Running-safety system for an automotive vehicle

• US 5,530,651 A
• Filed: 08/03/1993
• Issued: 06/25/1996
• Est. Priority Date: 08/03/1992
• Status: Expired due to Term

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Okuda, Kenichi, Masuda, Naotsugu, Yamamoto, Yasunori, Uemura, Hiroki, Yoshioka, Tohru, Adachi, Tomohiko, Niibe, Tadayuki, Doi, Ayumu, Morioka, Satoshi, Butsuen, Tetsuro
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/101,318
• Time in Patent Office: 1,057 Days
• Field of Search: 364/424.05, 364/426.01, 364/424.02, 364/461, 340/435, 340/436, 340/438, 180/167, 180/168, 180/169, 180/275, 342/70, 342/71, 342/72, 356/5, 356/28
• US Class Current: 701/301
• 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: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 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 2013/9322 using additional data, e.g. driver condition, road state or weather data
• 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
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G01S 7/4039 of sensor or antenna obstruction, e.g. dirt- or ice-coating

Abstract

The vehicle is provided with a radar unit for detecting an obstacle existing ahead in the course of the running way along which the vehicle is running. When the radar unit detects a variation in its detectable region, such as a detectable distance or a detectable area range in left and right directions, from the detectable region to be detectable during ordinary running, a safety unit such as an alarm unit or an automatic brake unit is operated. A control logic for operating a collision-avoiding system for avoiding a collision with the obstacle existing ahead, such as an alarm unit or an automatic brake unit, is altered to a safe side on which safety in driving the vehicle is improved, when the detectable region is varied.

Claims

1. A running-safety system for an automotive vehicle, comprising:

obstacle detecting means for detecting an obstacle in a detectable region existing ahead of the automotive vehicle in a running way along which the vehicle is running;

detection means for detecting a variation from a normal state of the detectable region; and

safety means for taking an action to make running of the vehicle safe when the detection means detects a variation of the detectable region from the normal state.

2. A running-safety system as claimed in claim 1, wherein:

said detection means detects a decrease in the detectable region of the running way; and

said safety means is operated when said detectable region is decreased.

3. A running-safety system as claimed in claim 2, wherein said detection means detects an opacity of said obstacle detecting means to thereby detect a decrease in the detectable region of the running way when said obstacle detecting means is stained or soiled.

4. A running-safety system as claimed in claim 2, wherein said detection means detects rain to thereby detect a decrease in the detectable region of the running way when the rain is detected.

5. A running-safety system as claimed in claim 4, wherein a rate at which said safety means is altered to a safe side is set to become greater as a pressure of rain detected by said detection means becomes higher.

6. A running-safety system as claimed in claim 2, wherein said detection means detects a blind curved corner existing ahead in the running way to thereby detect a decrease in the detectable region.

7. A running-safety system as claimed in claim 2, wherein a rate at which said safety means is altered to a safe side becomes greater as a rate at which the detectable region of the running way to be detectable by said obstacle detecting means becomes greater.

8. A running-safety system as claimed in claim 1, wherein:

said detection means detects a decrease in the detectable distance of the running way; and

said safety means is operated when said detectable distance is decreased.

9. A running-safety system as claimed in claim 1, wherein:

said detection means detects a decrease in the detectable region of the running way in left and right directions; and

said safety means is operated when said detectable region in the left and right directions is decreased.

10. A running-safety system as claimed in claim 1, wherein said safety means comprises an alarm unit disposed within a cabin of the vehicle for producing an alarm.

11. A running-safety system as claimed in claim 1, wherein said safety means alters a running status of the vehicle to a safe side.

12. A running-safety system as claimed in claim 1, wherein said safety means decelerates the vehicle.

13. A running-safety system as claimed in claim 12, wherein said safety means comprises an automatic brake unit for automatically applying braking force to each wheel.

14. A running-safety system as claimed in claim 1, wherein:

said safety means comprises an alarm unit disposed within a cabin of the vehicle for producing an alarm and a running-status altering means for altering a running status of the vehicle to a safe side.

