Method and system for automatically detecting a preceding vehicle

• US 4,757,450 A
• Filed: 03/20/1986
• Issued: 07/12/1988
• Est. Priority Date: 06/03/1985
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Etoh, Yoshiyuki
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/841,791
• Time in Patent Office: 845 Days
• Field of Search: 364/424, 364/426, 364/460, 364/461, 364/456, 340/901-904, 180/167, 180/169, 180/170, 180/179, 342/70, 342/455
• US Class Current: 701/96
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• 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 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• 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

Abstract

A method and system for detecting a presence of a preceding vehicle moving in a front detection area of a controlled vehicle. In the method and system thereof, a plurality of laser or other kinds of beams are transmitted to any object present in the front detection area and the plurality of reflected beams are received so that the respective distances to the reflecting objects are measured on the basis of the propagation delay times between the transmission and reception of the beams. In the method and system thereof, each absolute difference between the current value of distance measured by any one of the beams and any one of previous value of distance measured by the corresponding or another one of the beams before a predetermined time (corresponds to an interruption time of a processing routine) is calculated and compared to a predetermined distance value which is relatively small in order to determine that the preceding vehicle which has been detected by any one of the beams within the predetermined time is the same as that which is currently detected by any one of the beams. Therefore, the presence of the preceding vehicle can accurately be detected without mistaking the preceding vehicle for another vehicle moving on a different traffic lane or as a stationary object located at either side of a traffic lane. This is true even when the controlled vehicle and preceding vehicle move on a curve road. Vehicle speed can be controlled to track the real preceding vehicle.

Claims

1. Apparatus for controlling the speed of a controlled vehicle to maintain a predetermined distance to a preceding vehicle identified as a target vehicle comprising:

(a) means for determining the speed of said controlled vehicle,

(b) a control vehicle speed adjustment mechanism responsive to a control signal for controlling the speed of said controlled vehicle,

(c) transmitter means for generating transmitted waves toward a predetermined region preceding said controlled vehicle,

(d) means for receiving waves reflected from objects in said predetermined region,

(e) said predetermined region divided into at least a first and second adjacent regions and at least one of (1) said transmitter means transmitting separately defined transmitting waves into each of said first and second adjacent regions and (2) said receiver means having at least first and second aperture characteristics so as to distinguish waves reflected from each of said first and second adjacent regions,

(f) means, operative when said preceding vehicle is in said first region, for periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiving means, of said reflected waves, said distance defined by l_1i for the most recent calculation at time t_i and l_1i-1 for the immediately preceding calculation at time t_i-1,

(g) means, operative when said preceding vehicle is in said second region, for periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiving means, of said reflected waves, said distance defined by l_2i for the most recent calculation at time t_i and l_2i-1 for the immediately preceding calculation at time t_i-1,

(h) means for storing the distances l_1i-1 and l_2i-1,

(i) means operative after said preceding vehicle is in said first region during time t_i-1 for determining if |l_1i -|l_1i-1 |<

α

, where α

is a predetermined constant and, if the unequality is true, for identifying said preceding vehicle as a target vehicle and as being in said first region at time t_i and for generating said control signal based on l_1i and said determined controlled vehicle speed, and

(j) means, operative if |l_1i -l_1i-1 |≧

α

for determining if |l_2i -l_1i-1 |<

α and

if |l_2i -l_1i-1 |<

α

identifying said preceding vehicle as being in said second region at time t_i and as said target vehicle and for generating said control signal based on l_2i and said determined controlled vehicle speed.

2. Apparatus as recited in claim 1 wherein said transmitting means generates transmitted waves in each of said first and second regions at different times.

3. Apparatus as recited in claim 2 wherein said first region corresponds to a central region directly ahead of said controlled vehicle and said second region corresponds to one of a left or right region adjacent said central region, whereby said preceding vehicle is identified as said target vehicle even while said target vehicle is making a left or right turn.

4. Apparatus as recited in claim 1 further including means, operative after said preceding vehicle is in said second region during time t_i-1 for determining if |l_2i -l_2i-1 |<

α

, and, if true, for identifying said preceding vehicle as said target vehicle and as remaining in said second region at time t_i and for generating said control signal based on l_2i and said determined control vehicle speed.

5. Apparatus as recited in claim 4 further including means, operative if |l_2i -l_2i-1 |≧

α

for determining if |l_1i -l_2i-1 |≧

α

, and if true, identifying said preceding vehicle as being in said first region at time t_i and as said target vehicle and for generating said control signal based on l_1i and said determined controlled vehicle speed, whereby said target vehicle is identified as moving from said second region to said first region.

6. Apparatus as recited in claim 5 wherein said transmitter means includes first and second transmitters for transmitting waves at different times into said respective first and second regions.

7. Apparatus as recited in claim 6 wherein said receiving means includes a single receiver receiving reflected waves at different times from said first and second regions.

