Automobile collision avoidance system

• US 5,314,037 A
• Filed: 01/22/1993
• Issued: 05/24/1994
• Est. Priority Date: 01/22/1993
• Status: Expired due to Fees

• Current Assignee: David C.-H. Shaw, Judy Z.-Z Shaw
• Original Assignee: David C.-H. Shaw, Judy Z.-Z Shaw
• Inventors: Shaw, David C.-H., Shaw, Judy Z.-Z
• Primary Examiner(s): Johnson, Brian L.
• Application Number:
  US08/008,367
• Time in Patent Office: 487 Days
• Field of Search: 180/169, 340/903, 342/59, 342/70, 342/71, 342/109, 364/426.01, 364/426.04
• US Class Current: 180/169
• CPC Class Codes: B60K 23/08 for changing number of driven wheels , for switching from driving one axle to driving two or more axles B60K17/3515 takes precedence
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 28/165 acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential acting on brakes B60T8/17
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60R 16/0231 Circuits relating to the driving or the functioning of the vehicle monitoring tyres B60C23/00; indicating overspeed B60K31/00; for dash boards B60K37/00, B60Q3/10; for indicating emergencies B60Q1/52; brake control systems B60T; registering or indicating the working of vehicles G07C5/00; measuring distance G01C, e.g. combinations of speed and distance G01C23/00; engine indicators G01L; measuring speed or acceleration G01P
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
• CPC Class Codes: F16H 59/58 dependent on signals from the steering
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck
• CPC Class Codes: Y10S 188/01 Panic braking

Abstract

An automobile collision avoidance system based on laser radars for aiding in avoidance of automobile collisions. The very small beam width, very small angular resolution and the highly directional character of laser radars provide a plurality of advantages as compared with microwave radars. With two sets of laser radars this system can detect the location, the direction of movement, the speed and the size of all obstacles specifically and precisely. This system includes laser radars with transmitters and receivers, a computer, a warning device and an optional automatic braking device. A steering wheel rotation sensor or a laser gyroscope is utilized to give information of system-equipped vehicle'"'"'s directional change. The system will compare the predicted collision time with the minimal allowable time to determine the imminency of a collision. When the system determines that a situation likely to result in an accident exists, it provides a warning. An optional automatic braking device is disclosed to be used when the vehicle user fails to respond to a warning. Furthermore, a wheel skidding detecting system based on a discrepancy between the directional change rate predicted by a steering wheel rotation sensor and the actual directional change rate detected by a laser gyroscope is also disclosed. The detection of wheel skidding can be utilized by various vehicle control designs, including designs to adjust rear wheel steered angle in a four wheel steering vehicle, to alleviate or correct the wheel skidding. Designs to decelerate the engine or to adjust the transmission to lower gears are also disclosed to alleviate wheel skidding.

Claims

1. A collision avoidance system for a roadway vehicle comprising:

at least one laser radar unit being mounted on at least one of the vehicle'"'"'s four sides, including the front side, rear side, right side or left side, wherein each laser radar unit includes;

a transmitter means for transmitting laser radar signals;

a highly directional receiver means for receiving reflected laser radar signals by an obstacle from the said transmitted laser radar signals, and generating a first electronic signal thereof;

means for processing said first electronic signal to determine the distance and relative speed in radial direction of said detected obstacle as relative to said vehicle, and generating a second electronic signal representing said detected distance and said detected relative speed thereof;

a steering wheel rotation sensor for determining the degree of steering angle and generating a third electronic signal thereof;

an outside condition input means with a plurality of selectors, including a road condition selector, a day or night light selector, and a driver'"'"'s condition selector, wherein the selectors can be either manually selected by the vehicle user or automatically selected by branch circuits from the windshield wiper and the headlight, to match the ongoing road condition, light condition and driver'"'"'s condition respectively, and the selectors can generate fourth, fifth and sixth electronic signals representing the ongoing road condition, light condition and driver'"'"'s condition respectively;

a speed sensor functionally connected with a speedometer, wherein the speed sensor can generate a seventh electronic signal for the system-equipped vehicle'"'"'s speed;

a computer receiving input information from the first, second, third, fourth, fifth, sixth and seventh electronic signals, wherein the computer can process the received information and determine when a collision is imminent; and

alarm means functionally connected to the computer for producing an alarm upon receipt of a signal from the computer indicating a determination by the computer that a collision is imminent.

2. The collision avoidance system of claim 1, wherein one or a plurality of laser radar units are evenly separated from each other and are mounted on the front side of the vehicle and directed straight forward;

at least one laser radar unit is mounted on at least one of the right side of the vehicle, the left side of the vehicle and the rear side of the vehicle;

all of the said laser radar units being fixedly mounted with a predetermined scanning range.

