Sensing device for detecting movement of vehicle by lane-marker

• US 6,215,392 B1
• Filed: 04/18/2000
• Issued: 04/10/2001
• Est. Priority Date: 04/22/1999
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Okada, Tsuyoshi
• Primary Examiner(s): Wu, Daniel J.
• Application Number:
  US09/552,457
• Time in Patent Office: 357 Days
• Field of Search: 340/436, 340/901, 340/903, 340/905, 340/937, 340/435, 701/301
• US Class Current: 340/436
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A sensing device for detecting a vehicle'"'"'s skid, an attitude and a speed with lane markers. This sensing device allows sensors mounted on the vehicle to detect lane markers arranged on the lane center along a road. The lane markers are detected in a magnetic, electric, or optical manner. Based on outputs of the sensors, a movement of the vehicle is measured. Two sensors each are provided on front and rear of the vehicle. Four outputs from the respective sensors are calculated based on given equations (additions and subtractions) so that a skid amount of the vehicle from the lane center, the attitude and the speed of the vehicle can be found. This simple construction formed by the sensors detecting the lane markers and the circuits performing addition and subtraction can measure the skid, attitude and speed of the vehicle.

Claims

1. A sensing device for detecting a movement of a vehicle comprising:

a lane marker arranged along a lane center of a road;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors.

2. The sensing device as defined in claim 1, wherein said skid detector calculates the skid amount by finding a difference between an output sum of the first and third lane-marker-detectors and an output sum of the second and fourth lane-marker-detectors.

8. The sensing device as defined in claim 2 further comprising:

a total sum calculator for calculating a sum of respective outputs of said first, second, third and fourth lane-marker-detectors; and

a normalizing device for normalizing said skid detector by dividing an output from said skid detector by an output of said calculator.

3. A sensing device for detecting a movement of a vehicle comprising:

a lane marker arranged along a lane center of a road;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

an attitude detector for calculating an attitude with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors.

4. The sensing device as defined in claim 3, wherein said attitude detector calculates a yawing angle YE, which represents a deviated angle from the road direction and indicates an attitude of the vehicle, by finding a difference between an output sum of the first and fourth lane-marker-detectors and an output sum of the second and third lane-marker-detectors.

9. The sensing device as defined in claim 4 further comprising:

a total sum calculator for calculating a sum of respective outputs of said first, second, third and fourth lane-marker-detectors; and

a normalizing device for normalizing said attitude detector by dividing an output from said attitude detector by an output of said calculator.

5. A sensing device for detecting a movement of a vehicle comprising:

a lane marker arranged along a lane center of a road;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a speed sensor of the vehicle for calculating a speed of the vehicle performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

Ls”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

6. The sensing device as defined in claim 5, wherein said speed sensor calculates the speed of the vehicle by finding an output sum SF of said first and second lane-marker-detectors and an output sum SR of said third and fourth lane-marker-detectors, then finding a time difference “

dt”

between peaks of output signals from the SF and the SR—

both appearing when said detectors pass the same lane marker—

and finding “

Ls”

/“

dt”

.

7. The sensing device as defined in claim 5, wherein said speed sensor calculates the speed of the vehicle by finding a difference DFR between an output sum of said first and second lane-marker-detectors and an output sum of said third and fourth lane-marker-detectors, then finding a time difference “

dt”

between a positive peak and a negative peak—

both being obtained from the same lane marker in the DFR—

and finding “

Ls”

/“

dt”

.

10. The sensing device as defined in claim 6 further comprising:

a global positioning system (GPS); and

a space correcting device for correcting an error of space “

Ls”

by comparing a speed measured by said GPS with a speed obtained by said speed sensor.

11. A sensing device for detecting a movement of a vehicle comprising:

a lane marker arranged along a lane center of a road;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle;

a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;

an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors,

a speed sensor of the vehicle for calculating a speed of the vehicle performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

iLs”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

12. A veer-off-the-lane alarming device comprising:

a sensing device for detecting a movement of a vehicle;

a veer-off detector for recognizing one of statuses where a vehicle to be out of a lane and the vehicle is in a danger of veering off the lane based on data obtained from said sensing device about a skid amount, an attitude and a speed of the vehicle; and

an alarming device for giving one of alarms of having veered off the lane and being in danger of veering off the lane to a driver of the vehicle,

wherein said sensing device comprises;

a lane marker arranged along a center of a lane;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;

an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors; and

a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

Ls”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

13. An automatic steering device comprising:

a sensing device for detecting a movement of a vehicle; and

a steering device for controlling a yawing angle based on a skid amount and an attitude obtained by said sensing device;

wherein said sensing device comprises;

a lane marker arranged along a center of a lane;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a skid detector for calculating a skid amount of the vehicle from the lane center by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors;

an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors; and

a speed sensor for calculating a speed of the vehicle by performing additions and subtractions of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

Ls”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

14. A space-between-vehicles controller comprising:

a sensing device for detecting a movement of a vehicle;

a space-between-vehicles measuring device; and

a trailing device for trailing another vehicle ahead of the vehicle on a same lane based on an attitude obtained by an attitude detector and a distance measured by said space-between-vehicles measuring device,

wherein said sensing device comprises;

a lane marker arranged along a center of a lane;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;

an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors; and

a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

Ls”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.

15. A car navigation system comprising:

a sensing device for detecting a movement of a vehicle;

a changing-lane detector for detecting one of statuses of the vehicle of changing the lane and being out of a road when a skid amount obtained by a skid detector—

an element of said sensing device—

exceeds a given value;

wherein said sensing device comprises;

a lane marker arranged along a center of a lane;

a first lane-marker-detector and a second lane-marker-detector disposed left and right sides respectively on front of a vehicle;

a third lane-marker-detector and a fourth lane-marker-detector disposed left and right sides respectively on rear of the vehicle; and

a skid detector for calculating a skid amount of the vehicle from the lane center by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors;

an attitude detector for calculating an attitude of the vehicle with regard to the road direction by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors; and

a speed sensor for calculating a speed of the vehicle by performing addition and subtraction of respective outputs from said first, second, third and fourth lane-marker-detectors and by using one of a space “

Ls”

between said first and third lane-marker-detectors, and said second and fourth lane-marker-detectors.