Object detecting system for vehicle

• US 6,087,975 A
• Filed: 06/23/1998
• Issued: 07/11/2000
• Est. Priority Date: 06/25/1997
• 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: Fujita, Yasuhiko, Sugimoto, Yoichi
• Primary Examiner(s): Lobo, Ian J.
• Application Number:
  US09/102,637
• Time in Patent Office: 749 Days
• Field of Search: 342/70, 342/71, 342/72, 340/435, 340/436, 340/903, 343/710, 343/711
• US Class Current: 342/70
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• 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: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/4972 Alignment of sensor

Abstract

An object detecting system for a vehicle includes a radar. The radar includes an electromagnetic wave transmitting device for transmitting an electromagnetic wave in a direction of movement of the vehicle and a reflected wave receiving device for receiving a reflected wave from an object which exists ahead of the vehicle in the direction of movement of the vehicle. A determining device determines the presence or absence of an obstacle in the direction of movement of the vehicle based on the result of the detection by the radar. In the object detecting system, the radar can detect objects in a plurality of vertically different detection areas, respectively. In addition, it is clear in which areas the object has been detected. Thus, it is possible to appropriately determine whether there is a possibility that the object is an obstacle to the vehicle.

Claims

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

a radar which includes an electromagnetic wave transmitting means for transmitting an electromagnetic wave in a direction of movement of the vehicle, and a reflected wave receiving means for receiving a reflected wave from an object existing ahead of the vehicle in the direction of movement of the vehicle; and

a determining means for determining presence or absence of an obstacle in the direction of movement of the vehicle based on a result of detection by said radar,

wherein said radar can detect objects in each of a plurality of vertically different detection areas, and

wherein the detection areas are established so that an overlapped region, produced by overlapping of the detection areas, includes a region parallel to a travel road surface.

2. An object detecting system for a vehicle according to claim 1, further including a pitch angle detecting means for detecting a pitch angle of the vehicle, and a selecting means for selecting one of said plurality of detection areas, which is at an angle nearest to an angle parallel to said travel road surface based on a result of detection by said pitch angle detecting means, and inputting said selected one of detection areas to said determining means.

3. An object detecting system for a vehicle according to claim 2, wherein said pitch angle detecting means is arranged to detect said pitch angle based on indicators representative of strokes of front and rear suspensions of the vehicle.

4. An object detecting system for a vehicle according to claim 2, wherein the vehicle is provided with an acceleration/deceleration detecting means for detecting an acceleration and deceleration of the vehicle, and said pitch angle detecting means is arranged to calculate said pitch angle based on a result of detection by said acceleration/deceleration detecting means.

5. An object detecting system for a vehicle according to claim 2, wherein the vehicle is provided with at least one of a brake-operated state detecting means for detecting an operated state of a brake, and a throttle-operated state detecting means for detecting an operated state of a throttle, and said pitch angle detecting means is arranged to detect said pitch angle based on a result of detection performed by at least one of said brake-operated state detecting means and the throttle-operated state detecting means.

6. An object detecting system for a vehicle according to claim 1, further including an abnormality determining means for determining that the radar is abnormal when the radar detects existence of the object in a region other than said overlapped region in a state in which an attitude of the vehicle is substantially parallel to the travel road surface.

7. An object detecting system for a vehicle according to claim 6, wherein when a state, in which said radar has detected the existence of the object in said region other than said overlapped region, is continued for a first predetermined time or more, said abnormality determining means determines that said radar is abnormal.

8. An object detecting system for a vehicle according to claim 7, further including a vehicle speed detecting means for detecting a vehicle speed, and wherein said abnormality determining means determines a state in which the attitude of the vehicle is substantially parallel to the travel road surface, when a detection value detected by said vehicle speed detecting means indicates one of a stopped state of the vehicle and a state in which the vehicle is traveling at a substantially constant speed.

9. An object detecting system for a vehicle according to claim 6, further including a vehicle speed detecting means for detecting a vehicle speed, and wherein said abnormality determining means determines a state in which the attitude of the vehicle is substantially parallel to the travel road surface, when a detection value detected by said vehicle speed detecting means indicates one of a stopped state of the vehicle and a state in which the vehicle is traveling at a substantially constant speed.

10. An object detecting system for a vehicle according to claim 6, further including a vehicle speed detecting means for detecting a vehicle speed, and wherein said abnormality determining means is arranged, so that said object determined as a moving object based on the result of the detection by said radar and a detection value detected by said vehicle speed detecting means is used for determining whether said radar is abnormal.

11. An object detecting system for a vehicle according to claim 1, further including an abnormality determining means for determining that said radar is abnormal when said radar detects no object in any of said detection areas during a traveling state of the vehicle.

12. An object detecting system for a vehicle according to claim 11, further including an abnormality alarm which is operated for notification of a driver in response to a determination that the radar is abnormal by the abnormality determining means.

13. An object detecting system for a vehicle according to claim 11, wherein said abnormality determining means determines that said radar is abnormal when said radar continuously detects no object in any of said detection areas for a second predetermined time or more.

14. An object detecting system for a vehicle according to claim 13, further including an abnormality alarm which is operated for notification of a driver in response to a determination that the radar is abnormal by said abnormality determining means.

15. An object detecting system for a vehicle according to claim 14, wherein said abnormality determining means stores a result of determination at a time when it is determined that said radar is abnormal, irrespective of an operational state of the vehicle, until said radar detects the object, and as long as such storage is continued, said abnormality determining means outputs a signal indicative of a command to operate the abnormality alarm.

16. An object detecting system for a vehicle according to claim 11, further including a vehicle speed detecting means for detecting a vehicle speed, and wherein said abnormality determining means is arranged, so that said object determined as a moving object based on a result of detection by said radar and a detection value detected by said vehicle speed detecting means is used for determining whether said radar is abnormal.