3. The collision avoidance system of claim 1, wherein at least one laser radar unit is mounted on a rotatable structure and the rotatable structure is fixedly mounted on at least one of the four sides of the vehicle;

the rotatable structure being rotated by an electric motor clockwise and counterclockwise back and forth through a small predetermined angle to allow the laser radar unit to scan a narrow band of predetermined scanning zone;

or alternatively, the rotatable structure being rotated in one direction while the laser radar being emitting periodically to allow the laser radar to scan a narrow band of predetermined scanning zone.

4. The collision avoidance system of claim 1, wherein the computer includes means for processing the information from the second electronic signal to determine a predicted collision time related to the detected obstacle by dividing the detected distance by the said detected relative speed;

and the computer further includes means for processing the information from the second, third, fourth, fifth, sixth and seventh electronic signals to determine a minimal allowable time either by utilizing a predetermined multi-variable function with the function'"'"'s variables including at least the relative speed of obstacle, speed of system-equipped vehicle, degree of steering angle, road condition, light condition and driver'"'"'s condition, or by selectively reading a plurality of pre-stored memory matrices each storing information of minimal allowable time for a particular set of input variables.

5. The collision avoidance system of claim 4, wherein the computer includes means for comparing the predicted collision time with the minimal allowable time;

and the computer also includes means for generating an uppermost stage of commanding signal when the predicted collision time is shorter than the minimal allowable time; and

the computer further includes means for further generating a plurality of stages of less critical commanding signals when the predicted collision time is shorter than the minimal allowable time plus a plurality of predetermined periods of time;

whereupon the commanding signals are sent to the alarm means to actuate an uppermost degree of alarm upon receipt of an uppermost stage of commanding signal, and to actuate a plurality of degrees of a less serious alarm upon receipt of a plurality of correlating stages of less critical commanding signals.

6. A collision avoidance system for a roadway vehicle comprising:

at least two laser radar sets being mounted on at least one of the vehicle'"'"'s four sides including the front side, rear side, right side or left side, wherein on each of an equipped side, at least one laser radar set being mounted near one end of the equipped side and at least another set being mounted near the other end of the equipped side of the vehicle, each laser radar set including at least one laser radar unit, said laser radar unit including;

a transmitter means for transmitting laser radar signals;

a highly directional receiver means for receiving reflected laser radar signals by an obstacle from the transmitted laser radar signals and generating a first electronic signal thereof;

means for processing the first electronic signal to determine the distance of the obstacle and the radial component of the relative speed along the laser beam direction of the obstacle as relative to the vehicle, and generating a second electronic signal for the detected distance and the radial component of the relative speed;

an angle encoder or an angle sensor functionally connected with each laser radar unit, wherein the angle encoder or angle sensor can generate a third electronic signal for the direction of the associated laser radar unit at a same time when the laser radar unit receives reflected signals, said third electronic signal being indicative of the direction of location of the detected obstacle;

a steering wheel rotation sensor for determining the degree of steering angle and the direction of movement of the vehicle as relative to the earth to generate a fourth electronic signal for the vehicle'"'"'s direction of movement;

an outside condition input means with a plurality of selectors including road condition selector, day or night light selector, and driver'"'"'s condition selector, wherein the selectors can be either manually selected by the vehicle user or automatically selected by branch circuits from the windshield wiper and the headlight, to match the ongoing road condition, light condition, and driver'"'"'s condition respectively, and the selectors can generate fifth, sixth and seventh electronic signals representing the ongoing road condition, light condition and driver'"'"'s condition respectively;

a speed sensor functionally connected with a speedometer, wherein the speed sensor can generate an eighth electronic signal representing the system-equipped vehicle'"'"'s speed as relative to the earth;

a computer receiving information from the first, second, third, fourth, fifth, sixth, seventh and eighth electronic signals, wherein the computer can process the received information and determine when a collision is imminent;

alarm means functionally connected to the computer for producing an alarm upon receipt of a signal from the computer indicating a determination by the computer that a collision is imminent; and

an optional automatic braking means functionally connected with the computer, to be actuated by the computer after a predetermined waiting period of time following the actuation of the alarm means, and to be rendered unactivable or be deactivated by the computer either when the computer detects a change of the fourth electronic signal exceeding a predetermined amount after the actuation of the alarm means, or when the computer detects a change of the eighth electronic signal exceeding a predetermined amount within the waiting period.

