Collision avoidance system

• US 5,249,157 A
• Filed: 08/22/1990
• Issued: 09/28/1993
• Est. Priority Date: 08/22/1990
• Status: Expired due to Fees

• Current Assignee: Kollmorgen Corporation (Regal Rexnord Corp.)
• Original Assignee: Kollmorgen Corporation (Regal Rexnord Corp.)
• Inventors: Taylor, William H.
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US07/571,131
• Time in Patent Office: 1,133 Days
• Field of Search: 340/903, 340/435, 340/436, 340/961, 340/555, 340/556, 340/904, 340/559, 342/29, 342/41, 342/70, 342/95, 342/96, 342/107, 342/417, 342/419, 342/450, 342/455, 356/3, 356/4, 356/1, 356/2, 356/17, 358/107, 358/108, 358/103, 358/125, 358/110, 358/113, 358/105, 180/167, 180/169, 180/170, 364/460, 364/461, 364/426, 250/221
• US Class Current: 340/903
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G01S 7/4817 relating to scanning

Abstract

A collision avoidance system particularly suited for automotive applications includes an electro-optical rangefinder scanner, retroreflectors on target vehicles, and a processing unit. The rangefinder supplies data on the range and angle of target vehicles to the processor, which monitors each target vehicle'"'"'s position, speed and acceleration and constantly determines and updates target range, angle, velocity, acceleration and predicted separation distances. A warning signal or evasive manuever instructions are issued if the predicted separation at the time of intercept is below a minimum acceptable value.

Claims

1. A collision avoidance system comprising:

rangefinder scanner means mounted to a first vehicle for determining range and angle of at least one target; and

processor means for tracking target range and angle, said processor means predicting time of intercept of said target, and calculating the rate of change of separation distance between said target and said first vehicle, calculating the acceleration of said separation distance, and predicting the distance between said target and said first vehicle at the said predicted time of intercept, when said first vehicle is approaching said target on a variety of path geometries including a curved path, a sloped path and a straight path.

2. The system of claim 1 further comprising first vehicle warning means for issuing a collision warning in the event said predicted separation is below a preset minimum value.

3. The system of claim 2 further comprising vehicle control means for implementing collision avoidance manuevers in response to said collision warning.

4. The system of claim 1 wherein said rangefinder scanner means further comprise a transmission channel for transmitting a ranging pulse and a receiving channel for scanning at least one range interval subsequent to transmission of said ranging pulse in order to detect said ranging pulse reflected from said target vehicle.

5. The system of claim 4 wherein said rangefinder scanner means determines target range based upon the elapsed time between transmission of said ranging pulse and detection of said reflected pulse.

6. The system of claim 5 wherein said receiving channel further comprises framing mirror means for conducting a scan of a scene, primary mirror means for focusing said scan, strip mirror means for receiving said scan, rotating scanning disc means for scanning images received from said strip mirror having a plurality of scanning disc reflectors, collection optic means for receiving said image from said rotating scanning disc means and focusing images on a detector means.

7. The system of claim 6 wherein said framing mirror means oscillates to conduct a linear scan of a scene, said primary mirror means focusing said linear scan at said strip mirror means, said scanning disc reflectors scanning said linear image received from said strip mirror means pixel by pixel and transmitting said pixel image to said collection optic means, said collection optic means focusing said pixel image onto said detector means.

8. The system of claim 7 wherein said collection optic means further comprise a collection mirror and a relay mirror.

9. The system of claim 7 wherein said detector means comprise a linear detector array.

10. The system of claim 9 wherein said transmission channel further comprises radiation source means for transmitting a pulse of radiation toward a pixel in the scene to be scanned.

11. The system of claim 10 wherein said transmission channel further comprises a pulsed radiation source and transmission mirror means, said pulsed radiation source transmitting a pulse of light toward said transmission mirror means, said transmission mirror means transmitting said pulse toward at least a portion of at least one of said rotating scanning disc reflectors, said pulse being reflected by said scanning disc reflector, strip mirror means, primary mirror means and framing mirror means toward a pixel in the scene to be scanned.

