Method of and system for monitoring preceding vehicles

• US 5,805,103 A
• Filed: 09/24/1996
• Issued: 09/08/1998
• Est. Priority Date: 09/27/1995
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Doi, Ayumu, Yamamoto, Yasunori, Uemura, Hiroki, Yoshioka, Tohru, Adachi, Tomohiko
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/718,908
• Time in Patent Office: 714 Days
• Field of Search: 342/70, 342/71, 342/72, 340/903, 340/435, 340/436
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• 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 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• 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
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A distance monitoring system of a vehicle monitors a distance to a preceding vehicle traveling directly ahead of the vehicle to determines whether the preceding vehicle is decelerating by comparing a change in the vehicle speed with a reference value which is varied according to various driving condition in relation in particular to dangers such as collisions against the preceding vehicle.

Claims

1. A preceding vehicle monitoring system for monitoring driving conditions of a preceding vehicle directly in front of a vehicle, said preceding vehicle monitoring system comprising:

distance monitoring means for monitoring an inter-vehicle distance to a preceding vehicle at regular intervals; and

driving condition determining means for calculating a change in inter-vehicle distance between every adjacent intervals based on said inter-vehicle distances, detecting predetermined times of consecutive decreases in said change in inter-vehicle distance, detecting a total of said predetermined times of consecutive decreases and determining that said preceding vehicle is in deceleration when said total of said predetermined times of consecutive decreases is greater than a specified threshold decrease in distance.

2. The preceding vehicle monitoring system as defined in claim 1, wherein said driving condition determined means alters said specified threshold decrease in distance according to dangerous situations of said vehicle.

3. The preceding vehicle monitoring system as defined in claim 2, wherein said dangerous situations include a relative driving condition of the vehicle to said preceding vehicle.

4. The preceding vehicle monitoring system as defined in claim 3, wherein said driving condition determining means alters said specified threshold decrease in distance to a greater value when an inter-vehicle distance of the vehicle to a preceding vehicle monitored as said relative driving condition by said distance monitoring means is greater as compared to when said inter-vehicle distance is smaller.

5. The preceding vehicle monitoring system as defined in claim 4, wherein said driving condition determining means detects a relative speed of the vehicle to said preceding vehicle as said relative driving condition based on said variation in said inter-vehicle distance and alters said specified threshold decrease in distance to a greater value when said relative speed is greater as compared to when said relative speed is smaller.

6. The preceding vehicle monitoring system as defined in claim 2, wherein said dangerous situations include a driving condition of the vehicle.

7. The preceding vehicle monitoring system as defined in claim 6, further comprising a speed monitoring means for monitoring a speed of the vehicle as said driving condition, wherein said driving condition determining means alters said specified threshold decrease in distance to a smaller value when a speed of the vehicle detected by said speed monitoring means is greater as compared to when said speed is smaller.

8. The preceding vehicle monitoring system as defined in claim 2, wherein said driving condition determining means monitors said safety margin as a factor of said dangerous situations which is defined by an inter-vehicle distance divided by a speed of the vehicle and alters said specified threshold decrease in distance to a smaller value when said safety margin is smaller as compared to when it is larger.

9. The preceding vehicle monitoring system as defined in claim 2, wherein said distance monitoring means is of a type emitting a signal wave toward a preceding vehicle at specific time intervals and receiving a signal wave reflected by the preceding vehicle to detect an inter-vehicle distance to the preceding vehicle based on a elapsed time taken for said signal wave to return from the preceding vehicle.

10. The preceding vehicle monitoring system as defined in claim 9, wherein said driving condition determining means monitors a level of said signal wave received by said distance monitoring means and alters said specified threshold decrease in distance to a greater value when said level of said signal waves is higher as compared to when said level of said signal waves is lower.

11. The preceding vehicle monitoring system as defined in claim 10, wherein said driving condition determining means alters said specified threshold decrease in distance to a greater value when said inter-vehicle distance is larger as compared to when said inter-vehicle distance is smaller.

