Obstacle sensing apparatus for vehicles

• US 5,467,283 A
• Filed: 10/19/1993
• Issued: 11/14/1995
• Est. Priority Date: 10/21/1992
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Uemura, Hiroki, Yoshioka, Tohru, Adachi, Tomohiko, Niibe, Tadayuki, Doi, Ayumu, Morioka, Satoshi, Butsuen, Tetsuro, Okuda, Ken-ichi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/138,022
• Time in Patent Office: 756 Days
• Field of Search: 364/426.04, 364/431.07, 364/460, 364/461, 180/167-169, 180/176-179, 123/352, 342/454, 342/455, 340/901, 340/903, 340/904, 340/435, 340/436
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

An obstacle sensing apparatus for vehicles is provided in which detection of obstacles is performed efficiently by predicting the traveling path of the vehicle appropriately when detection of obstacles by a radar unit is limited to a region along the traveling path. The apparatus is provided with a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle, a steering angle sensor for sensing the steering angle of the vehicle, and a yaw rate sensor for sensing the yaw rate produced by the vehicle. First traveling-path predicting device predicts a traveling path of the vehicle based upon the steering angle, and second traveling-path predicting device predicts a traveling path of the vehicle based upon the yaw rate. One of these traveling paths is selected in dependence upon the operating state of the vehicle and detection of articles by the radar unit is carried out within a limited region along the traveling path selected.

Claims

1. An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising:

(a) steering angle sensing means for sensing steering angle of the vehicle;

(b) yaw rate sensing means for sensing yaw rate produced by the vehicle;

(c) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means;

(d) second traveling-path predicting means for predicting a second traveling path of the vehicle based upon the yaw rate sensed by said yaw rate sensing means; and

(e) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon the operating state of the vehicle and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.

2. The apparatus according to claim 1, further comprising vehicle velocity detecting means for detecting velocity of the vehicle, wherein said first traveling-path predicting means calculates radius of curvature of the first traveling path based upon the steering angle sensed by said steering-angle sensing means and the vehicle velocity detected by said vehicle velocity detecting means, and calculates a first lateral slip angle of the vehicle.

3. The apparatus according to claim 1, further comprising vehicle velocity detecting means for detecting velocity of the vehicle, wherein said second traveling-path predicting means calculates radius of curvature of the second traveling path based upon the yaw rate sensed by said yaw rate sensing means and the vehicle velocity detected by said vehicle velocity detecting means, and calculates a second lateral slip angle of the vehicle.

4. The apparatus according to claim 1, wherein said selecting means selects the second traveling path predicted by said second traveling-path predicting means when the steering angle is less than a predetermined value, and selects whichever of the first and second traveling paths, which are predicted by said first and second traveling-path predicting means, has a smaller angle of curvature when the steering angle is equal to or greater than the predetermined value.

5. The apparatus according to claim 1, further comprising identifying means for identifying an obstacle nearest to the vehicle from among obstacles that are within an area along the one traveling path selected by said selecting means and that have been sensed by said radar unit.

6. The apparatus according to claim 5, wherein said identifying means includes radar unit control means for controlling said radar unit so that said radar unit is limited to detect said obstacles within an area along the one traveling path selected by said selecting means.

7. The apparatus according to claim 5, further comprising automatic braking control means for calculating relative velocity of the vehicle based upon distance between said obstacle identified by said identifying means and the vehicle, and controlling the vehicle based upon the relative velocity.

8. An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising:

(a) steering angle sensing means for sensing steering angle and amount of change in the steering angle of the vehicle;

(b) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means;

(c) second traveling-path predicting means for predicting a second traveling path of the vehicle which is directly ahead of the vehicle, based upon the amount of change in the steering angle sensed by said steering angle sensing means; and

(d) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon an operating state of the vehicles and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.

9. The apparatus according to claim 8, wherein said first traveling-path predicting means sets a radius of curvature of the first traveling path and a lateral slip angle of the vehicle based upon the steering angle sensed by said steering angle sensing means.

10. The apparatus according to claim 8, wherein said second traveling-path predicting means predicts unconditionally that the second traveling path of the vehicle is directly in front of the vehicle and makes the radius of curvature infinitely large.

11. The apparatus according to claim 8, wherein said selecting means selects the second traveling path predicted by said second traveling-path predicting means when the steering angle sensed by said steering angle sensing means is less than a predetermined value and the amount of change in the steering angle is greater than a predetermined value, and selects the first traveling path predicted by said first traveling-path predicting means at all other times.

12. The apparatus according to claim 8, further comprising identifying means for identifying an obstacle nearest to the vehicle from among obstacles that are within an area along the one traveling path selected by said selecting means and that have been sensed by said radar unit.

13. The apparatus according to claim 12, wherein said identifying means includes radar unit control means for controlling said radar unit so that said radar unit is limited to detect said obstacles within an area along the one traveling path selected by said selecting means.

14. The apparatus according to claim 12, further comprising automatic braking control means for calculating relative velocity of the vehicle based upon distance between said obstacle identified by said identifying means and the vehicle, and controlling the vehicle based upon the relative velocity.