Vehicle collision avoidance system
First Claim
1. A collision avoidance system for a vehicle comprising:
- at least two laser radar sets being mounted on at least one of the vehicle'"'"'s four sides, including a front side, a rear side, a left side and a right side;
wherein on each equipped side, at least one laser radar set is mounted near one end of the equipped side and at least another laser radar set is mounted near the other end of the equipped side of the vehicle, each laser radar set including at least one laser radar unit;
wherein each laser radar unit includes a transmitter means for transmitting laser radar signals and a receiver means for receiving laser radar signals reflected by a detected obstacle from the transmitted laser radar signals, and generating first electronic signals representing the reflected laser radar signals thereof;
a computer means for receiving and processing the first electronic signals from each laser radar unit to determine the distance of the detected obstacle and the obstacle'"'"'s radial component of relative speed along the laser beam direction, said relative speed of the obstacle being relative to the vehicle;
wherein the computer means generates second electronic signals representing the distance and the radial component of the relative speed of the obstacle;
an angle message means functionally associated with each laser radar unit for providing third electronic signals representing the emitting or receiving direction of each associated laser radar unit;
a steering wheel rotation sensor means for detecting rotation information of a steering wheel of the vehicle and generating fourth electronic signals representing steering wheel rotation information;
a speed sensor means functionally connected with a speedometer of the vehicle for generating fifth electronic signals representing the vehicle'"'"'s speed relative to the earth;
the computer means further receiving and processing information from the first, second, third, fourth and fifth electronic signals, wherein the computer means processes the received information to determine when a collision is imminent;
an alarm means functionally connected to the computer means for producing an alarm upon receipt of a signal from the computer means indicating a determination by the computer means that a collision is imminent;
an extrinsic condition input means for generating sixth electronic signals representing an extrinsic condition;
wherein the computer means receives and processes input information from the first, second, third, fourth, fifth and sixth electronic signals and the computer means processes the received information to determine when a collision is imminent;
wherein the computer means includes means for processing the second and the third electronic signals from at least two of the laser radar sets to determine the direction of movement and the speed of the obstacle relative to the vehicle and thereby to generate seventh electronic signals representing the direction of movement of the obstacle, and eighth electronic signals representing the relative speed of the obstacle;
wherein, by counting the number of laser radar beams being reflected back by the obstacle, the computer means calculates the estimated size of the obstacle and generates ninth electronic signals representing the size of the obstacle;
wherein the computer means further includes means for processing the second, third, fourth, fifth, seventh and eighth electronic signals to determine speed and direction of movement of the obstacle relative to the earth and to generate tenth electronic signals representing the speed of the obstacle relative to the earth, and eleventh electronic signals representing the direction of movement of the obstacle relative to the earth.
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Accused Products
Abstract
An automobile collision avoidance system based on laser radars is disclosed for aiding in avoidance of automobile collisions. The very small beam width, very small angular resolution and the highly directional character of laser radars provide a plurality of advantages as compared with microwave radars. With two sets of laser radars this system can detect the location, the direction of movement, the speed and the size of all obstacles specifically and precisely. This system includes laser radars with transmitters and receivers, a computer, a warning device and an optional automatic braking device. A steering wheel rotation sensor or a laser gyroscope is utilized to give information of system-equipped vehicle'"'"'s directional change. The system will compare the predicted collision time with the minimal allowable time to determine the imminency of a collision, and when determined, provides a warning. An optional automatic braking device is disclosed to be used when the vehicle user fails to respond to a warning. Furthermore, a wheel skidding detecting system based on a discrepancy between the directional change rate predicted by a steering wheel rotation sensor and the actual directional change rate detected by a laser gyroscope is also disclosed. The detection of wheel skidding can be utilized by various vehicle control designs. An averaging device for a steering wheel and a vehicle tilting sensor are used to supplement the steering wheel rotation sensor to improve the accuracy of the automobile collision avoidance system and the wheel skidding detecting system.