7. The collision avoidance system of claim 6, wherein each laser radar set includes a plurality of laser radar units evenly separated angularly and arrayed on a semicircular disc with each laser radar unit directed at a predetermined direction such that the laser radar set can scan a 180 degree semicircular zone, the radius of the semicircular zone being a predetermined range of each laser radar unit, said predetermined direction of each laser radar unit being encoded by each associated angle encoder.

8. The collision-avoidance system of claim 6, wherein each laser radar set includes at least one laser radar unit mounted on a rotatable structure, said rotatable structure being rotated by an electric motor through at least 180 degrees such that the said laser radar unit can scan a 180 degree semicircular zone, said laser radar unit being capable of emitting laser radar beams intermittently at detectable or predetermined emitting angles, and the associated angle sensor being capable of generating the third electronic signal for the direction of the laser radar beam at each emitting angle.

9. The collision avoidance system of claim 7, wherein the computer includes means to process the second and the third electronic signals from the at least two laser radar sets to determine the direction of movement and the speed of the obstacle as relative to the system-equipped vehicle and thereby to generate a ninth electronic signal for the direction of movement of the obstacle, and a tenth electronic signal for the relative speed of the obstacle;

and the computer also includes means to estimate the size of the obstacle by counting the number of laser radar beams being reflected back by the obstacle to generate an eleventh electronic signal for the size of the obstacle thereof; and

the computer further includes means to process the second, third, fourth, eighth, ninth and tenth electronic signals to determine the speed and direction of movement of the obstacle as relative to the earth and to generate a twelfth electronic signal for the speed of obstacle as relative to the earth, and a thirteenth electronic signal for the direction of movement of the obstacle as relative to the earth.

10. The collision avoidance system of claim 9, wherein the computer includes means to process the information received from the second, third, fourth, eighth, twelfth and thirteenth electronic signals to predict the locations and courses of movement of the vehicle and the obstacle respectively, and thereby to determine a predicted collision time if both the vehicle and the obstacle continue to move at their own current speeds and directions;

and the computer further includes means to process the fourth, fifth, sixth, seventh, eighth, eleventh and twelfth electronic signals to determine a minimal allowable time, either by utilizing a predetermined multi-variable function with the function'"'"'s variables including at least the vehicle'"'"'s degree of steering angle, road condition, light condition, driver'"'"'s condition, vehicle'"'"'s speed as relative to earth, obstacle'"'"'s size, and speed of obstacle as relative to earth, or by selectively reading a plurality of pre-stored memory matrices each storing information of minimal allowable time for a particular set of input variables.

11. The collision avoidance system of claim 10, wherein the computer includes means for comparing the predicted collision time with the minimal allowable time;

and the computer also includes means for generating an uppermost stage of commanding signal when the predicted collision time is shorter than the minimal allowable time; and

the computer further includes means for further generating a plurality of stages of less critical commanding signals when the predicted collision time is shorter than the minimal allowable time plus a plurality of predetermined periods of time;

whereupon the commanding signals are sent to the alarm means to actuate an uppermost degree of alarm upon receipt of an uppermost stage of commanding signal, and to actuate a plurality of degrees of a less serious alarm upon receipt of a plurality of correlating stages of less critical commanding signals.

12. The collision avoidance system of claim 8, wherein the computer includes means to process the second and the third electronic signals from the at least two laser radar sets to determine the direction of movement and the speed of the obstacle as relative to the system-equipped vehicle and thereby to generate a ninth electronic signal for the direction of movement of the obstacle, and a tenth electronic signal for the relative speed of the obstacle;

and the computer also includes means to estimate the size of the obstacle by counting the number of laser radar beams being reflected back by the obstacle to generate an eleventh electronic signal for the size of the obstacle thereof; and

the computer further includes means to process the second, third, fourth, eighth, ninth and tenth electronic signals to determine the speed and direction of movement of the obstacle as relative to the earth and to generate a twelfth electronic signal for the speed of the obstacle as relative to the earth, and a thirteenth electronic signal for the direction of movement of the obstacle as relative to the earth.

13. The collision avoidance system of claim 12, wherein the computer includes means to process the information received from the second, third, fourth, eighth, twelfth and thirteenth electronic signals to predict the locations and courses of movement of the vehicle and the obstacle respectively, and thereby to determine a predicted collision time if both the vehicle and the obstacle continue to move at their own current speeds and directions;

and the computer further includes means to process the fourth, fifth, sixth, seventh, eighth, eleventh and twelfth electronic signals to determine a minimal allowable time, either by utilizing a predetermined multi-variable function with the function'"'"'s variables including at least the vehicle'"'"'s degree of steering angle, road condition, light condition, driver'"'"'s condition, vehicle'"'"'s speed as relative to earth, obstacle'"'"'s size, and speed of obstacle as relative to earth, or by selectively reading a plurality of pre-stored memory matrices each storing information of minimal allowable time for a particular set of input variables.

