Vehicle collision alert system

• US 5,355,118 A
• Filed: 07/10/1992
• Issued: 10/11/1994
• Est. Priority Date: 07/11/1991
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Fukuhara, Hiroshige
• Primary Examiner(s): Peng, John K.
• Assistant Examiner(s): Johnson, Tim
• Application Number:
  US07/911,624
• Time in Patent Office: 823 Days
• Field of Search: 340/435, 340/436, 340/903, 364/460, 364/461, 358/103, 358/105
• 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 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

An apparatus for deciding an excessive approach of a vehicle to an object in front of the vehicle. The excessive approach decision apparatus comprises a normalized time rate of change detector for determining a normalized time rate of change of a visual angle for the object as viewed from the vehicle. An excessive approach is indicated based upon the determined normalized time rate.

Claims

1. An apparatus for determining an excessive speed approach of a vehicle to an object in front of said vehicle, comprising:

a normalized time rate of change detector for determining a normalized time rate of change of a visual angle, (1/θ

)·

(dθ

/dt), for said object as viewed from said vehicle, the normalized time rate of change detector including means for measuring a distance D of said vehicle with respect to said object, means for measuring a relative speed Vr of said vehicle with respect to said object, and means for dividing the measured relative speed Vr by the measured distance D to calculate the normalized time rate; and

an indicator for producing an indication of the excessive speed approach based upon the normalized time rate, said indicator including means for producing a first alarm to indicate a recognition of an excessive approach of said vehicle to said object when the normalized time rate exceeds a first range of 6%±

1.1%, said first range corresponding to a driver'"'"'s recognition of an excessive approach of said vehicle, and for producing a second alarm indicating danger of a rear-end collision when the normalized time rate exceeds a second range of 12%±

2.2%, said second range corresponding to a driver'"'"'s recognition of danger of a rear-end collision.

2. The apparatus as claimed in claim 1, wherein said indicator includes means for producing a vehicle deceleration signal when said vehicle is decelerating, means responsive to the vehicle deceleration signal for preventing the first alarm from being produced, and means responsive to the vehicle deceleration signal for preventing the second alarm from being produced.

3. The apparatus as claimed in claim 1, wherein said indicator includes means for detecting the presence of said object based upon the measured distance D and relative speed Vr.

4. The apparatus as claimed in claim 3, further including means for measuring a speed of said vehicle and wherein said indicator includes means for detecting said object being at rest based upon the measured vehicle speed and relative speed.

5. The apparatus as claimed in claim 1, wherein said normalized time rate of change detector includes a video camera focused to a scene presented in front of said vehicle for producing a video signal, an image processor for processing the video signal to produce an image of the scene, said image processor including means for calculating a percentage of an area occupied by an image of said object with respect to a whole area occupied by the image of the scene so as to determine the normalized time rate.