Apparatus for and method of preventing car collision utilizing laser

• US 5,635,922 A
• Filed: 12/27/1994
• Issued: 06/03/1997
• Est. Priority Date: 12/27/1993
• Status: Expired due to Fees

• Current Assignee: Hyundai Autonet Co Ltd (Hyundai Mobis Co., Ltd.)
• Original Assignee: Hyundai Electronics Industries Co. Ltd. (SK Hynix Inc.)
• Inventors: Cho, Jung S., Cho, Deog S., Im, Young B.
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): Wu, Daniel J.
• Application Number:
  US08/364,259
• Time in Patent Office: 889 Days
• Field of Search: 340/903, 340/904, 340/435, 340/436, 180/169, 180/170, 180/271, 180/275, 367/909, 367/112, 367/107, 367/96, 367/97, 342/70, 342/71, 342/72, 364/460, 364/461, 364/426.04
• US Class Current: 340/903
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: Y10S 367/909 Collision avoidance

Abstract

An apparatus for and a method of preventing a car from coming into collision with an object car running ahead or behind, by monitoring car running conditions in the front and rear of the car by the provision of front and rear sensors to give an alarm to the front and rear object cars when an emergency situation has monitored, sensing a slope of a road surface on which the car runs to remove an error caused by an inclination of the car, sensing a handle rotation of the car to enable the car to follow the front object car on a curved road and to be informed of situations in the front and rear of the car on the curved road, establishing a sufficient safety distance, and sensing an emergency situation occurring in the rear of the car to inform a driver of the rear object car of the emergency situation by the provision of a display. When a rotation of the handle is detected, the front and rear sensors are rotated in a direction corresponding to that of the rotation of the handle by an amount corresponding to a rotation angle of the handle, while when a slope of a road surface on which the car runs is detected, the front and rear sensors are rotated in a direction reverse to that of the road surface slope by an amount corresponding to a gradient of the slope at a point of an estimated slope beginning time.

Claims

1. An apparatus for preventing a first car from coming into collision with an object second car running ahead or behind, said first car having a bottom surface, said apparatus comprising:

a car speed detecting unit for detecting a speed of the first car and generating a car speed detection signal;

a handle angle detecting unit for detecting a rotation of a handle equipped in the first car and for generating a handle angle detection signal indicative of a rotation angle of the handle;

a slope detecting unit including a vertical slope detecting sensor for detecting a road surface gradient by use of said vertical slope detecting sensor mounted on the bottom surface of the first car and generating a slope detection signal upon detecting a vertical slope of the road surface;

a sensing unit, comprising a front sensor and a rear sensor, for sensing a position of the object second car in front of or behind the first car;

a control unit for receiving output signals from the car speed detecting unit, the handle angle detecting unit, and the slope detecting unit and for controlling operation of said apparatus in response to the received signals and for determining an occurrence of an emergency situation in response to the position of the object second car in front of or behind the first car;

an acceleration unit for increasing the speed of the first car under control of the control unit;

a brake unit for automatically braking the first car, under control of the control unit, when the emergency situation occurs; and

a display unit for indicating the emergency situation under control of the control unit.

2. An apparatus in accordance with claim 1, wherein the sensing unit further comprises:

a front sensor driving unit adapted to rotate the front sensor in a required direction;

a rear sensor driving unit adapted to rotate the rear sensor in a required direction; and

a signal processing unit adapted to receive control signals, the control signals generated by the control unit in response to the slope detection signal, and to process the received control signals for driving both the front sensor driving unit and the rear sensor driving unit so that both the front sensor and the rear sensor are rotated in a direction opposite to the direction of the road surface slope by an amount corresponding to a gradient of the slope at a point of an estimated slope beginning time.

3. An apparatus in accordance with claim 1, wherein the sensing unit further comprises:

a front sensor driving unit adapted to rotate the front sensor; and

a rear sensor driving unit adapted to rotate the rear sensor;

wherein the front and rear sensor driving units receive control signals to rotate the front and rear sensors respectively, the control signals being generated by the control unit in response to the handle angle detection signal.

