Vehicle obstacle detecting system

• US 6,061,015 A
• Filed: 01/05/1999
• Issued: 05/09/2000
• Est. Priority Date: 01/14/1998
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Sugimoto, Yoichi
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/225,569
• Time in Patent Office: 490 Days
• Field of Search: 432/21, 432/27, 432/28, 432/29, 432/41, 432/52-58, 432/61, 432/69-72, 342/59
• US Class Current: 342/71
• 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: G01S 13/345 using triangular modulation
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• 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 2013/9321 Velocity regulation, e.g. cruise control
• 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

Abstract

A vehicle obstacle detecting system having a combination of different kinds of detectors, such as a laser radar and a millimeter-waver radar, to detect an obstacle present ahead of the course of vehicle travel. The system determines whether the detection output of the laser radar is similar to that of the millimeter-wave radar. When the result is positive, obstacle avoidance control is conducted based on the output of either the laser radar or the millimeter-wave radar. When the result is negative, it is determined that the laser radar (the detector normally of superior performance) is degraded and, based on the output of the millimeter-radar, obstacle avoidance control is conducted. With this, the outputs of the different kinds of detectors are fused and unified optimally, enabling effective obstacle avoidance control.

Claims

1. An obstacle detecting system for a vehicle, comprising:

first obstacle detecting means for emitting an electromagnetic wave towards a course of travel of the vehicle and for receiving an energy reflected from an obstacle present ahead on the course of travel of the vehicle to output a first signal indicative of a first positional relationship of the obstacle and the vehicle;

second obstacle detecting means for emitting an electromagnetic wave of a wavelength larger than a wavelength of the electromagnetic wave emitted by the first obstacle detecting means towards the course of travel of the vehicle and for receiving an energy reflected from an obstacle present ahead on the course of travel of the vehicle to output a second signal indicative of a second positional relationship of the obstacle and the vehicle;

determining means for determining a reduction in the detection range of the first obstacle detecting means; and

obstacle recognizing means for recognizing the obstacle with which the vehicle should avoid a contact based on at least one of the first signal and the second signal when the reduction in detection range of the first obstacle detecting means is not determined, while recognizing the obstacle based on the second signal when the reduction in detection range of the first obstacle detecting means is determined.

2. A system according to claim 1, wherein the determining means determines the reduction in detection range of the first obstacle detecting means if the first obstacle detecting means does not detect the obstacle when the second positional relationship is at a predetermined relationship.

3. A system according to claim 1, further including:

alarming means for alarming when at least one of the first and second positional relationship is at a first predetermined relationship.

4. A system according to claim 1, further including:

vehicle decelerating means for decelerating the vehicle when at least one of the first and second positional relationships is at a second predetermined relationship.

5. A system according to claim 4, wherein at least one of the first and second positional relationships includes a moving speed of the obstacle;

and wherein the system further includes;

deceleration delaying means for delaying deceleration by the vehicle decelerating means when the moving speed of the obstacle is not more than a predetermined speed.

6. A system according to claim 5, wherein the vehicle decelerating means decelerates the vehicle at a value not more than a second predetermined value and to advance a timing to commence deceleration, if the moving speed of the obstacle is not less than the predetermined speed, when the reduction in detection range of the first obstacle detecting means is determined.

7. A system according to claim 6, wherein at least one of the first and second positional relationships includes a relative distance between the vehicle and the obstacle;

and

wherein the vehicle decelerating means decelerates the vehicle to generate a deceleration which is more than a predetermined value when the relative distance is not more than a threshold value.

8. A system according to claim 6, wherein at least one of the first and second positional relationships includes a relative speed between the vehicle and the obstacle;

and

wherein the vehicle decelerating means decelerates the vehicle to generate a deceleration which is not less than a predetermined value when the relative speed is not less than a threshold value.

9. A system according to claim 5, further including:

accelerator position detecting means for detecting a position of an accelerator pedal installed close to a vehicle operator seat in the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the accelerator position is detected to be increased.

10. A system according to claim 5, further including:

steer angle detecting means for detecting a steer angle of the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the steer angle is detected to be increased.

11. A system according to claim 4, wherein at least one of the first and second positional relationships includes a moving speed of the obstacle;

and wherein the system further includes;

deceleration delaying means for delaying deceleration by the vehicle decelerating means if the moving speed of the obstacle is not more than a predetermined speed when the reduction in detection range of the first obstacle detecting means is determined, the deceleration delaying means delaying deceleration by a time which is longer than a time when the reduction in detection range of the first obstacle detecting means is not determined.

12. A system according to claim 11, further including:

accelerator position detecting means for detecting a position of an accelerator pedal installed close to a vehicle operator seat in the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the accelerator position is detected to be increased.

13. A system according to claim 11, further including:

steer angle detecting means for detecting a steer angle of the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the steer angle is detected to be increased.

14. A system according to claim 4, wherein the vehicle decelerating means decelerates the vehicle at a value not more than a predetermined value and to advance a timing to commence deceleration, when the reduction in detection range of the first obstacle detecting means is determined.

15. A system according to claim 14, wherein at least one of the first and second positional relationships includes a relative distance between the vehicle and the obstacle;

and

wherein the vehicle decelerating means decelerates the vehicle to generate a deceleration which is more than a predetermined value when the relative distance is not more than a threshold value.

16. A system according to claim 14, wherein at least one of the first and second positional relationships includes a relative speed between the vehicle and the obstacle;

and

wherein the vehicle decelerating means decelerates the vehicle to generate a deceleration which is not less than a predetermined value when the relative speed is not less than a threshold value.

17. A system according to claim 4, further including:

accelerator position detecting means for detecting a position of an accelerator pedal installed close to a vehicle operator seat in the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the accelerator position is detected to be increased.

18. A system according to claim 17, wherein the vehicle decelerating means discontinues deceleration gradually for a period.

19. A system according to claim 4, further including:

steer angle detecting means for detecting a steer angle of the vehicle; and

wherein the vehicle decelerating means discontinues deceleration when the steer angle is detected to be increased.

20. A system according to claim 19, wherein the vehicle decelerating means discontinues deceleration gradually for a period.