Obstruction detection method for vehicle

• US 6,437,688 B1
• Filed: 03/15/2000
• Issued: 08/20/2002
• Est. Priority Date: 03/16/1999
• 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: Kobayashi, Sachio
• Primary Examiner(s): Lieu, Julie
• Application Number:
  US09/526,201
• Time in Patent Office: 888 Days
• Field of Search: 340/435, 340/436, 340/902, 340/903, 701/301, 180/169, 180/167
• US Class Current: 340/435
• CPC Class Codes: B60G 2800/166 Platooning
• CPC Class Codes: B60G 2800/226 automatically, based on stopping at a preset or target point position
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

In an electric vehicles sharing system, a number of (electric) vehicles are stored in ports and are used by drivers to achieve assigned objects. Herein, multiple vehicles run together in column in an automatic follow-up manner in such a way that following vehicles which are normally unmanned automatically follow up with a manned preceding vehicle. Each vehicle is equipped with ultrasonic sensors, which are arranged in a front portion and a rear portion respectively. Normally, each vehicle detects a travel direction thereof (i.e., a forward or backward direction) to activate only a sensor which matches with the travel direction. Thus, ultrasonic waves radiated from the ultrasonic sensors do not mutually interfere with each other among the vehicles. If a vehicle detects an obstruction being located within a deceleration decision range by the ultrasonic sensor, it is being decelerated while it also transmits a deceleration instruction to other vehicles by radio communication, so that the other vehicles are being decelerated. Thus, it is possible to keep a constant distance between the vehicles which run together in column. If a failure occurs on a sensor of a following vehicle being arranged in the travel direction, the following vehicle transmits failure information to its ahead vehicle which runs ahead of the following vehicle, so that the ahead vehicle automatically activates a sensor which is arranged in a direction reverse to the travel direction. Thus, it is possible to compensate absence of detection due to the failure.

Claims

1. An obstruction detection method applicable to an automatic follow-up travel system in which vehicles including a preceding vehicle and at least one following vehicle run together in column in an automatic follow-up manner and in which each of the vehicles is equipped with sensors for detecting obstructions in a front portion and a rear portion respectively, said obstruction detection method comprising the steps of:

detecting a travel direction in each of the vehicles;

activating only the sensor which is arranged in the travel direction with respect to each of the vehicles; and

if the sensor being activated detects an obstruction being located within a deceleration decision range which is determined in advance and which lies in the travel direction with respect to each of the vehicles, automatically decelerating the vehicle whose sensor detects the obstruction within the deceleration decision range; and

if a failure occurs on the sensor of the following vehicle which is arranged in the travel direction, transmitting failure information from the following vehicle to an ahead vehicle which runs ahead of the following vehicle, so that the ahead vehicle activates a sensor thereof which is arranged in a direction reverse to the travel direction in response to the failure information.

2. An obstruction detection method

applicable to an automatic follow-up travel system in which vehicles including a preceding vehicle and at least one following vehicle run together in column in an automatic follow-up manner and in which each of the vehicles is equipped with sensors for detecting obstructions in a front portion and a rear portion respectively, said obstruction detection method comprising the steps of:

detecting a travel direction in each of the vehicles;

activating only the sensor which is arranged in the travel direction with respect to each of the vehicles; and

if the sensor being activated detects an obstruction being located within a deceleration decision range which is determined in advance and which lies in the travel direction with respect to each of the vehicles, automatically decelerating the vehicle whose sensor detects the obstruction within the deceleration decision range; and

if the sensor being activated detects the obstruction being located within the deceleration range, transmitting a deceleration instruction from the vehicle whose sensor detects the obstruction within the deceleration decision range to another vehicle within the vehicles which run together in column in the automatic follow-up manner, so that another is being decelerated in accordance with the deceleration instruction; and

if a failure occurs on the sensor of the following vehicle which is arranged in the travel direction, transmitting failure information from the following vehicle to an ahead vehicle which runs ahead of the following vehicle, so that the ahead vehicle activates a sensor thereof which is arranged in a direction reverse to the travel direction in response to the failure information.