Method for avoiding collision of vehicle and apparatus for performing the same

• US 5,646,612 A
• Filed: 12/29/1995
• Issued: 07/08/1997
• Est. Priority Date: 02/09/1995
• Status: Expired due to Fees

• Current Assignee: Daewoo Electronics Company Limited (Dayou Holdings Co.,Ltd.)
• Original Assignee: Daewoo Electronics Company Limited (Dayou Holdings Co.,Ltd.)
• Inventors: Byon, Sung-Kwang
• Primary Examiner(s): Swarthout, Brent A.
• Assistant Examiner(s): TRIEU, VAN THANH
• Application Number:
  US08/580,584
• Time in Patent Office: 557 Days
• Field of Search: 340/901, 340/903, 340/436, 340/588, 342/118, 364/461, 364/426.04, 348/148, 348/149, 348/164, 348/169, 348/170
• US Class Current: 340/903
• CPC Class Codes: B60K 28/10 responsive to conditions relating to the vehicle
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction

Abstract

An apparatus which determines a kind of an object to warn a driver based on the kind of the object and properly performs deceleration and braking operations based on a position of the object and a speed of the vehicle is disclosed. An infrared-ray camera is employed to detect a shape and a temperature of the object. A digital signal processing technique is utilized for displaying the temperature distribution of the object. Therefore, using the apparatus, it is able to distinguish the shape and the kind of the object in the night time and the vehicle is suitably decelerated and/or stopped based on conditions.

Claims

1. A method for avoiding a collision of a vehicle comprising the steps of:

A) detecting a shape and a temperature distribution of an object ahead of and/or aside of the vehicle, and a position of the object, a speed of the vehicle, an operational status of a brake and an opening angle of a throttle valve so as to generate a shape signal, a temperature distribution signal, a position signal, a speed signal, a pedal footing signal and an angle signal;

B) filtering and converting the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal into digital signals, processing the shape signal and the temperature distribution signal by means of digital signal processing technique and generating a body temperature signal and a temperature distribution display signal by calculating a temperature distributing area of the shape of the object;

C) determining a kind of the object by receiving the body temperature signal, estimating a predicted collision time, a predicted braking time, a predicted decelerating time and a braking start tme by receiving the position signal and speed signal, determining one of cases of braking, decelerating and braking with decelerating the vehicle by using the predicted collision time, the predicted braking time, the predicted decelerating time and the braking start time, and generating an alarm signal and a control signal by receiving the shape signal, the temperature distribution display signal and the angular signal,

wherein by comparing the body signal and a preset value a first comparison signal is generated when the object is determined to be a human, a second comparison signal is generated when the object is determined as an animal and a third comparison signal is generated when the object is determined to be an inanimate object;

the predicted collision time, the predicted braking time, the predicted decelerating time and the braking start time are estimated by using the position signal, the speed signal and prestored data when the first, second and third comparison signals are received;

a first decision signal is generated when the predicted collision time is greater than the predicted decelerating time, a second decision signal is generated when i) the predicted collision time is greater than the predicted braking time, ii) the predicted collision time reaches the braking start time and iii) the pedal footing signal is received, and a third decision signal is generated when the pedal footing signal is not received, and a fourth decision signal is generated when the predicted collision time is less than the predicted braking time; and

a first voice signal, a closing signal based on the angle signal for closing the throttle valve and an object display signal are generated when the first comparison signal is received, a second voice signal and the object display signal are generated when the second comparison signal is received, a third voice signal is generated when the third comparison signal is received, the closing signal based on the angle signal for closing the throttle valve, a deceleration alarm signal and a sound signal are generated when the first decision signal is received, a braking signal and the sound signal are generated when the second decision signal is received, the braking signal, braking alarm signal and the sound signal are generated when the third decision signal is received, and a fourth voice signal, the closing signal, the braking signal, deceleration alarm signal, the braking alarm signal and the sound signal are generated when the fourth decision signal is received;

D) alarming a driver of decelerating and braking statuses of the vehicle according to an appearance of the object according to the alarm signal; and

E) decelerating and braking the vehicle according to the control signal.

