Moving subject recognizing system for automotive vehicle

• US 6,035,053 A
• Filed: 09/30/1997
• Issued: 03/07/2000
• Est. Priority Date: 09/30/1996
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Yoshioka, Tohru, Adachi, Tomohiko
• Primary Examiner(s): Kelley, Christopher S.
• Assistant Examiner(s): CHAWAN, SHEELA C
• Application Number:
  US08/940,639
• Time in Patent Office: 889 Days
• Field of Search: 328/103, 328/104, 328/105, 328/106, 328/107, 328/108, 328/291, 340/435, 340/436, 340/437, 340/903, 340/904, 340/906, 340/907, 348/113, 348/142, 348/143, 348/148, 348/149, 348/151, 348/152, 348/169, 348/170, 348/171, 348/172, 701/96, 701/300, 701/301
• US Class Current: 382/104
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• 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: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 40/103 : Static body considered as a whole, e.g. static pedestrian or occupant recognition

Abstract

A moving subject recognizing system for recognizing a subject, such as a pedestrian, moving toward a forward path of a vehicle to avoid a collision against the subject scans a field ahead the vehicle to detect a transverse velocity of a subject moving in a transverse direction and a longitudinal distance of the subject in a direction of the traveling path which are compared with a first and a second threshold value, respectively, and recognize that the subject is in danger of entering the traveling path and hit by the vehicle when the transverse velocity is greater than the first threshold value and the variation of the longitudinal distance is smaller than the second threshold value.

Claims

1. A moving subject recognizing system for recognizing a subject moving toward a forward path of a vehicle equipped with the moving subject recognizing system to avoid a collision between the moving subject and the vehicle, said moving subject recognizing system comprising:

scanning means for scanning a predetermined forward field including a traveling path in which the vehicle travels to acquire data of moving subjects in said forward field based on scanning echoes; and

recognizing means for detecting a transverse velocity of a moving subject moving in a direction transverse to said traveling path of the vehicle and determining a longitudinal distance of said moving subject in a direction of said traveling path based on said data, determining a variation of said longitudinal distance, said variation being defined as the difference between the longest and the shortest longitudinal distance of a specific extent recognizable as a moving subject from the vehicle along the traveling path, comparing said transverse velocity and said variation of said longitudinal distance with a predetermined first and a second threshold value, respectively, and recognizing that there is a danger that said moving subject enters said traveling path when said transverse velocity is greater than said first threshold value and said variation of said longitudinal distance is smaller than said second threshold value.

2. A moving subject recognizing system as defined in claim 1, wherein said recognizing means executes a comparison between said variation of said longitudinal distance and said second threshold value restrictively for a moving subject in a specific area in a roadway on which the vehicle is traveling.

3. A moving subject recognizing system as defined in claim 1, wherein said recognizing means increases said first threshold value for a moving subject closer to the vehicle than for a moving subject distant from the vehicle.

4. A moving subject recognizing system as defined in claim 1, wherein, when a moving subject remains recognized as having a danger of entering said traveling path for more than a specified period of time, said recognizing means continues to recognize said moving subject as having a danger of entering said traveling path even after said transverse velocity of said moving subject becomes lower than said first threshold value.

5. A moving subject recognizing system as defined in claim 4, wherein said specified period of time is decreased with a decrease in vehicle velocity.

6. A moving subject recognizing system as defined in claim 1, wherein said transverse velocity is measured in a direction perpendicular to said traveling path.

7. A moving subject recognizing system as defined in claim 1, wherein said scanning means comprises a laser radar for transmitting a laser beam to scan a forward field of the vehicle and analyzing echoes to acquire said transverse velocity and said longitudinal distance.

8. A moving subject recognizing system as defined in claim 1, wherein said recognizing means determines a moving subject having a possible danger of being hit by the vehicle if continuing to move toward said traveling path based on said transverse velocity.

9. A moving subject recognizing system as defined in claim 8, wherein said recognizing means further detects an inter-distance between a moving subject and the vehicle and extracts a moving subject having a possible danger of being hit by the vehicle based further on a change in said inter-distance.

10. A moving subject recognizing system as defined in claim 9, wherein said recognizing means recognizes a moving subject within a transverse area, having an extreme width, said extreme width being defined by one of distances to sides of lanes on opposite sides of the vehicle which is more distant from said traveling path than the other.

11. A moving subject recognizing system as defined in claim 9, and further comprising warning means for sending out a warning to a driver of the vehicle, wherein said recognizing means actuates said warning means when detecting said inter-distance less than a predetermined distance.

12. A moving subject recognizing system as defined in claim 9, and further comprising drive control means for automatically controlling driving systems of the vehicle to avoid a collision against said moving subject, wherein said recognizing means actuate said drive control means when detecting said inter-distance less than a predetermined distance.

13. A moving subject recognizing system as defined in claim 12, wherein said drive control means controls a braking system of the vehicle.

14. A moving subject recognizing system as defined in claim 1, wherein when said recognizing means detects said transverse velocity and said longitudinal distance for a number of moving subjects, said recognizing means disregarding said data of a moving subject which is at the furthest inter-distance when said number of moving subjects is greater than a specified greatest number.

15. A moving subject recognizing system as defined in claim 14, wherein, when said recognizing means still retains said data of a moving subject after being recognized as having a possible danger of being hit by the vehicle while being at the furthest inter-distance when said number of moving subjects is greater than said specified greatest number.

16. A moving subject recognizing system as defined in claim 1, wherein said recognition means detects said variation of said longitudinal distance and a transverse distance variation of a moving subject, said transverse distance variation defined as a difference between the longest and the shortest transverse distances of a specific extent recognizable as a moving subject from the vehicle, and compares said longitudinal distance variation and said transverse distance variation with a third predetermined threshold value set for roadside stationary subjects and a fourth predetermined threshold value set for a group of pedestrians, respectively, to recognize a moving subject as a group of pedestrians when said longitudinal distance variation and said transverse distance variation are smaller than said third predetermined threshold value and said fourth predetermined threshold value, respectively.

17. A moving subject recognizing system as defined in claim 16, wherein said recognizing means changes said first threshold value smaller when recognizing a moving subject as a group of pedestrians.

18. A moving subject recognizing system as defined in claim 17, wherein said recognizing means changes said first threshold value smaller when said group includes a large number of pedestrians than when said group includes a small number of pedestrians.

19. A moving subject recognizing system as defined in claim 1, wherein said recognizing means recognizes a moving subject as a tottery pedestrian when detecting a variation of said transverse velocity of said moving subject greater than a fifth threshold value.

20. A moving subject recognizing system as defined in claim 19, wherein said recognizing means changes said first threshold value smaller when recognizing a moving subject as a tottery pedestrian.

21. A moving subject recognizing system as defined in claim 20, wherein said recognizing means further changes said first threshold value when detecting a variation of said transverse velocity of said moving subject greater than a predetermined variation.