storage means for storing the calculated distance information corresponding to the sweeping motion of the laser beam;

relative-speed detection means for detecting a relative speed between the detecting vehicle and objects reflecting the laser beam, based on time variations in time of the distance information;

distance-information selection means for selecting the distance information about objects moving at almost the same speed as the detecting vehicle moves, based on the distance information and the relative speed;

comparison-pattern storage means for storing vehicle inherent wave-reflecting patterns as comparison patterns;

pattern enlarging/reducing means for forming comparison patterns by enlarging or reducing the basic patterns corresponding to the distance information;

matching-pattern detection means for comparing comparison patterns with the distance information selected by the distance-information selection means to match the distance information to the comparison patterns; and

output means for receiving the distance information obtained by the matching-pattern detection means, and for outputting distance and direction information about the leading vehicle.

11. A leading-vehicle detection apparatus according to claim 3 in which the pattern enlarging/reducing means selects the comparison patterns enlarged of reduced based on the distance detected at a sweeping position of the laser beam, and the matching-pattern detection means matches patterns by determining whether subtraction signals of the detected-distance information and comparison patterns are equal to or less than a predetermined value.