14. The collision avoidance system of claim 13, wherein the computer includes means for comparing the predicted collision time with the minimal allowable time;

and the computer also includes means for generating an uppermost stage of commanding signal when the predicted collision time is shorter than the minimal allowable time; and

the computer further includes means for further generating a plurality of stages of less critical commanding signals when the predicted collision time is shorter than the minimal allowable time plus a plurality of predetermined periods of time;

whereupon the commanding signals are sent to the alarm means to actuate an uppermost degree of alarm upon receipt of an uppermost stage of commanding signal, and to actuate a plurality of degrees of less serious alarm upon receipt of a plurality of correlating stages of less critical commanding signals.

15. The collision avoidance system of claim 11, wherein the system includes a laser gyroscope horizontally mounted on the system-equipped vehicle to detect any directional change rate of the vehicle in the horizontal plane;

and the system further includes means to process the information of the vehicle directional change rate to determine the vehicle'"'"'s direction of movement and to generate a fourteenth electronic signal for the vehicle'"'"'s direction of movement;

said fourteenth electronic signal being sent to and being utilized by the computer to substitute for the information of the vehicle'"'"'s direction of movement from the fourth electronic signal.

16. The collision avoidance system of claim 14, wherein the system includes a laser gyroscope horizontally mounted on the system-equipped vehicle to detect any directional change rate of the vehicle in the horizontal plane;

and the system further includes means to process the information of the vehicle directional change rate to determine the vehicle'"'"'s direction of movement and to generate a fourteenth electronic signal for the vehicle'"'"'s direction of movement;

said fourteenth electronic signal being sent to and being utilized by the computer to substitute for the information of the vehicle'"'"'s direction of movement from the fourth electronic signal.

17. A wheel skidding detecting system for a roadway vehicle comprising:

a laser gyroscope horizontally mounted on the vehicle to detect any horizontal directional change rate of the vehicle and to generate a first electronic signal for the actual directional change rate of the vehicle;

a speed sensor functionally connected with a speedometer, wherein the speed sensor can generate a second electronic signal for the vehicle'"'"'s speed;

a steering wheel rotation sensor for determining the degree of steered angle and the direction of movement of the vehicle, wherein the steering wheel rotation sensor can generate a third electronic signal for the direction of movement of the vehicle;

a computer receiving information of the first, second and third electronic signals, wherein the computer includes means to process the second and the third electronic signals to determined a predicted directional change rate of the vehicle; and

the computer also includes means to calculate a discrepancy between the actual directional change rate and the predicted directional change rate and to determine the presence of wheel skidding based on the magnitude of the discrepancy exceeding a predetermined amount, with the magnitude, positivity or negativity of the discrepancy being correlated with the severity and direction of the wheel skidding; and

the computer further includes means to generate electronic output signals for the presence, magnitude and direction of wheel skidding thereof; and

a vehicle control means receiving the electronic output signals for the presence, magnitude and direction of wheel skidding, wherein the vehicle control means includes various means to respond to the electronic output signals by adjusting at least one of the vehicle acceleration, vehicle steering, vehicle braking, vehicle transmission and other designs related to vehicle control;

said vehicle control means being actuated or deactivated by the presence or the absence of said electronic output signals respectively.

18. The wheel skidding detecting system of claim 17, wherein the vehicle is one of a four wheel steering vehicle and a vehicle with rear wheel steering capability, and the vehicle control means includes at least a rear wheel steering angle adjusting means for adjusting the steered angle of rear wheels to alleviate or correct the wheel skidding.

19. The wheel skidding detecting system of claim 17, wherein the vehicle control means includes at least a vehicle engine deceleration means to automatically decelerate the vehicle engine to alleviate or correct the wheel skidding.

20. The wheel skidding detecting system of claim 17, wherein the said vehicle control means includes at least a vehicle transmission adjusting means to automatically adjust the transmission to lower gears to alleviate or correct the wheel skidding in a front wheel drive vehicle or a rear wheel drive vehicle;

and the vehicle control means further includes at least a vehicle transmission adjusting means to automatically adjust or shift the transmission to lower gears and a driveline adjusting means to automatically adjust the driveline into all wheel drive mode in a vehicle with dual mode two-wheel drive and four-wheel drive capability, to alleviate or correct wheel skidding.