Device for detecting a running surface and vehicle using same

• US 6,925,859 B2
• Filed: 03/07/2002
• Issued: 08/09/2005
• Est. Priority Date: 03/08/2001
• Status: Expired due to Fees

• Current Assignee: Peugeot Citroen Automobiles SA (Stellantis NV)
• Original Assignee: Peugeot Citroen Automobiles SA (Stellantis NV)
• Inventors: Riat, Jean-Christophe
• Primary Examiner(s): Larkin, Daniel S.
• Application Number:
  US10/311,359
• Publication Number:
  US 20040011120A1
• Time in Patent Office: 1,251 Days
• Field of Search: 731/04, 340/901, 340/904, 340/905, 340/933, 340/937, 340/942, 340/943, 340/435, 340/425.5, 702/150, 702/159, 701/116
• US Class Current: 73/104
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: G08G 1/0962 having an indicator mounted inside the vehicle, e.g. giving voice messages

Abstract

A device for detecting a running surface for a vehicle, comprising a plurality of sensors (c1 to c8) designed to be oriented towards the running surface to detect modifications thereof, data processing means for processing data derived from the sensors, wherein the sensors are relatively arranged so as to associate at least part of the points of aim on the ground (v1 to v8) in pairs (p1 to p4), the two points of aim on ground the ground being spaced apart by a first specific distance, and the transverse distances separating two adjacent pairs (p1 to p4) of points of aim on the ground increase towards a longitudinal axis along a direction substantially perpendicular to said axis.

Claims

1. Device for detecting a running surface for a vehicle, comprising a plurality of sensors designed to be oriented towards the running surface to detect modifications thereof, means for processing data obtained by the sensors, wherein the sensors are disposed relative to each other so as to associate at least a part of their points of aim on the ground by pairs, the two points of aim of a pair being spaced apart by a first specified distance (e), and in that transverse distances separating two adjacent pairs of points of aim on the ground increase towards a longitudinal axis along a direction substantially perpendicular to that axis.

2. Detection device according to claim 1, comprising at least two pairs of sensors.

3. Detection device according to claim 2, wherein the sensors are disposed on both sides of a median longitudinal axis, and in that the transverse distances separating the adjacent pairs of points of aim on the ground of sensors are substantially symmetrical with respect to a median longitudinal axis.

4. Detection device according to claim 2, wherein the transverse distance (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground is given by the formula dn=K.Rⁿ, where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the longitudinal axis, R is a first constant multiplicative coefficient comprised approximately between 1 and 2, and K is a second constant coefficient comprised approximately between 10 and 80.

5. Detection device according to claim 4, wherein R is comprised approximately between 1 and 1.2.

6. Detection device according to claim 2, wherein the transverse distance (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground of sensors is given by the formula $\mathrm{dn}=\left(\mathrm{L2}+e\right)·$

(E+L1E+2⁢

c)n,

so as to detect in particular an interrupted marking line on the ground, and where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the axis, L1 the length in cm of a segment of the interrupted line, L2 the width in cm of a segment of the interrupted line, E the distance of cm separating two successive segments, e the distance in cm separating two points of aim on the ground of a same pair (Pn), and c a specified constant in cm defining a detection security margin.

7. Detection device according to claim 1, wherein the sensors are disposed on both sides of a median longitudinal axis, and in that the transverse distances separating the adjacent pairs of points of aim on the ground of sensors are substantially symmetrical with respect to the median longitudinal axis.

8. Detection device according to claim 1, wherein the transverse distance (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground is given by the formula dn=K.Rⁿ, where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the longitudinal axis, R is a first constant multiplicative coefficient comprised approximately between 1 and 2, and K is a second constant coefficient comprised approximately between 10 and 80.

9. Detection device according to claim 8, wherein R is comprised approximately between 1 and 1.2.

10. Detection device according to claim 1, wherein the transverse distance (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground of sensors is given by the formula $\mathrm{dn}=\left(\mathrm{L2}+e\right)·$

(E+L1E+2⁢

c)n,

so as to detect in particular an interrupted marking line on the ground, and where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the axis, L1 the length in cm of a segment of the interrupted line, L2 the width in cm of a segment of the interrupted line, E the distance in cm separating two successive segments, e the distance in cm separating two points of aim on the ground of a same pair (Pn), and c a specified constant in cm defining a detection security margin.