4. A method for preventing a first car from coming into collision with an object second car running ahead or behind, using a car-to-object distance measured by front and rear sensors utilizing a laser, comprising the steps of:

(A) when a rotation of a handle equipped in the first car is detected, rotating the front and rear sensors in a direction corresponding to a rotation direction of the handle by an amount corresponding to a rotation angle of the handle; and

(B) when a slope of a road surface on which the first car runs is detected, deriving an estimated slope beginning time and rotating the front and rear sensors in a direction opposite to a road surface slope direction by an amount corresponding to a gradient of the slope at a point of the estimated slope beginning time.

5. A method in accordance with claim 4, wherein the step (A) comprises the steps of:

(a) initiating a car collision prevention system for executing a car collision prevention procedure, and executing a self checkup procedure;

(b) determining whether the car collision prevention system operates normally, based on the result of the self checkup procedure;

(c) when the car collision prevention system has been determined to be abnormal at the step (b), reporting the abnormal determination, and stopping operation of the car collision prevention system;

(d) when the car collision prevention system has been determined to be normal at the step (b), calculating a speed of the first car, checking whether the rotation of the handle has been generated, and then determining whether a current running condition of the first car corresponds to a straight running condition, based on the result of the check on the handle rotation;

(e) when the current running condition of the first car has been determined to correspond to the straight running condition at the step (d), positioning the front sensor such that it directs toward the front of the first car;

(f) when the current running condition of the first car has been determined not to correspond to the straight running condition at the step (d), determining whether the current running condition of the first car corresponds to a left turning condition;

(g) when the current running condition of the first car has been determined to correspond to the left turning condition at the step (f), rotating the front sensor left through an angle corresponding to the rotation angle of the handle;

(h) when the current running condition of the first car has been determined not to correspond to the left turning condition at the step (f), determining whether the current running condition of the first car corresponds to a right turning condition;

(i) when the current running condition of the first car has been determined not to correspond to the right turning condition at the step (h), returning the car collision prevention procedure to the step (d) to calculate the speed of the first car;

(j) when the current running condition of the first car has been determined to correspond to the right turning condition at the step (h), rotating the front sensor right through an angle corresponding to the rotation angle of the handle;

(k) analyzing the rotation angle of the handle in the right or left direction and the speed of the first car, and then determining whether the current running condition of the first car corresponds to an emergency running condition, based on the result of the analysis;

(l) when the current running condition of the first car has been determined to correspond to the emergency running condition at the step (k), generating an alarm and reducing the speed of the first car;

(m) when the front sensor has been positioned at the step (e) to direct towards the front of the first car, when the current running condition of the first car has been determined not to correspond to the emergency running condition at the step (j), or when the running condition of the first car no longer corresponds to the emergency running condition due to the reduction in the speed of the first car executed at the step (k), measuring a distance between the first car and the object second car running ahead or behind, and then determining whether the current running condition of the first car corresponds to a safe running condition, based on a comparison between the measured car-to-object distance and a predetermined safety distance;

(n) when the current running condition of the first car has been determined not to correspond to the safe running condition at the step (m), generating an alarm and reducing the speed of the first car;

(o) after completing the reduction in the speed of the first car at the step (n), measuring the car-to-object distance and determining whether the predetermined safety distance has been reestablished; and

(p) when the predetermined safety distance has not been reestablished, returning the car collision prevention procedure to the safe running condition determining step of the step (m) to check safety, and increasing the speed of the first car and then returning the car collision prevention procedure to the step (d) to calculate the speed of the first car after re-establishing the predetermined safety distance.

6. A method in accordance with claim 4, wherein the step (B) comprises the steps of:

(a) detecting a road surface condition;

(b) detecting a speed of the first car; and

(c) calculating the estimated slope beginning time and the gradient of the slope, based on the detected speed of the first car.

7. A method in accordance with claim 4, wherein the step (A) comprises the steps of:

detecting the rotation angle of the handle;

measuring a speed of the first car;

calculating whether the first car is in an emergency condition, the calculation being based on the detected rotation angle, the measured speed and the measured car-to-object distance.