Obstacle detecting system for automotive vehicle

• US 6,147,637 A
• Filed: 07/23/1998
• Issued: 11/14/2000
• Est. Priority Date: 07/23/1997
• Status: Expired due to Fees

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nakamura, Tetsuya, Morikawa, Katsuhiro
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/120,840
• Time in Patent Office: 845 Days
• Field of Search: 342/23, 342/27, 342/28, 342/29, 342/41, 342/52-54, 342/61, 342/63, 342/69-72, 342/89, 342/94, 342/118, 342/127, 342/133, 342/134, 342/135, 342/136, 342/146, 342/147, 342/165 , 342/167-174, 342/195, 342/92, 340/435, 356/27, 356/28
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/021 Means for detecting failure or malfunction
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• 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 2013/9319 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 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 7/4004 of parts of a radar system
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

An automotive obstacle detecting system is provided which includes a radar to measure the distance to a target present within a detectable zone. The system monitors a distance limit measurable by the radar and determines a reduction in ability to measure the distance to the target by comparing the distance limit with a given reference value.

Claims

1. An automotive obstacle detecting system comprising:

a radar unit that transmits radar signals from a system vehicle equipped with the system and receives radar signals reflected by an obstacle present in an obstacle detectable zone;

distance determining means for determining, based on the transmitted and the reflected signals, a distance between the system vehicle and the obstacle;

distance limit determining means for determining a distance limit measurable by said distance measuring means; and

system ability determining means for determining a change in ability to measure the distance to the obstacle by comparing the distance limit determined by said distance limit determining means with a given reference value, wherein when the obstacle acquired by said radar unit is a preceding vehicle and the system vehicle is approaching the preceding vehicle, said distance limit determining means determines the distance limit to be the distance to the preceding vehicle determined by said distance determining means immediately when the preceding vehicle has entered the obstacle detectable zone.

2. An automotive obstacle detecting system as set forth in claim 1, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when the system vehicle is traveling straight.

3. An automotive obstacle detecting system as set forth in claim 2, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when the system vehicle is traveling at a speed greater than a given value.

4. An automotive obstacle detecting system as set forth in claim 2, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when a relative speed of the system vehicle to a preceding vehicle acquired by said radar unit as the obstacle is greater than a preselected value.

5. An automotive obstacle detecting system as set forth in claim 2, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when the obstacle has not entered a dead angle behind another obstacle before a preselected period of time.

6. An automotive obstacle detecting system as set forth in claim 1, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when the system vehicle is traveling at a speed greater than a given value.

7. An automotive obstacle detecting system as set forth in claim 1, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when a relative speed of the system vehicle to a preceding vehicle acquired by said radar unit as the obstacle is greater than a preselected value.

8. An automotive obstacle detecting system as set forth in claim 1, wherein said system ability determining means includes a means for determining the change in ability to measure the distance to the obstacle when the obstacle has not entered a dead angle behind another obstacle before a preselected period of time.

9. An automotive obstacle detecting system comprising:

a radar unit that transmits radar signals from a system vehicle equipped with the system and receives radar signals reflected by an obstacle present in an obstacle detectable zone;

distance determining means for determining, based on the transmitted and the reflected signals, a distance between the system vehicle and the obstacle;

distance limit determining means for determining a distance limit measurable by said distance measuring means; and

system ability determining means for determining a change in ability to measure the distance to the obstacle by comparing the distance limit determined by said distance limit determining means with a given reference value, wherein when the obstacle acquired by said radar unit is a preceding vehicle and the system vehicle is moving away from the preceding vehicle, said distance limit determining means determines the distance limit to be the distance to the preceding vehicle determined by said distance determining means immediately when the preceding vehicle has reached a limit of the obstacle detectable zone.

10. An automotive obstacle detecting system comprising:

a radar unit that transmits radar signals from a system vehicle equipped with the system and receives radar signals reflected by an obstacle present in an obstacle detectable zone;

distance determining means for determining, based on the transmitted and the reflected signals, a distance between the system vehicle and the obstacle;

distance limit determining means for determining a distance limit measurable by said distance measuring means; and

system ability determining means for determining a change in ability to measure the distance to the obstacle by comparing the distance limit determined by said distance limit determining means with a given reference value, wherein when no preceding vehicle is traveling ahead of the system vehicle, said distance limit determining means determines the distance limit to be the distance to a roadside obstacle determined by said distance determining means immediately when the roadside obstacle has entered the obstacle detectable zone.