2. A method as claimed in claim 1, wherein said step A) detects the shape and the temperature distribution of the object by means of infrared rays.

3. A method as claimed in claim 1, said step B) further comprising the steps of:

eliminating the temperature distribution outside of the shape of the object by using the digital converted shape signal and temperature distribution signal;

assigning respective colors to temperatures distributed within the shape of the object;

generating the temperature distribution display signal by calculating an area of the temperature distributing within the shape of the object; and

generating the body temperature signal by calculating the temperature distributed in the widest area within the shape of the object.

4. A method as claimed in claim 1, wherein the alarm signal includes the first, second, third and fourth voice signals, the object display signal, the deceleration alarm signal, the braking alarm signal and the sound signal.

5. A method as claimed in claim 1, wherein the control signal includes the braking signal and the closing signal.

6. A method as claimed in claim 1, wherein said step D) comprising the steps:

displaying the shape and the temperature distribution of the object by the object display signal;

warning vocally and audibly according to the first, second, third and fourth voice signals and sound signals;

warning the vehicle being decelerated by the deceleration alarm signal; and

warning the vehicle being braked by the braking alarm signal.

7. A method as claimed in claim 1, wherein said step E) comprising the steps:

closing the throttle valve by the closing signal; and

driving the brake of the vehicle by the braking signal.

8. A method for avoiding collision of a vehicle comprising the steps of:

A) detecting a shape and a temperature distribution of an object ahead of and/or aside of the vehicle by using infrared rays, a position of the object, a speed of the vehicle, an operational status of a brake and an opening angle of a throttle valve to generate a shape signal, a temperature distribution signal, a position signal, a speed signal, a pedal footing signal and an angle signal;

B) i) filtering and convening the shape signal, the temperature distribution signal, the position signal, the speed signal, the pedal footing signal and the angle signal into digital signals, ii) eliminating the temperature distribution outside of the shape of the object by using the digital converted shape signal and temperature distribution signal, iii) assigning respective colors to temperatures distributed within the shape of the object, iv) generating a temperature distribution display signal by calculating an area of the temperature distributing within the shape of the object and v) generating a body temperature signal by calculating the temperature distributed in the widest area within the shape of the object;

C) generating a first comparison signal when the object is determined to be a human, generating a second comparison signal when the object is determined to be an animal and generating a third comparison signal when the object is determined to be an inanimate object by comparing the body signal and a preset value;

D) estimating a predicted collision time, a predicted braking time, a predicted decelerating time and a braking start time by using the position signal, the speed signal and prestored data when the first, second and third comparison signals are received;

E) generating a first decision signal when the predicted collision time is greater than the predicted decelerating time, generating a second decision signal when i) the predicted collision time is greater than the predicted braking time, ii) the predicted collision time reaches the braking start time and iii) the pedal footing signal is received, and generating a third decision signal when the pedal footing signal is not received, and generating a fourth decision signal when the predicted collision time is less than the predicted braking time;

F) generating a first voice signal, a closing signal based on the angle signal for closing the throttle valve and an object display signal when the first comparison signal is received, generating a second voice signal and the object display signal when the second comparison signal is received, generating a third voice signal when the third comparison signal is received, generating the closing signal based on the angle signal for closing the throttle valve, a deceleration alarm signal and a sound signal when the first decision signal is received, generating a braking signal and the sound signal when the second decision signal is received, generating the braking signal, braking alarm signal and the sound signal when the third decision signal is received, and generating a fourth voice signal, the closing signal, the braking signal, deceleration alarm signal, the braking alarm signal and the sound signal when the fourth decision signal is received;

G) displaying the shape and the temperature distribution of the object by the object display signal, warning vocally and audibly according to the first, second, third and fourth voice signals and sound signals, warning the vehicle being decelerated by the deceleration alarm signal, and warning the vehicle being braked by the braking alarm signal; and

H) closing the throttle valve by the closing signal and driving the brake of the vehicle by the braking signal.