743 Citations
47 Claims
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1. A collision avoidance system for a vehicle comprising:
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at least two laser radar sets being mounted on at least one of the vehicle'"'"'s four sides, including a front side, a rear side, a left side and a right side;
wherein on each equipped side, at least one laser radar set is mounted near one end of the equipped side and at least another laser radar set is mounted near the other end of the equipped side of the vehicle, each laser radar set including at least one laser radar unit;
wherein each laser radar unit includes a transmitter means for transmitting laser radar signals and a receiver means for receiving laser radar signals reflected by a detected obstacle from the transmitted laser radar signals, and generating first electronic signals representing the reflected laser radar signals thereof;a computer means for receiving and processing the first electronic signals from each laser radar unit to determine the distance of the detected obstacle and the obstacle'"'"'s radial component of relative speed along the laser beam direction, said relative speed of the obstacle being relative to the vehicle;
wherein the computer means generates second electronic signals representing the distance and the radial component of the relative speed of the obstacle;an angle message means functionally associated with each laser radar unit for providing third electronic signals representing the emitting or receiving direction of each associated laser radar unit; a steering wheel rotation sensor means for detecting rotation information of a steering wheel of the vehicle and generating fourth electronic signals representing steering wheel rotation information; a speed sensor means functionally connected with a speedometer of the vehicle for generating fifth electronic signals representing the vehicle'"'"'s speed relative to the earth; the computer means further receiving and processing information from the first, second, third, fourth and fifth electronic signals, wherein the computer means processes the received information to determine when a collision is imminent; an alarm means functionally connected to the computer means for producing an alarm upon receipt of a signal from the computer means indicating a determination by the computer means that a collision is imminent; an extrinsic condition input means for generating sixth electronic signals representing an extrinsic condition;
wherein the computer means receives and processes input information from the first, second, third, fourth, fifth and sixth electronic signals and the computer means processes the received information to determine when a collision is imminent;wherein the computer means includes means for processing the second and the third electronic signals from at least two of the laser radar sets to determine the direction of movement and the speed of the obstacle relative to the vehicle and thereby to generate seventh electronic signals representing the direction of movement of the obstacle, and eighth electronic signals representing the relative speed of the obstacle;
wherein, by counting the number of laser radar beams being reflected back by the obstacle, the computer means calculates the estimated size of the obstacle and generates ninth electronic signals representing the size of the obstacle;
wherein the computer means further includes means for processing the second, third, fourth, fifth, seventh and eighth electronic signals to determine speed and direction of movement of the obstacle relative to the earth and to generate tenth electronic signals representing the speed of the obstacle relative to the earth, and eleventh electronic signals representing the direction of movement of the obstacle relative to the earth. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A wheel skidding detecting system for a roadway vehicle comprising:
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a laser gyroscope means horizontally mounted on the vehicle for detecting any horizontal directional change rate of the vehicle and for generating a first electronic signal for the actual directional change rate of the vehicle; a speed sensor means functionally connected with a speedometer for generating a second electronic signal for the vehicle'"'"'s speed; a steering wheel rotation sensor means functionally connected with a steering wheel of the vehicle for detecting rotation information of the steering wheel and generating a third electronic signal representing the steering wheel rotation information; a computer means for receiving information of the first, second and third electronic signals, wherein the computer means includes means to process the second and the third electronic signals to determine a predicted directional change rate of the vehicle;
the computer means further including means to calculate a discrepancy between the actual directional change rate and the predicted directional change rate and to determine the presence of wheel skidding based on the magnitude of the discrepancy exceeding a predetermined amount, with the magnitude, positivity or negativity of the discrepancy being correlated with the severity and direction of the wheel skidding; and
the computer means further including means to generate electronic output signals for the presence, magnitude and direction of wheel skidding; anda vehicle control means for receiving the electronic output signals for the presence, magnitude and direction of wheel skidding, wherein the vehicle control means includes means to respond to the electronic output signals. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A collision avoidance system for a vehicle, comprising:
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at least two laser radar sets being separately mounted on the vehicle, each laser radar set including at least a laser radar unit, each laser radar unit including a transmitter means for transmitting laser radar signals and a receiver means for receiving laser radar signals reflected by an obstacle from the transmitted laser radar signals and for generating first electronic signals thereof; an angle message means associated with each laser radar unit for providing second electronic signals representing one of emitting direction and receiving direction of each associated laser radar unit; a steered direction sensing means for sensing direction of movement of the vehicle and generating third electronic signals thereof; a speed sensing means for sensing speed of the vehicle and generating fourth electronic signals thereof; a computer means for receiving and processing the first, the second, the third and the fourth electronic signals;
wherein the computer means processes the first electronic signals from each laser radar unit to determine distance and radial component of relative speed between the obstacle and the laser radar unit and generates fifth electronic signals thereof;
wherein the computer means processes the second and the fifth electronic signals and, based on any discrepancy of the second and the fifth electronic signals between different laser radar units, the computer determines direction of movement and speed of the obstacle relative to the vehicle and generates sixth electronic signals thereof;
wherein the computer means further processes the second, the third, the fourth, the fifth and the sixth electronic signals to determine an imminent collision between the vehicle and the obstacle and generates electronic signals thereof; andresponse means connected with the computer means for producing a reaction upon receipt of the imminent collision signals from the computer means. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41)
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42. A wheel skidding detecting system for a roadway vehicle, comprising:
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a laser gyroscope means mounted on the vehicle for detecting directional change rate of the vehicle and generating first electronic signals thereof representing actual directional change rate of the vehicle; a speed sensor means for sensing speed of the vehicle and generating second electronic signals thereof; a steering wheel rotation sensor means for sensing steering wheel rotation and generating third electronic signals thereof; a computer means for receiving and processing the second and the third electronic signals to determine a predicted directional change rate of the vehicle;
wherein the computer means further receives and processes the first electronic signals to calculate a discrepancy between the actual directional change rate and the predicted directional change rate, and thereby determines presence of wheel skidding based on the magnitude of the discrepancy exceeding a predetermined amount, with the magnitude, positivity or negativity of the discrepancy being correlated with severity and direction of the wheel skidding;
wherein the computer means generates output signals representing the presence, magnitude and direction of wheel skidding thereof; andvehicle control means for receiving the output signals from the computer means and generating a response to alleviate the wheel skidding. - View Dependent Claims (43, 44, 45, 46, 47)
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Specification