Inter-vehicle distance measuring apparatus and method for automotive

• US 5,675,518 A
• Filed: 05/03/1996
• Issued: 10/07/1997
• Est. Priority Date: 05/11/1995
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Kuroda, Hiroshi, Kuragaki, Satoru
• Primary Examiner(s): Voeltz, Emanuel T.
• Assistant Examiner(s): Pipala, Edward J.
• Application Number:
  US08/642,367
• Time in Patent Office: 522 Days
• Field of Search: 364/561, 364/571.01, 364/571.02, 364/571.04, 364/571.05, 364/461, 364/436, 364/426.044, 364/423.098, 364/424.039, 364/424.06, 340/988, 340/903, 340/904, 340/905, 340/907, 340/901, 180/167, 180/168, 180/169, 342/454, 342/455, 342/456, 342/458, 307/9.1, 307/10.1
• US Class Current: 702/97
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G01S 7/06 Cathode-ray tube displays or other two dimensional or three-dimensional displays
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

An inter-vehicle distance measuring apparatus is composed of an inter-vehicle data measuring and transmitting unit for measuring and transmitting inter-vehicle distance data related to the distance between a vehicle in front and a host vehicle, a communications unit installed by a road for receiving the inter-vehicle distance data transmitted from the inter-vehicle data measuring and transmitting unit, an inter-vehicle distance measuring unit for measuring the distance between the vehicle in front and the host vehicle, a correction amount determining unit for calculating a correction amount for correcting the distance between the vehicle in front and the host vehicle measured by the measuring unit based on the inter-vehicle distance data received by the communications unit, and a correcting unit for correcting the distance between the vehicle in front and the host vehicle measured by the inter-vehicle distance measuring unit based on the correction amount.

Claims

1. An inter-vehicle distance measuring apparatus for a automotive vehicle comprising:

a communications unit for receiving inter-vehicle data transmitted from an inter-vehicle data measuring and transmitting system installed by a road or in the surface of the road for measuring and transmitting inter-Vehicle data related to a distance between a vehicle in front and a host vehicle;

inter-vehicle distance measuring means for measuring a distance between the vehicle in front and the host vehicle;

correction amount determining means for calculating a correction amount for correcting the distance between the front vehicle and the host vehicle measured by said inter-vehicle distance measuring means based on said measured distance between the vehicle in front and the host vehicle and the inter-vehicle data received by said communications means; and

inter-vehicle distance correcting means, for correcting the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means, based on the correction amount calculated by said correction amount determining means.

2. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, further comprising:

correction amount preserving means for preserving the correction amount calculated by said correction amount determining means,

wherein said inter-vehicle distance correcting means corrects the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means, based on the correction amount preserved in said correction amount preserving means.

3. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, wherein:

said inter-vehicle data is inter-vehicle distance data representative of the distance between said vehicle in front and said host vehicle.

4. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, wherein:

said inter-vehicle data is inter-vehicle time difference data related to a difference in time between the time said vehicle in front has passed at a predetermined position on the surface of the road and the time said host vehicle has passed at the same position.

5. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 4, wherein said correction amount determining means includes:

vehicle velocity detecting and storing means for detecting and storing a vehicle velocity;

inter-vehicle distance calculating means for calculating the distance between the vehicle in front and the host vehicle based on vehicle velocity data stored in said vehicle velocity detecting and storing means and the inter-vehicle time difference data received by said communications unit; and

means for calculating a correction amount for correcting the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means, based on the distance between the vehicle in front and the host vehicle calculated by said inter-vehicle distance calculating means.

6. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, further comprising:

error detecting means for detecting an error between the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means and a distance between the vehicle in front and the host vehicle based on the inter-vehicle data received by said communications means; and

means for determining that said inter-vehicle distance measuring means has a trouble when the error detected by said error detecting means is larger than a predetermined value.

7. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 6, further comprising:

means for informing the existence of a trouble when said trouble determining means determines that said inter-vehicle distance measuring means has the trouble.

8. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, wherein:

said inter-vehicle data further includes vehicle-in-front existence data representing that said vehicle in front exists within a predetermined range.

9. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 8, wherein said inter-vehicle distance measuring means includes means for detecting that said vehicle in front exists.

10. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 9, further comprising:

means for determining that said inter-vehicle distance measuring means has a trouble when one of said inter-vehicle data from said communications means and the data detected by said vehicle-in-front existence detecting means indicates the existence of a vehicle in front, while the other does not indicate the existence of the vehicle in front.

11. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 10, further comprising:

means for informing the existence of a trouble when said trouble determining means determines that said inter-vehicle distance measuring means has the trouble.

12. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 1, further comprising:

inclination detecting means for detecting an inclination of said inter-vehicle distance measuring means from a correct mounting angle; and

means for informing when an inclination detected by said inclination detecting means exceeds a predetermined angle.

13. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 12, wherein:

said inclination detecting means includes an acceleration sensor.

14. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 13, wherein:

said inclination detecting means detects an output of said acceleration sensor when the host vehicle remains stationary.

15. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 14, wherein:

said inclination detecting means includes means for calculating a moving average of a multiplicity of outputs detected by said acceleration sensor, and outputs the moving average as the inclination of said inter-vehicle distance measuring means.

16. An inter-vehicle distance measuring apparatus for an automotive vehicle comprising:

a communications unit for receiving a reference signal transmitted from external transmitting means;

inter-vehicle distance measuring means for measuring a time difference from the time a measuring signal is transmitted to the time said measuring signal, reflected back from a vehicle in front, is received by counting clock signals from a clock signal generator to measure a distance between said vehicle in front and a host vehicle; and

means for correcting the period of said clock signal generated by said clock signal generator of said inter-vehicle distance measuring means, based on said reference signal received by said communications unit.

17. An inter-vehicle distance measuring-apparatus for an automotive vehicle according to claim 16, wherein said clock signal period correcting means includes:

means for comparing a signal based on said reference signal and said clock signal to detect an error portion in said clock signal; and

means for correcting the period of the clock signal generated by said clock signal generator based on the error portion detected by said error portion detecting means.

18. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 16, wherein:

said reference signal is a signal at a predetermined frequency.

19. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 16, further comprising:

inclination detecting means for detecting an inclination of said inter-vehicle distance measuring means from a correct mounting angle; and

means for informing when an inclination defected by said inclination detecting means exceeds a predetermined angle.

20. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 19, wherein:

said inclination detecting means includes an acceleration sensor.

21. An inter-vehicle distance means apparatus for an automotive vehicle according to claim 20, wherein:

said inclination detecting means detects an output of said acceleration sensor when the host vehicle remains stationary.

22. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 21, wherein:

said inclination detecting means includes means for calculating a moving average of a multiplicity of outputs detected by said acceleration sensor, and outputs the moving average as the inclination of said inter-vehicle distance measuring means.

23. An inter-vehicle distance measuring apparatus for an automotive vehicle comprising:

means for previously storing a position on a road at which marker means placed at a predetermined position by the road or on the road exists and a fixed distance from said predetermined position to a target member;

position detecting means for detecting said predetermined position based on said marker means;

inter-vehicle distance measuring means for measuring a distance between a vehicle in front and a host vehicle as well as for measuring a distance between said target member and the host vehicle;

correction amount determining means for calculating a correction amount used to correct the distance to said target member measured by said inter-vehicle distance measuring means based on said fixed distance stored in said storing means, when said position detecting means detects said predetermined position; and

inter-vehicle distance correcting means for correcting the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means based on the correction amount calculated by said correction amount determining means.

24. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 23, further comprising:

correction amount preserving means for preserving the correction amount calculated by said correction amount determining means,

wherein said inter-vehicle distance correcting means corrects the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means, based on the correction amount preserved in said correction amount preserving means.

25. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 23, further comprising:

error detecting means for detecting an error between the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means and a distance between the vehicle in front and the host vehicle based on the inter-vehicle data received by said communications unit; and

means for determining that said inter-vehicle distance measuring means has a trouble when the error detected by said error detecting means is larger than a predetermined value.

26. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 25, further comprising:

means for informing the existence of a trouble when said trouble determining means determines that said inter-vehicle distance measuring means has the trouble.

27. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 23, wherein:

said storing means is located within a memory for storing map information for a navigation unit for storing said marker means existing position and said fixed distance at a position corresponding to said map information.

28. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 23, wherein:

said inter-vehicle distance measuring means includes means for detecting an object in front by scanning in the horizontal direction.

29. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 28, wherein:

said inter-vehicle distance measuring means is means for measuring a distance to the target member placed by the road when said position detecting means detects said predetermined position.

30. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 23, further comprising:

inclination detecting means for detecting an inclination of said inter-vehicle distance measuring means from a correct mounting angle; and

means for informing when an inclination detected by said inclination detecting means exceed a predetermined angle.

31. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 30, wherein:

said inclination detecting means includes an acceleration sensor.

32. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 31, wherein:

said inclination detecting means detects an output of said acceleration sensor when the host vehicle remains stationary.

