Car interval control apparatus

• US 5,177,462 A
• Filed: 03/13/1991
• Issued: 01/05/1993
• Est. Priority Date: 03/28/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kajiwara, Yasuya
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US07/668,551
• Time in Patent Office: 664 Days
• Field of Search: 340/435, 340/903, 340/901, 340/436, 340/937, 340/942, 358/107, 358/108, 358/110, 358/113, 358/125, 342/47, 342/55, 342/66, 342/126, 342/118, 342/450, 342/451, 180/167-169, 180/271
• US Class Current: 340/435
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/003 Bistatic lidar systems; Multistatic lidar systems
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles

Abstract

A car interval control apparatus composed of a tracking type range finder having a pair of optical systems arranged in a parallel relation and an image sensor disposed in connection with each of said optical systems, wherein a window is formed for a picture image of an object that is to be tracked and sensed by each of the image sensors. The distance to the object is measured, in accordance with a triangular method, on the basis of a shift of position of the picture image of the object displayed in the window. A observing means which emits light and observes forcible entry of an intervening car into a lane in front of and close to the driver'"'"'s car by detecting light reflected by the intervening car. A control device controls the distance between the drivers car and the preceding car by using a signal produced from the tracking type range finder and generates an alarm when the forcibly entered car is detected by the observing means during the operation of the controlling of the distance of the cars.

Claims

1. A car interval control apparatus which comprises:

a tracking type range finder comprising;

a pair of optical systems arranged in a parallel relation and an image sensor disposed in connection with each of said optical systems, wherein a window is formed in the picture image of an object that is to be tracked and sensed by each of the image sensors, and the distance to the object is measured, in accordance with a triangular method, on the basis of a series of successive shifts of position of the picture image of the object displayed in the window as sensed by one of said image sensors and compared with the position of the picture image sensed by the other of said image sensors;

an observing means which emits light and observes forcible entry of an intervening car into a line of sight different than the line of sight of either of said pair of optical systems in front of and close to a driver'"'"'s car by detecting light reflected by the intervening car; and

a control unit which controls a distance interval between the driver'"'"'s car and the preceding car by using a signal produced from the tracking type range finder and which generates an alarm when the intervening car is detected by the observing means while the distance interval of the driver'"'"'s car is being controlled.

2. The car interval control apparatus according to claim 1, wherein a pair of memory devices are provided so as to store picture images sensed by the image sensors.

3. The car interval control apparatus according to claim 1, wherein said observing means comprises a pair of range finders that compare the distance interval between the driver'"'"'s car and the intervening car with a certain safe distance.

4. A vehicle control apparatus comprising:

a range finding device comprising;

a pair of optical lenses, arranged in parallel reaction with each other, for receiving an image of an object directly in front of a vehicle;

a pair of image sensors, each receiving the image from a respective one of said pair of optical lenses, for converting the image into digital information;

first and second memory devices for respectively storing digital information concerning the image from one of said pair of image sensors; and

a control device for successively shifting the digital information in said second memory and comparing such information with the digital information stored in said first memory, said control device producing a difference value for each successive shift and determining which of the successive shifts results in a minimum difference value, said control device calculating a first distance interval that is the distance between the vehicle and the object directly in front of the vehicle taking into account the difference value;

a pair of observing devices, each located on either side of the vehicle, each for determining a second distance interval that is the distance between the vehicle and an object on either side of the vehicle;

a brake actuation device for actuating a braking mechanism so as to reduce the speed of the vehicle;

a warning device for indicating a potential danger; and

a control unit, coupled to said range finding device, said pair of observing devices, said brake actuation device, and said warning device, for controlling the distance between the vehicle and an object in front thereof or on either side thereof, said control unit receiving information of the first distance interval between the vehicle and the object directly in front thereof, wherein said control unit enables said brake actuation device when the first distance interval is less than a safety distance interval, and wherein said control unit enables said warning device when the second distance interval is less than a dangerous distance interval.

5. The vehicle control apparatus of claim 4, further comprising a throttle actuation device, coupled to said control unit, for increasing the speed of the vehicle, wherein said control unit enables said throttle actuation device when the first distance interval is greater than a cruising distance interval, and wherein said control unit disables said throttle actuation device when the first distance interval is less than a cruising distance interval.

6. The vehicle control apparatus of claim 4, further comprising a speed sensor, coupled to said control unit, for transmitting information to said control unit concerning the speed of the vehicle, wherein said control unit enables said brake actuation device when the second distance interval is less than the dangerous distance interval and the speed of the vehicle is greater than a dangerous speed level associated with the dangerous distance interval.