Object sensing apparatus using predicting means for Determining if the object is a guardrail
First Claim
1. An obstacle sensing apparatus wherein an FM-CW wave is emitted, a received wave from an object reflecting the FM-CW wave is mixed with the emitted wave to produce a beat signal which is analyzed in frequency to measure a distance and a relative speed with respect to the object, said apparatus comprising:
- means for sensing an actual car speed;
means for predicting a distance and a relative speed at the next time from the measured distance and relative speed and for determining that the object is a stationary object if the measured relative speed has substantially the same value as the sensed car speed in an approaching direction; and
means for determining that the stationary object is at least one of a guardrail and a sound barrier if a difference between the measured distance and the predicted distance exceeds a preset value, and a plurality of the measured distances in the past are substantially the same.
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Accused Products
Abstract
An obstacle sensing apparatus uses an FM-CW wave as an emitted wave to an object in front of a car. A received wave from the object is mixed with the emitted wave to produce a beat signal which is analyzed in frequency to measure a distance and a relative speed with respect to the object. A distance and a relative speed at the next time is predicted from the measured distance and relative speed. The object is determined to be a car if the relative speed does not have an approaching direction or substantially the same value as a sensed car speed. The object is otherwise determined to be at least one of a guardrail and a sound barrier if a difference between the measured distance and the predicted distance exceeds a preset value and a plurality of the last measured distances are substantially constant. The object is otherwise determined to be a stationary object other than the guardrail.
12 Citations
9 Claims
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1. An obstacle sensing apparatus wherein an FM-CW wave is emitted, a received wave from an object reflecting the FM-CW wave is mixed with the emitted wave to produce a beat signal which is analyzed in frequency to measure a distance and a relative speed with respect to the object, said apparatus comprising:
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means for sensing an actual car speed; means for predicting a distance and a relative speed at the next time from the measured distance and relative speed and for determining that the object is a stationary object if the measured relative speed has substantially the same value as the sensed car speed in an approaching direction; and means for determining that the stationary object is at least one of a guardrail and a sound barrier if a difference between the measured distance and the predicted distance exceeds a preset value, and a plurality of the measured distances in the past are substantially the same. - View Dependent Claims (2, 3, 4)
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5. An obstacle sensing method for use in a vehicle, comprising:
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emitting a wave; receiving a portion of the wave reflected from an obstacle; measuring a distance and a relative speed with respect to the obstacle based on the emitted wave and the received wave; sensing a vehicle speed; generating a predicted distance and a predicted relative speed based on the measured distance and relative speed; and determining that the obstacle is a stationary object if the measured relative speed has substantially the same value as the sensed vehicle speed. - View Dependent Claims (6, 7, 8, 9)
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Specification