15. A running-safety system as claimed in claim 14, wherein:

said alarm unit comprises at least one of an alarm lamp and an alarm buzzer; and

said running-status altering means comprises an automatic brake unit for automatically applying a braking force to each wheel of the vehicle.

16. A running-safety system as claimed in claim 1, wherein said obstacle detecting means comprises at least a radar unit of an ultrasonic type or a radar unit of a laser type.

17. A running-safety system as claimed in claim 1, further comprising:

decision means for making a decision in accordance with output from said obstacle detecting means to determine if there is a risk that the vehicle will collide with the obstacle existing ahead in the running way; and

collision-avoiding means for avoiding a collision with the obstacle when it is decided by said decision means that there is the risk that the vehicle will collide with the obstacle;

wherein said detection means detects a decrease in a detectable distance of the running way to be detectable by said obstacle detecting means; and

wherein said safety means alters a decision logic for deciding the risk of collision of the vehicle with the obstacle to a safe side, when said detection means detects a decrease in said detectable distance.

18. A running-safety system as claimed in claim 17, wherein:

said decision means decides the risk of collision of the vehicle with the obstacle when a distance of the running way between the vehicle and the obstacle, obtained on the basis of output from said obstacle detecting means, becomes equal to or shorter than a predetermined distance; and

said safety means alters said predetermined distance to become shorter than its original distance.

19. A running-safety system as claimed in claim 18, wherein:

said predetermined distance comprises a first predetermined distance and a second predetermined distance that is set to become shorter than said first predetermined distance;

said collision-avoiding means comprises first collision-avoiding means set to correspond to said first predetermined distance and a second collision-avoiding means set to correspond to said second predetermined distance;

said first collision-avoiding means is operated when it is decided by said decision means that a distance of the running way between the vehicle and the obstacle becomes equal to or shorter than said first predetermined distance;

said second collision-avoiding means is operated when it is decided by said decision means that the distance of the running way between the vehicle and the obstacle becomes equal to or shorter than said second predetermined distance; and

said safety means makes said first predetermined distance and said second predetermined distance shorter than each of their original distances.

20. A running-safety system as claimed in claim 19, wherein:

said first collision-avoiding means comprises an alarm unit for producing an alarm for an operator; and

said second collision-avoiding means comprises an automatic brake unit for decelerating a speed of the vehicle.

21. A running-safety system as claimed in claim 19, wherein said first predetermined distance and said second predetermined distance are each set to become shorter as the detectable distance of the running way to be detectable by said obstacle detecting means becomes shorter.

22. A running-safety system as claimed in claim 1, further comprising:

decision means for making a decision that there is a risk that the vehicle will collide with the obstacle existing ahead in the running way, when a distance of the running way between the body of the vehicle and the obstacle, obtained on the basis of output from said obstacle detecting means, becomes equal to or shorter than a predetermined distance; and

collision-avoiding means for avoiding a collision with the obstacle when it is decided by said decision means that there is the risk that the vehicle will collide with the obstacle;

wherein said detection means detects a decrease in the detectable distance to be detectable by said obstacle detecting means; and

wherein said safety means operates said collision-avoiding means prior to the decision made by said decision means when the decrease in the detectable distance is detected by said detection means.

23. A running-safety system as claimed in claim 22, wherein:

said collision-avoiding means contains an automatic brake unit for decelerating a speed of the vehicle; and

said safety means operates said automatic brake unit during a period of time when a maximally detectable distance detectable by said obstacle detecting means becomes longer than said predetermined distance after the detectable distance has been reduced.

24. A running-safety system as claimed in claim 23, further comprising an alarm unit for producing an alarm when said automatic brake unit is operated by said safety means.

25. A running-safety system as claimed in claim 24, wherein:

said collision-avoiding means has a first alarm unit for producing an alarm in addition to said automatic brake unit; and

said alarm unit to be operated when said automatic brake unit is operated by said safety means comprises a second alarm unit disposed discretely from said first alarm unit.