12. The system of claim 11 wherein said rangefinder scanner means queries said detector means for at least one range interval subsequent to transmission of said pulse in order to detect a reflected pulse.

13. The system of claim 12 wherein said rangefinder scanner means determines the range of a target based upon (i) optical displacement between time zero at the time of transmission of said pulse and detection of said reflected pulse, and (ii) rate of rotation of said rotating scanning disc means.

14. The system of claim 13 wherein said rangefinder scanner means determines azimuth and elevation angle of a target based upon the position of the pixel in the scene.

15. The system of claim 14 wherein said processor means determines the predicted separation distance Wp between said first vehicle and the target at the time of intercept, as follows:

space="preserve" listing-type="equation">W.sub.p =W.sub.o +Wt.sub.i +1/2Wt.sub.i

where;

W_o =separation of said first vehicle and target at the instant the range and angle data were taken,

W=rate of change of the separation between the vehicles;

W=rate of change of W; and

t_i =time to intercept.

16. The system of claim 12 wherein said rangefinder scanner means queries said detector for at least two range intervals subsequent to transmission of said pulse prior to transmission of the next pulse.

17. The system of claim 12 wherein said rangefinder scanner determines range R from:

##EQU39## where;

D=displacement distance along the detector means between transmission of said pulse and detection of said reflected pulse,

f_s =receiving channel focal length, and

ω

_rpm =angular rate rotation of said scanning disc.

18. The system of claim 11 wherein said rangefinder scanner means operates at a frame rate of approximately 60 Hertz.

19. The system of claim 11 wherein said rangefinder scanner means has a field of view in one direction of at least about 60 degrees.

20. The system of claim 11 wherein said rangefinder scanner means has a field of view in one direction of at least about 6 degrees.

21. The collision avoidance system of claim 1 further comprising a retroreflector associated with said target.

22. The collision avoidance system of claim 21 wherein said retroreflector comprise at least one cube corner reflector.

23. The collision avoidance system of claim 6 further comprising detector thresholding means for eliminating spurious responses.

24. The collision avoidance system of claim 6 further comprising equalization means for substantially equalizing detector response irrespective of target distance.

25. A rangefinder scanner comprising

framing mirror;

primary mirror;

strip mirror;

rotating scanning disc having a plurality of concave reflectors disposed in an arc on one side thereof;

a collection optic; and

a detector, said framing mirror conducting a linear scan of a scene in a first direction and directing said linear scan toward said primary mirror, said primary mirror refocusing said linear scan onto said strip mirror, said concave reflectors scanning said linear image received from said strip mirror pixel by pixel in a second direction and directing said image to said collection optic which focuses said image onto said detector;

pulse transmission means for transmitting a pulse of light toward a pixel in the scene to be scanned;

range determination means for determining the range of a target in the scene based upon the time elapsed between transmission of said pulse and detection of a pulse reflected from the target.

26. The rangefinder scanner of claim 25 wherein said detector further comprise a linear detector array.

27. The rangefinder scanner of claim 26 wherein said range determination means determines range based upon optical displacement along said detector array between time zero at transmission of said pulse and detection of said reflected pulse, and the rate of rotation of said scanning disc.

28. The rangefinder scanner of claim 27 wherein said detector array is queried for at least one range interval subsequent to transmission of said pulse.

29. The rangefinder scanner of claim 28 wherein the detector is queried for at least two range intervals subsequent to transmission of said pulse.

30. The rangefinder scanner of claim 29 wherein said framing mirror and said rotating scanning disc are adapted to provide a staggered overscan scanning pattern.

31. The rangefinder scanner of claim 30 wherein every other scanning disc reflector is shifted by a distance equal to one pixel in order to optically perform said staggered overscan.

32. The rangefinder scanner of claim 25 being contained in a package wherein said primary mirror, rotating scanning disc and collection optic have a relatively long focal length as compared to said package size.

33. The rangefinder scanner of claim 32 wherein said focal length is on the order of about 0.75 meters, and package size of said rangefinder scanner is 0.001 cubic meters approximate.