9. A system for avoiding collision of a vehicle comprising:

a means for detecting a shape and a temperature distribution of an object ahead of and/or aside of the vehicle, and a position of the object, a speed of the vehicle, an operational status of a brake and an opening angle of a throttle valve so as to generate a shape signal, a temperature distribution signal, a position signal, a speed signal, a pedal footing signal and an angle signal;

a signal processing means for filtering and converting the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal into digital signals, processing the shape signal and the temperature distribution signal by means of digital signal processing technique and generating a body temperature signal and temperature distribution display signal by calculating a temperature distributing area of the shape of the object;

a means for determining a kind of the object by receiving the body temperature signal, estimating a predicted collision time, a predicted braking time, a predicted decelerating time and a braking start time by receiving the position signal and speed signal, determining one of cases of only braking, both of decelerating and braking while decelerating the vehicle by using the predicted collision time, the predicted braking time, the predicted decelerating time and the braking start time, and generating an alarm signal and a control signal by receiving the shape signal, the temperature distribution display signal and the angular signal,

wherein said determining means comprises a) a memory for restoring a preset value and data;

b) a first comparator for generating a first comparison signal when the object is determined to be a human, for generating a second comparison signal when the object is determined to be an animal and for generating a third comparison signal when the object is determined to be an inanimate object by comparing the body temperature signal and the preset value;

c) a calculator for estimating the predicted collision time, the predicted braking time, the predicted decelerating time and the braking start time by using the position signal, the speed signal and the data when the first, second and third comparison signals are received;

d) a second comparator for generating a first decision signal when the predicted collision time is greater than the predicted decelerating time, generating a second decision signal when i) the predicted collision time is greater than the predicted braking time, ii) the predicted collision time reaches the braking start time and iii) the pedal footing signal is received, and generating a third decision signal when the pedal footing signal is not received, and generating a fourth decision signal when the predicted collision time is less than the predicted braking time; and

e) a controller for generating a first voice signal, a closing signal based on the angle signal for closing the throttle valve, and an object display signal when the first comparison signal is received, for generating a second voice signal and the object display signal when the second comparison signal is received, for generating a third voice signal when the third comparison signal is received, for generating the closing signal based on the angle signal for closing the throttle valve, a deceleration alarm signal and a sound signal when the first decision signal is received, for generating a braking signal and the sound signal when the second decision signal is received, for generating the braking signal, braking alarm signal and the sound signal when the third decision signal is received, and for generating a fourth voice signal, the closing signal, the braking signal, deceleration alarm signal, the braking alarm signal and the sound signal when the fourth decision signal is received;

a means for alarming of decelerating and braking statuses of the vehicle according to an appearance of the object according to the alarm signal; and

a means for decelerating and braking the vehicle according to the control signal.

10. A system as claimed in claim 9, said detecting means comprising:

a camera for detecting the shape and the temperature distribution of the object by means of infrared rays and generating the shape signal and the temperature distribution signal;

a radar for detecting the position of the object and generating the position signal;

a speed sensor installed in the vehicle for detecting the speed of the vehicle and generating the speed signal;

a brake sensor for detecting an operational status of a brake and generating the pedal footing signal when the brake is operated; and

an angular sensor for detecting the opening angle of a throttle valve and generating the angle signal.

11. A system as claimed in claim 9, said signal processing means comprising;

a filter for filtering the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal;

a analog/digital converter for converting the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal into digital signals; and

a digital signal processing section for eliminating the temperature distribution outside of the shape of the object by using the digital converted shape signal and temperature distribution signal, for assigning respective colors to temperatures distributed within the shape of the object, for generating the temperature distribution display signal by calculating an area of the temperature distributing within the shape of the object, and generating the body temperature signal by calculating the temperature distributed in the widest area within the shape of the object.