26. A running-safety system as claimed in claim 25, wherein:

one of said first alarm unit and said second alarm unit is an alarm lamp; and

the other of said first alarm unit and said second alarm unit is an alarm buzzer.

27. A running-safety system as claimed in claim 1, further comprising:

decision means for deciding if a distance of the running way between the body of the vehicle and the obstacle, obtained on the basis of output from said obstacle detecting means, is shorter than a predetermined distance; and

collision-avoiding means for avoiding a collision with the obstacle when it is decided by said decision means that the distance between the body of the vehicle and the obstacle, is shorter than said predetermined distance;

wherein said detection means detects a decrease in the detectable distance of the running way to be detectable by said obstacle detecting means; and

wherein said safety means comprises an automatic brake unit for decelerating a speed of the vehicle and operates said automatic brake unit when the decrease in the detectable distance to be detectable by said obstacle detecting means is detected by said detection means.

28. A running-safety system as claimed in claim 27, wherein:

said collision-avoiding means contains said automatic brake unit; and

said automatic brake unit as said safety means is operated prior to the decision to be made by said decision means when the decrease in the detectable distance to be detectable by said obstacle detecting means is detected by said detection means.

29. A running-safety system as claimed in claim 25, wherein said predetermined distance becomes longer as a relative speed of the vehicle relative to the obstacle in a direction in which the vehicle approaches the obstacle becomes faster.

30. A running-safety system as claimed in claim 29, wherein:

said predetermined distance is set as a first predetermined distance and a second predetermined distance, said second predetermined distance being set so as to become longer as the relative speed of the vehicle relative to the obstacle in a direction in which the vehicle approaches the obstacle becomes faster and to be shorter than said first predetermined distance;

said collision-avoiding means contains an alarm unit in addition to said automatic brake unit, said alarm unit being operated when it is decided by said detection means that a distance of the running way between the vehicle and the obstacle is equal to or shorter than said first predetermined distance, and said automatic brake unit being operated when it is decided by said detection means that the distance between the vehicle and the obstacle is equal to or shorter than said second predetermined distance; and

said safety means decelerates a speed of the vehicle by operating said automatic brake unit prior to the decision by said detection means when a decrease in the detectable distance to be detectable by said obstacle detecting means is detected by said detection means.

31. A running-safety system as claimed in claim 30, wherein a period of time during which said automatic brake unit is operated by said safety means is set to be a period of time during which a maximally detectable distance to be detectable by said obstacle detecting means in a state in which the detectable distance to be detectable by said obstacle detecting means is decreased becomes longer than said first predetermined distance.

32. A running-safety system as claimed in claim 31, wherein said first predetermined distance and said second predetermined distance are each set to become longer as the speed of the vehicle becomes faster.

33. A running-safety system as claimed in claim 1, wherein said detection means detects an extension of the running way in left and right directions outside a detectable range of the running way to be detectable by said obstacle detecting means.

34. A running-safety system as claimed in claim 33, wherein said safety means comprises an alarm unit for producing an alarm for an operator.

35. A running-safety system as claimed in claim 33, wherein said safety means comprises an automatic brake unit for decelerating the speed of the vehicle.

36. A running-safety system as claimed in claim 33, wherein said detection means assumes the running way of the vehicle on the basis of a steered angle of a steering wheel and the speed of the vehicle.

37. A running-safety system as claimed in claim 33, wherein said detection means detects a cornered road existing ahead in the course of the running way of the vehicle beyond a maximally detectable distance thereof to be detectable by said obstacle detecting means, to thereby determine that the running way of the vehicle extends in left and right directions outside a detectable region thereof to be detectable by said obstacle detecting means.

38. A running-safety system as claimed in claim 33, wherein said detection means detects cornering of the vehicle at a steep angle and further detects an extension of the running way of the vehicle in left and right directions outside the detectable region thereof to be detectable by said obstacle detecting means at the time of the cornering of the vehicle at the steep angle.