12. The preceding vehicle monitoring system as defined in claim 2, wherein said specified reference value consists of a plurality of variable parameters defined in relation respectively to dangerous situations of said vehicle added together.

13. The preceding vehicle monitoring system as defined in claim 12, wherein said parameters are individually weighted.

14. The preceding vehicle monitoring system as defined in claim 2, wherein said specified threshold decrease in distance is altered by multiplying a reference parameter determined in relation to at least one specific dangerous situation of said vehicle by parameters in relation to dangerous situations of said vehicle excluding said specific dangerous situation.

15. The preceding vehicle monitoring system as defined in claim 2, wherein said dangerous situations include external surroundings of the vehicle.

16. The preceding vehicle monitoring system as defined in claim 15, wherein said driving condition determining means detects the number of times of reversal of changes in said inter-vehicle distance between increase and decrease as said external surroundings and alters said specified threshold decrease in distance to a smaller value when said number of times of reversal in a specific period of time is greater as compared to when said number of times of reversal in said specific period of time is small.

17. The preceding vehicle monitoring system as defined in claim 15, wherein said driving condition determining means detects a specific reduction in said inter-vehicle distance as said external surroundings and alters said specified threshold decrease in distance to a smaller value when detecting said specific reduction.

18. The preceding vehicle monitoring system as defined in claim 15, and further comprising brightness monitoring means for monitoring an ambient brightness around the vehicle, wherein said driving condition determining means detects a change in said ambient brightness as said external surroundings and alters said specified threshold decrease in distance to a smaller value when detecting a specific level of said change in a specified period of time.

19. The preceding vehicle monitoring system as defined in claim 15, and further comprising brightness monitoring means for monitoring an ambient brightness around the vehicle, wherein said driving condition determining means detects a change in said ambient brightness as said external surroundings and alters said specified threshold decrease in distance to a smaller value when detecting said change at a specified frequency.

20. The preceding vehicle monitoring system as defined in claim 15, and further comprising slope monitoring means for monitoring a slope angle of a downgrade on which the vehicle is driving as said external surroundings, wherein said driving condition determining means alters said specified threshold decrease in distance to a smaller value when said slope angle is greater than a specific angle.

21. The preceding vehicle monitoring system as defined in claim 1, wherein said vehicle is equipped with automatic cruising means for causing said vehicle to follow said preceding vehicle at a specified inter-vehicle distance.

22. A preceding vehicle monitoring system for monitoring driving conditions of a preceding vehicle directly in front of a vehicle, said preceding vehicle monitoring system comprising:

a distance sensor for detecting an inter-vehicle distance to a preceding vehicle at regular intervals; and

a driving condition determining unit for calculating a change in inter-vehicle distance between every adjacent intervals based on said inter-vehicle distances, detecting a predetermined times of consecutive decreases in said change in inter-vehicle distance, detecting a total of said predetermined times of consecutive decreases, and determining that said preceding vehicle is in deceleration when said total of said predetermined times of consecutive decreases is greater than a specified threshold decrease in distance.

23. The preceding vehicle monitoring system as defined in claim 22, wherein said vehicle is equipped with automatic cruising control means for causing said vehicle to follow said preceding vehicle at a specified inter-vehicle distance.

24. A preceding vehicle monitoring system for monitoring driving conditions of a preceding vehicle directly in front of a vehicle, said preceding vehicle monitoring system comprising:

distance monitoring means for monitoring an inter-vehicle distance to a preceding vehicle at regular intervals; and

driving condition determining means for calculating a change in inter-vehicle distance between every adjacent intervals based on said inter-vehicle distances, detecting a predetermined times of consecutive decreases in said change in inter-vehicle distance, and determining that said preceding vehicle is in deceleration when said predetermined number of times of consecutive decreases are detected.

25. The preceding vehicle monitoring system as defined in claim 24, wherein said vehicle is equipped with automatic cruising means for causing said vehicle to follow said preceding vehicle at a specified distance.