Obstacle recognition system for automotive vehicle

• US 6,593,873 B2
• Filed: 07/23/2001
• Issued: 07/15/2003
• Est. Priority Date: 07/26/2000
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Matsuoka, Keiji, Nozawa, Toyohito, Samukawa, Yoshie, Shirai, Noriaki, Ookata, Hiroshi
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US09/909,873
• Publication Number:
  US 20020014988A1
• Time in Patent Office: 722 Days
• Field of Search: 342/23, 342/24, 342/27-32, 342/41, 342/61, 342/70-72, 342/118, 342/119, 342/146, 342/147, 340/425.5, 340/435-438, 701/96, 701/36, 701/45, 701/300, 701/301
• US Class Current: 342/70
• CPC Class Codes: G01S 13/426 Scanning radar, e.g. 3D radar G01S13/66 takes precedence
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 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 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

An obstacle recognition system for automotive vehicles is provided which is designed to recognize targets such as preceding vehicles to be tracked by a radar by grouping data elements derived through a scan of a frontal detection range using laser pulses. The system determines the radius of a curve in a road on which a system vehicle is traveling and shifts one of the data elements from which the grouping operation is to be initiated as a function of the radius of the curve, thereby enabling the recognition of the targets without decreasing the control reliability even when the system vehicle is turning the curve.

Claims

1. An obstacle recognition apparatus for a vehicle comprising:

a radar for emitting radar waves to scan a given angular range in a width-wise direction of a vehicle equipped with the obstacle recognition apparatus, said radar further for receiving returns of the radar waves from objects present in the given angular range to determine distances to and angular directions of the objects in the width-wise direction of the vehicle;

a curve radius determining circuit for determining a radius of a curve in a road on which the vehicle is traveling; and

an obstacle recognition circuit for analyzing the returns of the radar waves received by said radar to recognize as targets a given number of the objects which are closer to a reference angular direction defined within said given angular range, said obstacle recognition circuit for changing the reference angular direction based on the radius of the curve determined by said curve radius determining circuit and said obstacle recognition circuit for analyzing the returns of the radar waves to recognize the objects as points in a coordinate system and further for performing a grouping operation to collect some of the points which meet a first grouping condition into groups, the grouping operation being initiated from the reference angular direction to the width-wise direction of the vehicle.

2. An obstacle recognition apparatus as set forth in claim 1, wherein said radar is for scanning said given angular range along scanning lines which extend in the width-wise direction of the vehicle and are arrayed at given intervals in a vertical direction of the vehicle within a given vertical angular range, and wherein said obstacle recognition circuit is for performing a second grouping operation to collect some of the points into the groups in each of the scanning lines and also some of the groups which meet a second grouping condition into second grouping condition into second groups as expressing the objects.

3. An obstacle recognition apparatus as set forth in claim 2, wherein the number of the groups formed in the grouping operation along the scanning lines defined in end portions of the given angular range in a height-wise direction of the vehicle is smaller than that along the scanning lines defined in a central portion of the given angular range in the height-wise direction of the vehicle.

4. An obstacle recognition apparatus as set forth in claim 1, wherein said obstacle recognition circuit is for determining a change in the reference angular direction as a function of a shift in angular direction from a central angular direction in said given angular range based on the radius of the curve determined by said radius curve determining circuit.

5. An obstacle recognition apparatus for a vehicle comprising:

a radar for emitting radar waves to scan a given angular range in a width-wise direction of a vehicle equipped with the obstacle recognition apparatus, said radar receiving returns of the radar waves from objects present in the given angular range to determine distances to and angular directions of the objects in the width-wise direction of the vehicle;

a curve determining circuit for determining whether a road on which the vehicle is traveling is curved or not; and

an obstacle recognition circuit for analyzing the returns of the radar waves received by I said radar to recognize as targets a given number of the objects which are closer to a reference angular direction defined within said given angular range, when it is determined by said curve determining circuit that the road is curved, said obstacle recognition circuit shifting the reference angular direction in an inward direction of the curved road and said obstacle recognition circuit further for analyzing the returns of the radar waves to recognize the objects as points in a coordinate system and for performing a grouping operation to collect some of the points which meet a first grouping condition into groups, the grouping operation being initiated from the reference angular direction to the width-wise direction of the vehicle.