39. A running-safety system as claimed in claim 33, wherein:

said detection means detects an extension of the running way of the vehicle in the left and right directions outside the detectable region of the running way to be detectable by said obstacle detecting means when the maximally detectable distance to be detectable by said obstacle detecting means is shorter than a predetermined distance; and

said predetermined distance is determined on the basis of an angle at which obstacle detecting means detects the obstacle existing ahead in left and right directions of the running way, a radius of curvature of the running way along which the vehicle is running, a laterally slipping angle of the body of the vehicle, and a direction in which a steering wheel is steered.

40. A running-safety system as claimed in claim 39, wherein said radius of curvature of the running way and said laterally slipping angle of the body of the vehicle are determined each on the basis of the steered angle of the steering wheel and the speed of the vehicle.

41. A running-safety system for an automotive vehicle, comprising:

obstacle detecting means for detecting an obstacle existing ahead in a running way along which the vehicle is running;

detection means for detecting a decrease in performance of detection of the obstacle by said obstacle detecting means; and

safety means for taking an action to make running of the vehicle safe when said detection means detects the decrease in the performance of detection of the obstacle by said obstacle detecting means.

42. A running-safety system as claimed in claim 41, wherein said detection means detects an opacity of said obstacle detecting means to thereby detect a decrease in the detectable region of the running way when said obstacle detecting means is stained or soiled.

43. A running-safety system as claimed in claim 41, wherein said detection means detects rain to thereby detect a decrease in the detectable region of the running way when the rain is detected.

44. A running-safety system as claimed in claim 43, wherein a rate at which said safety means is altered to a safe side is set to become greater as a pressure of rain detected by said detection means becomes higher.

45. A running-safety system as claimed in claim 41, wherein said detection means detects a blind curved corner existing ahead in the running way to thereby detect a decrease in the detectable region.

46. A running-safety system as claimed in claim 41, wherein a rate at which said safety means is altered to a safe side becomes greater as a rate at which the detectable region of the running way to be detectable by said obstacle detecting means becomes greater.

47. A running-safety system for an automotive vehicle, comprising:

obstacle detecting means for detecting an obstacle in a detectable region existing ahead of the automotive vehicle in a running way along which the vehicle is running;

direction detecting means for detecting a direction in which the vehicle is running;

detection means for detecting a variation of the detectable region; and

safety means for taking an action to make running of the vehicle safe when the detectable region does not lie in the direction in which the vehicle is running.

48. A running-safety system as claimed in claim 47, wherein said safety means comprises an alarm unit for producing an alarm for an operator.

49. A running-safety system as claimed in claim 47, wherein said safety means comprises an automatic brake unit for decelerating the speed of the vehicle.

50. A running-safety system as claimed in claim 47, wherein said detection means assumes the running way of the vehicle on the basis of a steered angle of a steering wheel and the speed of the vehicle.

51. A running-safety system as claimed in claim 47, wherein said detection means detects a cornered road existing ahead in the course of the running way of the vehicle beyond a maximally detectable distance thereof to be detectable by said obstacle detecting means, to thereby determine that the running way of the vehicle extends in left and right directions outside a detectable region thereof to be detectable by said obstacle detecting means.

52. A running-safety system as claimed in claim 47, wherein said detection means detects cornering of the vehicle at a steep angle and further detects an extension of the running way of the vehicle in left and right directions outside the detectable region thereof to be detectable by said obstacle detecting means at the time of the cornering of the vehicle at the steep angle.

53. A running-safety system as claimed in claim 47, wherein:

said detection means detects an extension of the running way of the vehicle in the left and right directions outside the detectable region of the running way to be detectable by said obstacle detecting means when the maximally detectable distance to be detectable by said obstacle detecting means is shorter than a predetermined distance; and

said predetermined distance is determined on the basis of an angle at which obstacle detecting means detects the obstacle existing ahead in left and right directions of the running way, a radius of curvature of the running way along which the vehicle is running, a laterally slipping angle of the body of the vehicle, and a direction in which a steering wheel is steered.

54. A running-safety system as claimed in claim 53, wherein said radius of curvature of the running way and said laterally slipping angle of the body of the vehicle are determined each on the basis of the steered angle of the steering wheel and the speed of the vehicle.