Vehicle environment monitoring system

• US 5,808,728 A
• Filed: 10/20/1995
• Issued: 09/15/1998
• Est. Priority Date: 10/21/1994
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Uehara, Naohisa
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US08/546,076
• Time in Patent Office: 1,061 Days
• Field of Search: 356/4.01, 356/5.01-5.15, 356/3.01-3.15, 356/141.1, 180/169, 340/903, 340/904
• US Class Current: 356/5.01
• 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: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle environment monitoring system is capable of monitoring the nearly entire region around a vehicle on which the system is installed, and is protected from staining or damaging. The system includes an optical radar apparatus comprising a light transmitter for generating and irradiating a beam of light; a scanner with a reflective mirror rotatably disposed on a support shaft in an inclined manner for scanning the light beam in the surroundings of the vehicle; and a light receiver for receiving the light beam reflected from an object. The apparatus is disposed on the ceiling inside or outside the subject vehicle, or on a bumper at a front or rear corner of the vehicle.

Claims

1. A vehicle environment monitoring system comprising:

an optical radar apparatus installed on a subject vehicle and including light transmission means for generating and irradiating a beam of light, scanning means for scanning the light beam in the area surrounding of the subject vehicle, and light receiving means for receiving the light beam irradiated from said light transmission means and reflected from an object;

a stepper motor for driving said scanning means;

driving means for driving said stepper motor so as to move said light beam by a predetermined angle;

distance calculation means for calculating the distance to said obstacle, each time said stepper motor drives said scanning means by the predetermined angle, on the basis of the time elapsed from the light sending time to the light received time;

scanning direction detection means for detecting the scanning direction of said optical radar apparatus; and

monitoring means for monitoring the surroundings of the subject vehicle on the basis of the outputs from said distance calculation means and said scanning direction detection means to thereby control an alarm means on the basis of the calculated distance.

2. The vehicle environment monitoring system as set forth in claim 1 wherein said optical radar apparatus is disposed on the ceiling inside the subject vehicle.

3. The vehicle environment monitoring system as set forth in claim 1 wherein said optical radar apparatus is disposed on the ceiling of the front passenger'"'"'s seat side of the subject vehicle.

4. The vehicle environment monitoring system as set forth in claim 1 wherein said optical radar apparatus is disposed on the floor of the subject vehicle.

5. The vehicle environment monitoring system as set forth in claim 1 wherein said optical radar apparatus is disposed at a corner of the subject vehicle.

6. The vehicle environment monitoring system as set forth in claim 5 wherein said corner of the subject vehicle is situated on the front passenger'"'"'s seat side in the subject vehicle.

7. The vehicle environment monitoring system as set forth in claim 1 wherein said optical radar apparatus is disposed on a bumper of the subject vehicle.

8. The vehicle environment monitoring system as set forth in claim 2 wherein said optical radar apparatus is disposed on a floor of the subject vehicle.

9. The vehicle environment monitoring system as set forth in claim 1 wherein the optical axis of the beam of light irradiated from said optical radar apparatus is directed upward or downward relative to the position of installation thereof.

10. The vehicle environment monitoring system as set forth in claim 1 wherein the optical axis of the beam of light irradiated from said optical radar apparatus is oscillated vertically.

11. The vehicle environment monitoring system as set forth in claim 1 further comprising a plurality of optical radar apparatuses.

12. The vehicle environment monitoring system as set forth in claim 11 wherein at least two of said plurality of optical radar apparatuses are disposed at diagonally opposite corners, respectively, of the subject vehicle.

13. The vehicle environment monitoring system as set forth in claim 11 wherein said plurality of optical radar apparatuses are individually installed at different heights.

14. The vehicle environment monitoring system as set forth in claim 1 wherein said monitoring means comprises object identification means for detecting the configuration of the object on the basis of said distance information and said direction information obtained by said optical radar apparatus to thereby identify the object through comparison of said detected configuration with a predetermined configuration.

15. The vehicle environment monitoring system as set forth in claim 14 wherein said monitoring means further comprises:

relative-speed calculation means for calculating a relative speed between the obstacle and the subject vehicle on the basis of a difference between a previous position and a current position of the object detected by said object identification means; and

alarm control means for controlling said alarm means on the basis of the thus calculated relative speed.

16. The vehicle environment monitoring system as set forth in claim 15 wherein said alarm control means comprises:

alarm area setting means for setting, on the basis of the relative speed, an alarm area in which an alarm should be issued; and

alarm area intrusion judgment means for judging whether an object is present within said alarm area and for driving said alarm means if it is judged that an object is present within said alarm area.

17. The vehicle environment monitoring system as set forth in claim 15 wherein said alarm control means comprises:

alarm timing setting means for setting a predetermined first time on the basis of the relative speed in such a manner as to drive said alarm means said predetermined first time before an object intrudes into said alarm area; and

alarm timing judgment means for calculating a second time taken until an object intrudes said alarm area on the basis of said relative speed and the position of the object, and for driving said alarm means if the second time is less than said predetermined first time.

18. The vehicle environment monitoring system as set forth in claim 14 wherein said monitoring means further comprises:

vector calculation means for calculating, on the basis of the difference between the previous and current positions of the object detected by said object identification means, a vector (distance and direction) of said object in said alarm area relative to the subject vehicle; and

alarm control means for controlling said alarm means on the basis of the thus calculated vector.