11. Vehicle using a detection device according to claim 1, comprising a plurality of sensors oriented towards the running surface to detect modifications thereof, and means for processing data obtained by the sensors, wherein the sensors are disposed relative to each other so as to associate at least a part of their points of aim on the ground (vn) by pairs (Pn), the two points of aim on the ground of a pair being spaced apart by a first specified distance (e), and in that the transverse distances separating two adjacent pairs of points of aim on the ground increase from the outside towards the inside of the vehicle along a direction substantially perpendicular to the longitudinal axis of the vehicle.

12. Vehicle according to claim 11, wherein the sensors are disposed on both sides of the median longitudinal axis of the vehicle, and in that the transverse distances separating the pairs of points of aim on the ground of sensors are substantially symmetrical with respect to the median longitudinal axis.

13. Vehicle according to claim 12, wherein the transverse distances (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground are given by the formula dn=K.Rⁿ, where n is the serial number of the pair (Pn) of points of aim on the ground towards the longitudinal axis, R is a first constant multiplicative coefficient comprised approximately between 1 and 2, and K is a second constant coefficient comprised approximately between 10 and 80.

14. Vehicle according to claim 13, wherein R is comprised approximately between 1 and 1.2.

15. Vehicle according to claim 12, wherein the transverse distances (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground of sensors are given by the formula $\mathrm{dn}=\left(\mathrm{L2}+e\right)·$

(E+L1E+2⁢

c)n,

so as to detect in particular an interrupted marking line on the ground, and where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the longitudinal axis, L1 the length in cm of the segment of the interrupted line, L2 the width in cm of a segment of the interrupted line, E the distance in cm separating two successive segments, e the distance in cm separating two sensors of a same pair (Pn) of points of aim on the ground, and c a specified constant in cm defining a detection security margin.

16. Vehicle according to claim 12, wherein at least a part of the sensors are slanted with respect to the vertical, at an angle substantially equal to or higher than the half angle (A) their vision cone.

17. Vehicle according to claim 11, wherein the transverse distances (dn) in cm separating two adjacent pairs (Pn, +1) of points of aim on the ground are given by the formula dn=K.Rⁿ, where n is the serial number of the pair (Pn) of points of aim on the ground towards the longitudinal axis, R is a first constant multiplicative coefficient comprised approximately between 1 and 2, and K is a second constant coefficient comprised approximately between 10 and 80.

18. Vehicle according to claim 17, wherein R is comprised approximately between 1 and 1.2.

19. Vehicle according to claim 11, wherein the transverse distances (dn) in cm separating two adjacent pairs (Pn, Pn+1) of points of aim on the ground of sensors are given by the formula $\mathrm{dn}=\left(\mathrm{L2}+e\right)·$

(E+L1E+2⁢

c)n,

so as to detect in particular an interrupted marking line on the ground, and where n is the serial number of the pair (Pn) of points of aim on the ground (vn) towards the longitudinal axis, L1 the length in cm of a segment of the interrupted line, L2 the width in cm of a segment of the interrupted line, E the distance in cm separating two successive segments, e the distance in cm separating two sensors of a same pair (Pn) of points of aim on the ground, and c a specified constant in cm defining a detection security margin.

20. Vehicle according to claim 11, wherein at least a part of the sensors are slanted with respect to a vertical axis, at an angle substantially equal to or higher than the half angle (A) of their vision cone.

21. Vehicle according to claim 11, wherein at least a part of the sensors are slanted with respect to the vertical at an angle (B) comprised approximately between five and forty-five degrees.

22. Vehicle according to claim 11, wherein at least a part of the sensors are disposed in the front bumper of the vehicle.

23. Vehicle according to claim 11, wherein it comprises seven pairs of sensors.

24. Vehicle according to claim 11, wherein the distance (e) separating the two points of aim on the ground (vn) of a same pair (Pn) is comprised approximately between 5 and 25 cm.