33. An inter-vehicle distance measuring apparatus for an automotive vehicle according to claim 32, wherein:

said inclination detecting means includes means for calculating a moving average of a multiplicity of outputs detected by said acceleration sensor, and outputs the moving average as the inclination of said inter-vehicle distance measuring means.

34. An inter-vehicle distance measuring method for an automotive vehicle comprising the steps of:

receiving inter-vehicle data related to a distance between a vehicle in front and a host vehicle, transmitted from an inter-vehicle data measuring and transmitting apparatus installed by a road or in the surface of the road;

measuring a distance between the vehicle in front and the host vehicle;

calculating a correction amount for correcting said measured distance between the vehicle in front and the host vehicle based on said measured distance between the vehicle in front and the host vehicle and said received inter-vehicle data; and

correcting said measured distance between the vehicle in front and the host vehicle based on said calculated correction amount.

35. An inter-vehicle distance measuring method for an automotive vehicle according to claim 34, further comprising the step of:

preserving said correction amount,

wherein said inter-vehicle distance correcting step corrects said measured distance between the vehicle in front and the host vehicle based on said preserved correction amount.

36. An inter-vehicle distance measuring method for an automotive vehicle according to claim 34, wherein:

said inter-vehicle data is inter-vehicle distance data representing a distance between said vehicle in front and said host vehicle.

37. An inter-vehicle distance measuring method for an automotive vehicle according to claim 34, wherein:

said inter-vehicle data is inter-vehicle time difference data related to a time difference between the time said vehicle in front has passed at a predetermined position on the surface of the road and the time said host vehicle has passed at the same position.

38. An inter-vehicle distance measuring method for an automotive vehicle according to claim 37, wherein said correction amount calculating step includes the steps of:

detecting and storing a vehicle velocity;

calculating the distance between the vehicle in front and the host vehicle based on the vehicle velocity data stored at said vehicle velocity detecting and storing step and said received inter-vehicle time difference data; and

calculating a correction amount for correcting the distance between the vehicle in front and the host vehicle measured at said inter-vehicle distance measuring step based on the distance between the vehicle in front and the host vehicle calculated at said inter-vehicle distance calculating step.

39. An inter-vehicle distance measuring method for an automotive vehicle according to claim 34, further comprising the steps of:

detecting an error between the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring means and a distance between the vehicle in front and the host vehicle based on the inter-vehicle data received by said communications means; and

determining that said inter-vehicle distance measuring means has a trouble when the error detected by said error detecting means is larger than a predetermined value.

40. An inter-vehicle distance measuring method for an automotive vehicle according to claim 39, further comprising the step of:

informing the existence of a trouble when the trouble is determined at said trouble determining step.

41. An inter-vehicle distance measuring method for an automotive vehicle, comprising the steps of:

previously storing a position on a road at which marker means placed at a predetermined position by the road or on the road exists and a fixed distance from said predetermined position to a target member;

detecting said predetermined position based on said marker means;

measuring a distance to said target member when said predetermined position is detected at said detecting step;

calculating a correction amount used to correct the distance between said marker means and said target member measured at said target measuring step, based on said fixed distance stored at said storing step;

measuring a distance between a vehicle in front and a host vehicle; and

correcting the distance between the vehicle in front and the host vehicle measured at said inter-vehicle distance measuring step, based on the correction amount calculated at said correction amount calculating step.

42. An inter-vehicle distance measuring method for an automotive vehicle according to claim 41, further comprising the step of:

preserving the correction amount calculated at said correction amount determining step,

wherein said inter-vehicle distance correcting step corrects the distance between the vehicle in front and the host vehicle measured at said inter-vehicle distance measuring step, based on the correction amount preserved at said correction amount preserving step.

43. An inter-vehicle distance measuring method for an automotive vehicle according to claim 42, further comprising the steps of:

calculating an error between the distance between the vehicle in front and the host vehicle measured by said inter-vehicle distance measuring step and the distance between the marker means and the target member measured at said target measuring step; and

determining that said measured distance between the vehicle in front and the host vehicle is erroneous when the error detected at said error detecting step is larger than a predetermined value.

44. An inter-vehicle distance measuring method for an automotive vehicle according to claim 41, wherein:

said storing step stores said marker means existing position and said fixed distance in a memory for storing map information for a navigation unit in a storage area corresponding to said map information.

45. An inter-vehicle distance measuring method for an automotive vehicle according to claim 44, wherein:

said predetermined position detecting step includes the steps of;

detecting that the host vehicle is approaching said marker means existing position by said navigation unit; and

detecting said marker means after detecting the approaching of the host vehicle to said marker means existing position at said marker approach detecting step.