34. The rangefinder scanner of claim 25 further comprising retroflector means associated with a target to be ranged.

35. The rangefinder scanner of claim 34 wherein said retroflector means comprise at least one cube corner reflector.

36. The rangefinder scanner of claim 30 further comprising threshold means for rejecting detector signals below a predetermined value.

37. A rangefinder method comprising the steps of:

providing a rangefinder scanner having transmission means for transmitting a light pulse toward a pixel in a scene and receiving channel means for receiving and detecting said light pulse reflected from a target, said receiving channel means including rotating scanning disc and detector;

activating said transmission means to emit a light pulse toward a pixel in the scene;

querying said detector for at least one range interval subsequent to transmission of said light pulse to detect said pulse reflected from a target in the scene; and

determining the range of the target based upon the elapsed time between transmission of said pulse and detection of said reflected pulse.

38. The rangefinder method of claim 37 further comprising the step of determining said elapsed time based upon speed of rotation of said rotating scanning disc.

39. A collision avoidance method comprising the steps of:

providing a rangefinder scanner associated with a vehicle for scanning a scene, said rangefinder scanner including framing mirror, primary mirror, strip mirror, rotating scanning disc having a plurality of concave reflectors disposed thereon, collection optic, detector, and light pulse transmitter, said framing mirror conducting a linear scan of the scene in a first direction, said primary mirror focusing said linear scan onto said strip mirror, said concave scanning disc reflectors scanning said linear image from said strip mirror in a second direction, said collection optic focusing said scanned image onto said detector;

transmitting a pulse of light toward a pixel of the scene;

querying said detector for at least one range interval subsequent to transmission of said pulse in order to detect said light pulse reflected from a target in the scene;

determining the optical displacement between the time zero transmission of said pulse and detection of said reflected pulse;

determining the range of the target based upon said optical displacement and the speed of rotation of said scanning disc;

determining the angle of the target based upon the position of the ranged pixel in the scene;

determining from said range and angle data separation distance and predicted separation distance at time of intercept of said vehicle and said target; and

emitting a collision warning in the event the predicted separation distance is below a predetermined minimum value.

40. The method of claim 39 further comprising the step of effecting collision avoidance maneuvers in response to said collision warning.

41. The method of claim 39 wherein said step of determining the range of the target further comprises the step of determining the range, R, from the equation:

##EQU40## where;

D=displacement distance along the detector array between transmission of said pulse and detection of said reflected pulse,

f_s =receiving channel focal length, and ω

rpm.=angular rate rotation of said scanning disc.

42. The method of claim 39 further comprising the step of conducting multiple ranging scans of the scene.

43. The method of claim 42 wherein said step of determining predicted separation distance comprises solving the equation

44. The method of claim 42 wherein said step of determining the range of the target further comprises conducting a staggered overscan of the scene.

45. The method of claim 39 further comprising the step of providing a retroreflector associated with a target.

46. A collision avoidance system associated with a subject vehicle for detecting and tracking at least one target and predicting the separation distance between the subject vehicle and each target at the time of intercept, the system operating under all variety of road geometries, vehicle speeds and traffic fields encountered in ordinary driving situations, the system comprising:

rangefinder scanner means mounted to the subject vehicle for determining the range and angle of each target, said rangefinder scanner means having a high pixel range rate, a relatively wide field of view, and high spatial resolution;

processor means for tracking target range and angle, said processor means predicting time of intercept of said target, and calculating the rate of change of separation distance of said target and said first vehicle, calculating the acceleration of said separation distance, and predicting the separation distance between said target and the subject vehicle at said predicted time of intercept, said processor means emitting a collision warning in the event said predicted separation distance is less than a predetermined value.

47. The system of claim 46 wherein said pixel range rate is approximately 300,000 hertz.

48. The system of claim 46 wherein said rangefinder scanner means has a spatial resolution on the order of about 0.25 degrees×

0.25 degrees.

49. The system of claim 46 wherein said rangefinder scanner means has a frame rate of about 60 hertz.

50. The system of claim 46 wherein said rangefinder scanner means has field of view of about 60 degrees×

6 degrees.

51. The system of claim 46 further comprising retroreflector means associated with said target.