Obstacle detection system for motor vehicle

• US 5,467,284 A
• Filed: 05/20/1994
• Issued: 11/14/1995
• Est. Priority Date: 05/24/1993
• Status: Expired due to Fees

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Yamamoto, Yasunori, Uemura, Hiroki, Yoshioka, Tohru, Adachi, Tomohiko, Niibe, Tadayuki, Doi, Ayumu, Okuda, Ken-ichi, Masuda, Naotsugu
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/247,206
• Time in Patent Office: 543 Days
• Field of Search: 364/426.04, 364/460, 364/461, 180/167-169, 180/176-179, 342/454, 342/455, 340/901, 340/903, 340/904, 340/435, 340/436
• US Class Current: 701/301
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

An obstacle detection apparatus for a motor vehicle detects another vehicle traveling in front of the vehicle as an obstacle. The apparatus has a first unit, providing a course on which the vehicle is supposed to travel, a second unit, providing a reserve course located outside of the course, an obstacle detector detecting the other vehicle traveling in the course or the reserve course as an obstacle, and an obstacle detection continuation unit continuously detecting the other vehicle until a predetermined condition has been satisfied when the other vehicle moves from the course to the reserve course.

Claims

1. An obstacle detection system for a motor vehicle which detects another vehicle traveling in front of the motor vehicle as an obstacle comprising:

course providing means for providing a course on which the motor vehicle is supposed to travel;

reserve course providing means for providing a reserve course located outside of the course on which the motor vehicle is supposed to travel;

detection means for detecting the other vehicle traveling in one of the course on which the motor vehicle is supposed to travel and the reserve course as an obstacle; and

obstacle detection continuation means for continuously detecting the other vehicle until a predetermined condition has been satisfied when the other vehicle moves from the course on which the motor vehicle is supposed to travel to the reserve course.

2. An obstacle detection system according to claim 1, wherein said predetermined condition is that a predetermined time period has passed.

3. An obstacle detection system according to claim 2, wherein said obstacle detection continuation means is adapted to change the predetermined time period based on a behavior of the other vehicle.

4. An obstacle detection system according to claim 2, wherein said obstacle detection continuation means is adapted to change the predetermined time period based on a distance moved by the other vehicle when the other vehicle moves from the course on which the vehicle is supposed to travel to the reserve course.

5. An obstacle detection system according to claim 1, wherein said reserve course providing means is adapted to change a width of the reserve course based on a distance between the motor vehicle and the other vehicle.

6. An obstacle detection system according to claim 1, wherein said reserve course providing means is adapted to change a width of the reserve course based on a frequency of unintentional steering movement of the vehicle.

7. An obstacle detection system according to claim 1, wherein said predetermined condition is that the other vehicle has moved outside of both the course on which the vehicle is supposed to travel and the reserve course.

8. An obstacle detection system according to claim 2, and further comprising traveling area detection means for detecting a corner of a road on which the motor vehicle is supposed to travel and wherein said obstacle detection continuation means is adapted to increase the predetermined time period when the traveling area detection means has detected the corner of the road.

9. An obstacle detection system according to claim 1, and further comprising traveling area detection means for detecting a corner of a road on which the motor vehicle is supposed to travel and wherein said reserve course providing means is adapted to increase a width of the reserve course when the traveling area detection means has detected the corner of the road.

10. An obstacle detection apparatus for a motor vehicle which detects another vehicle traveling in front of the motor vehicle as an obstacle comprising:

a first unit providing a course on which the motor vehicle is supposed to travel;

a second unit providing a reserve course located outside of the course on which the motor vehicle is supposed to travel;

an obstacle detector detecting the other vehicle traveling in one of the course on which the motor vehicle is supposed to travel and the reserve course as an obstacle; and

an obstacle detection continuation unit continuously detecting the other vehicle until a predetermined condition has been satisfied when the other vehicle moves from the course on which the motor vehicle is supposed to travel to the reserve course.

11. An obstacle detection apparatus according to claim 10, wherein said predetermined condition is that a predetermined time period has passed.

12. An obstacle detection apparatus according to claim 10, wherein said predetermined condition is that the other vehicle has moved outside of both the course on which the vehicle is supposed to travel and the reserve course.