19. The vehicle environment monitoring system as set forth in claim 18 wherein said alarm control means comprises separation judgment means for judging the relative moving direction of said object relative to the subject vehicle and inhibiting the driving of said alarm means if it is judged that the relative moving direction of said object relative to the subject vehicle is a direction away from the subject vehicle.

20. The vehicle environment monitoring system as set forth in claim 11 wherein said plurality of optical radar apparatuses are individually installed at different heights on the ceiling or the floor of the subject vehicle.

21. The vehicle environment monitoring system as set forth in claim 1 wherein said driver means controls the predetermined angle by which said stepper motor drives said scanning means on the basis of the output from said scanning direction detection means.

22. The vehicle environment monitoring system as set forth in claim 21 further comprising load detection means for detecting the application of a predetermined load and generating a corresponding output, said driver means controlling the predetermined angle by which said stepper motor drives said scanning means in accordance with the output of said scanning direction detection means if said predetermined load is applied.

23. The vehicle environment monitoring system as set forth in claim 1 further comprising speed detection means for detecting a speed of the subject vehicle and generating a corresponding output, said driver means controlling scanning amount of the light beam from said light transmission the predetermined angle by which the stepper motor drives said scanning means in accordance with the output of said speed detection means.

24. The vehicle environment monitoring system as set forth in claim 23 wherein said driver means augments the predetermined angle by which said stepper motor drives said scanning means in comparison with that for a speed less than a predetermined value if the speed detection means detects a vehicle speed greater than the predetermined value.

25. A vehicle environment monitoring system comprising:

an optical radar apparatus installed on a subject vehicle and including light transmission means for generating and irradiating a beam of light, scanner means for scanning the light beam in the surroundings of the subject vehicle, and light receiving means for receiving the light beam irradiated from said light transmission means and reflected from an object;

distance calculation means for calculating the distance to said obstacle on the basis of the time elapsed from the light sending time to the light received time;

scanning direction detection means for detecting the scanning direction of said optical radar apparatus; and

monitoring means for monitoring the surroundings of the subject vehicle on the basis of the outputs from said distance calculation means and said scanning direction detection means to thereby control an alarm means on the basis of the calculated distance;

wherein the optical axis of the beam of light irradiated from said optical radar apparatus is oscillated vertically; and

wherein said scanner means comprises;

a reflective member pivotally supported on a support shaft in an inclined manner for reflecting the beam of light from said transmission means;

drive means for driving said support shaft together with said reflective member to rotate;

a tubular guide member disposed near said reflective member with said support shaft arranged therein, said tubular member having one end in a corrugated configuration with which said reflective member is in butting engagement; and

biasing means disposed between said reflective member and said tubular guide for biasing said reflective member toward the corrugated end of said tubular guide member.

26. A vehicle environment monitoring system comprising:

a plurality of optical radar apparatuses installed on a subject vehicle, each of said optical radar apparatuses including light transmission means for generating and irradiating a beam of light, scanner means for scanning the light beam in the surroundings of the subject vehicle, and light receiving means for receiving the light beam irradiated from said light transmission means and reflected from an object;

distance calculation means for calculating the distance to said obstacle on the basis of the time elapsed from the light sending time to the light received time;

scanning direction detection means for detecting the scanning direction of said optical radar apparatuses; and

monitoring means for monitoring the surroundings of the subject vehicle on the basis of the outputs from said distance calculation means and said scanning direction detection means to thereby control an alarm means on the basis of the calculated distance;

wherein said monitoring means comprises object identification means for identifying said object on the basis of distance information and direction information obtained by said plurality of optical radar apparatuses.

27. A vehicle environment monitoring system comprising:

an optical radar apparatus installed on a subject vehicle and including light transmission means for generating and irradiating a beam of light, scanner means for scanning the light beam in the surroundings of the subject vehicle, and light receiving means for receiving the light beam irradiated from said light transmission means and reflected from an object;

distance calculation means for calculating the distance to said obstacle on the basis of the time elapsed from the light sending time to the light received time;

scanning direction detection means for detecting the scanning direction of said optical radar apparatus; and

monitoring means for monitoring the surroundings of the subject vehicle on the basis of the outputs from said distance calculation means and said scanning direction detection means to thereby control an alarm means on the basis of the calculated distance;

wherein said scanner means controls a scanning amount of the light beam from said light transmission means on the basis of the output from said scanning direction detection means; and

wherein said scanner means diminishes the scanning amount for the front-to-rear direction of the subject vehicle in comparison with that for the right-to-left direction of the subject vehicle.

28. A vehicle environment monitoring system comprising:

an optical radar apparatus installed on a subject vehicle and including light transmission means for generating and irradiating a beam of light, scanner means for scanning the light beam in the surroundings of the subject vehicle, and light receiving means for receiving the light beam irradiated from said light transmission means and reflected from an object;

situation judgment means for judging whether said optical radar apparatus is in a used state or an unused state; and

protective means adapted to be controlled by said situation judgment means for protecting said optical radar apparatus if it is judged that said optical radar apparatus is in the unused state.

29. The vehicle environment monitoring system as set forth in claim 28 wherein said protective means comprises a shutter for covering said optical radar apparatus.

30. The vehicle environment monitoring system as set forth in claim 28 wherein said protective means comprises:

a housing for receiving said optical radar apparatus; and

transport means for transporting said optical radar apparatus into and out of said housing.

31. The vehicle environment monitoring system as set forth in claim 28 further comprising cleaner means being operable in synchronization with the operation of said protective means for cleaning said optical radar apparatus.