12. A system as claimed in claim 9, wherein the alarm signal includes the first, second, third and fourth voice signals, the object display signal, the deceleration alarm signal, the braking alarm signal and the sound signal.

13. A system as claimed in claim 9, wherein the control signal includes the braking signal and the closing signal.

14. A system as claimed in claim 9, said alarm means comprising:

a monitor for displaying the shape and the temperature distribution of the object according to the object display signal;

a speaker for warning vocally and audibly according to the first, second, third and fourth voice signals and sound signal;

a first lamp for warning the vehicle being decelerated by the deceleration alarm signal; and

a second lamp for warning the vehicle being braked by the braking alarm signal.

15. A system as claimed in claim 9, said decelerating and braking means comprising:

a motor for closing the throttle valve by the closing signal; and

an actuator for driving the brake of the vehicle by the braking signal.

16. A system for avoiding collision of a vehicle comprising:

a camera for detecting a shape and a temperature distribution of an object by means of infrared rays and generating a shape signal and a temperature distribution signal;

a radar for detecting a position of the object and generating a position signal;

a speed sensor installed in the vehicle for detecting a speed of the vehicle and generating a speed signal;

a brake sensor for detecting an operational status of a brake and generating a pedal footing signal when the brake is operated;

an angular sensor for detecting an opening angle of a throttle valve and generating an angle signal;

a filter for filtering the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal;

an analog/digital converter for converting the shape signal, temperature distribution signal, position signal, speed signal, pedal footing signal and angle signal into digital signals;

a digital signal processing section for eliminating the temperature distribution outside of the shape of the object by using the digital converted shape signal and temperature distribution signal, for assigning respective colors to temperatures distributed within the shape of the object, for generating a temperature distribution display signal by calculating an area of the temperature distribution within the shape of the object, and for generating a body temperature signal by calculating the widest distributed temperature within the shape of the object;

a memory for restoring a preset value and data;

a first comparator for generating a first comparison signal when the object is determined to be a human, for generating a second comparison signal when the object is determined to be an animal and for generating a third comparison signal when the object is determined to be an inanimate object by comparing the body temperature signal and the preset value;

a calculator for estimating a predicted collision time, a predicted braking time, a predicted decelerating time and a braking start time by using the position signal, the speed signal and the data when the first, second and third comparison signals are received;

a second comparator for generating a first decision signal when the predicted collision time is greater than the predicted decelerating time, generating a second decision signal when i) the predicted collision time is greater than the predicted braking time, ii) the predicted collision time reaches the braking start time and iii) the pedal footing signal is received, and generating a third decision signal when the pedal footing signal is not received, and generating a fourth decision signal when the predicted collision time is less than the predicted braking time;

a controller for generating a first voice signal, a closing signal based on the angle signal for closing the throttle valve and an object display signal when the first comparison signal is received, for generating a second voice signal and the object display signal when the second comparison signal is received, for generating a third voice signal when the third comparison signal is received, for generating the closing signal based on the angle signal for closing the throttle valve, a deceleration alarm signal and a sound signal when the first decision signal is received, for generating a braking signal and the sound signal when the second decision signal is received, for generating the braking signal, braking alarm signal and the sound signal when the third decision signal is received, and for generating a fourth voice signal, the closing signal, the braking signal, deceleration alarm signal, the braking alarm signal and the sound signal when the fourth decision signal is received;

a monitor for displaying the shape and the temperature distribution of the object by the object display signal;

a speaker for warning vocally and audibly according to the first, second, third and fourth voice signals and sound signal;

a first lamp for warning the vehicle being decelerated by the deceleration alarm signal;

a second lamp for warning the vehicle being braked by the braking alarm signal;

a motor for closing the throttle valve by the closing signal; and

an actuator for driving the brake of the vehicle by the braking signal.