Vehicle control system having obstacle detector

• US 6,169,478 B1
• Filed: 11/25/1998
• Issued: 01/02/2001
• Est. Priority Date: 12/12/1997
• 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: Sugimoto, Yoichi, Hada, Satoshi, Urai, Yoshihiro, Ichikawa, Shoji
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US09/199,797
• Time in Patent Office: 769 Days
• Field of Search: 340/903, 340/933, 340/939, 340/942, 340/943, 340/435, 340/436, 340/601, 340/602, 701/301, 701/70, 367/909
• US Class Current: 340/435
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• 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: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 2050/143 Alarm means
• 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 2013/9325 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: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle control system having a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle; and control device for operating a brake or an alarm based on an output of the laser radar when a distance from the vehicle to the obstacle is less than a first predetermined value or is less than a third predetermined value. In the system, a millimeter-wave radar, which is inferior to the laser radar in position detection accuracy, but is superior in weather-proof operation, is provided. When the laser radar is inoperative, the control device operates the brake or alarm based on the output of the millimeter-wave radar when the distance is less than a second predetermined value (less than the first predetermined value) or is less than a forth predetermined value (greater than the third predetermined value), thereby expediting the alarm initiation to alert the vehicle driver at an appropriate time, while ensuring the proper brake initiation, so as not to cause the vehicle driver to experience annoyance.

Claims

1. A system for controlling a vehicle having a brake which brakes wheels of the vehicle, comprising:

first obstacle detecting means for detecting an obstacle present ahead on a course of travel of the vehicle;

brake control means for operating the brake based on an output of the first obstacle detecting means when a distance from the vehicle to the obstacle is less than a first predetermined value;

second obstacle detecting means, different from the first obstacle detecting means in position detection accuracy, for detecting the obstacle present ahead on the course of travel of the vehicle; and

inoperativeness determining means for determining whether the first obstacle detecting means is inoperative;

wherein;

the brake control means operates the brake based solely on an output of the second obstacle detecting means when the distance is less than a second predetermined value which is less than the first predetermined value, when the inoperativeness determining means determines that the first obstacle detecting means is inoperative.

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

alarm control means for operating an alarm based on an output of the first obstacle detecting means when the distance is less than a third predetermined value; and

wherein;

the alarm control means operates the alarm based on an output of the second obstacle detecting means when the distance is less than a fourth predetermined value which is greater than the third predetermined value, when the inoperativeness determining means determines that the first obstacle detecting means is inoperative.

3. A system according to claim 1, wherein the second predetermined values is determined based on a difference in position detection accuracy between the first and second obstacle detecting means.

4. A system according to claim 2, wherein the fourth predetermined values is determined based on a difference in position detection accuracy between the first and second obstacle detecting means.

5. A system according to claim 2, wherein the second predetermined value is determined based on a difference in position detection accuracy between the first and second obstacle detecting means.