8. Apparatus as recited in claim 1 wherein said predetermined region includes a third region, said first region defined centrally of said controlled vehicle, said second region defined to the right of said first region relative to the forward moving direction of said controlled vehicle and said third region defined to the left of said first region, and wherein said apparatus further comprises:

(a) means, operative when said preceding vehicle is in said third region, for periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiving means, of said reflected waves, said distance defined by l_3i for the most recent calculation at time t_i and l_3i-1 for the immediately preceding calculation at time t_i-1,

(b) means for storing l_3i-1,

(c) means operative after said preceding vehicle is in said third region during time t_i-1 for determining |l_3i -l_3i-1 |<

α

, and if the unequality is true, for identifying said preceding vehicle as said target vehicle and as remaining in said third region at time t_i and for generating said control signal based on l_i and said determined controlled vehicle speed.

9. Apparatus as recited in claim 8 further including means, operative if |l_3i -l_3i-1 |24 α

, for determining if |l_1i -l_3i-1 |<

α

, and if true, identifying said preceding vehicle as being in said first region at time t_i and as said target vehicle and for generating said control signal based on l_1i and said predetermined controlled vehicle speed, whereby said target vehicle is identified as moving from said third region to said first region.

10. A method for controlling the speed of a controlled vehicle to maintain a predetermined distance to a preceding vehicle identified as a target vehicle comprising the steps of:

(a) determining the speed of said controlled vehicle,

(b) controlling the speed of said controlled vehicle in response to a control signal,

(c) generating transmitted waves toward a predetermined region preceding said controlled vehicle,

(d) receiving waves reflected from objects in said predetermined region,

(e) dividing said predetermined region into at least a first and second adjacent regions and at least one of (1) transmitting separately defined transmitting waves into each of said first and second adjacent regions and (2) distinguishing the received reflected waves in a receiver as emanating from said first or second adjacent regions on the basis of aperture characteristics of said receiver,

(f) when said preceding vehicle is in said first region, periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiver, of said reflected waves, said distance defined by l_1i for the most recent calculation at time t_i and l_1i-1 for the immediately preceding calculation at time t_i-1,

(g) when said preceding vehicle is in said second region, periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiver, of said reflected waves, said distance defined by l_2i for the most recent calculation at time t_i and l_2i-1 for the immediately preceding calculation at time t_i-1,

(h) storing said distances l_1i-1 and l_2i-1,

(i) after said preceding vehicle is in said first region during time t_i-1 determing if |l_1i -l_1i-1 |<

α

where α

is a predetermined constant and, if the unequality if true, identifying said preceding vehicle as a target vehicle and as being in said first region at time t_i and generating said control signal based on l_1i and said determined controlled vehicle speed,

(j) if |l_1i -l_1i-1 |≧

α

, determining if |l_2i -l_1i-1 |<

α and

if |l_2i -l_1i-1 |<

α

identifying said preceding vehicle as being in said second region at time t_i and as said target vehicle and generating said control signal based on l_2i and said controlled vehicle speed.

11. A method as recited in claim 10 wherein the step of generating transmitted waves includes the step of generating transmitted waves at different times in each of said first and second regions.

12. A method as recited in claim 11 wherein said first region corresponds to a central region directly ahead of said controlled vehicle and said second region corresponds to a left or right region adjacent said central region, whereby said preceding vehicle is identified as said target vehicle even while said target vehicle is making a left or right turn.

13. A method as recited in claim 10 further including the steps of:

after said preceding vehicle is in said second region during time t_i-1 determining if |l_2i -|l_2i-1 |<

α

and, if true, identifying said preceding vehicle as said target vehicle and as remaining in said second region and generating said control signal based on l_2i.

14. A method as recited in claim 13 further including the steps of:

if |l_2i -l_2i-1 |≧

α

, determining if |l_1i -l_2i-1 |<

α

, and, if true, identifying said preceding vehicle as being in said first region at time t_i and as said target vehicle and generating said control signal based on l_1i and said determined controlled vehicle speed, whereby said target vehicle is identified as moving from said second region to said first region.

15. A method as recited in claim 10 wherein said predetermined region includes a third region, said first region defined centrally of said controlled vehicle, said second region defined to the right of said first region relative to the forward moving direction of said controlled vehicle and said third region defined to the left of said first region, and wherein said apparatus further comprises the steps of:

(a) when said preceding vehicle is in said third region periodically calculating a distance between said preceding vehicle and said controlled vehicle based on a measured travel time between the generation of said transmitted waves and the receipt, in said receiver, of said reflected waves, said distance defined by l_3i for the most recent calculation at time t_i and l_3i-1 for the immediately preceding calculation at time t_i-1,

(b) storing l_3i-1,

(c) after said preceding vehicle is in said third region during time t_i-1, determining |l_3i -l_3i-i |<

α

, and if the unequality is true, identifying said preceding vehicle as said target vehicle and as remaining in said third region at a time t_i and generating said control signal based on l₃₁ and said determined controlled vehicle speed.

16. A method as recited in claim 15 further including the steps of:

if |l_3i -l_3i-1 |≧

α

, determining if |l_1i -l_3i-1 |<

α and

, if true, identifying said preceding vehicle as being in said first region at time t_i and as said target vehicle and generating said control signal based on l_1i and said determined controlled vehicle speed, whereby said target vehicle is identified as moving from said third region to said first region.