Obstacle warning system for a vehicle

• US 5,754,099 A
• Filed: 03/24/1995
• Issued: 05/19/1998
• Est. Priority Date: 03/25/1994
• Status: Expired due to Term

• Current Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Original Assignee: Nippondenso Co., Ltd. (DENSO Corporation)
• Inventors: Hibino, Katsuhiko, Nishimura, Takao, Shirai, Noriaki
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): GOINS, DAVETTA WOODS
• Application Number:
  US08/410,638
• Time in Patent Office: 1,152 Days
• Field of Search: 340/435, 340/903, 342/70, 364/461
• US Class Current: 340/435
• 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 17/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• 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 2013/9325 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: G05D 1/024 in combination with a laser lasers per se H01S
• 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 warning system for a vehicle includes a distance measuring device for emitting a transmission wave or laser light in a given angular range in a direction of a width of the vehicle in a scanning manner, and for detecting a distance between the vehicle and an obstacle in correspondence with a scan angle on the basis of a reflected wave or reflected light from the obstacle. A relative position calculating device calculates a relative position of the obstacle with respect to the vehicle on the basis of the distance detected by the distance measuring device and a corresponding scan angle. A radius calculating device calculates a radius of an estimated relative curved path of the vehicle with respect to the obstacle on the basis of relative positions of at least two points of the obstacle which are calculated by the relative position calculating device. A warning area setting device sets a given warning area on the basis of the width of the vehicle and the radius calculated by the radius calculating device. A warning device executes a given warning process if the obstacle remains in the warning area for a given period of time.

Claims

1. An obstacle warning system for a vehicle, comprising:

distance measuring system for emitting a reflectable signal at a given angular range in a width-wise direction of the vehicle in a scanning manner and for detecting a distance between the vehicle and a movable obstacle in correspondence with a scan angle based on a reflection of the reflectable signal from the obstacle;

relative position calculating means for calculating a relative position of the movable obstacle with respect to the vehicle based on the distance detected by the distance measuring means and a corresponding scan angle;

radius calculating means for calculating a radius of an estimated relative curved path of the vehicle with respect to the movable obstacle based on relative positions of at least two points of the movable obstacle which are calculated by the relative position calculating means;

warning area setting means for setting a given warning area based on the width of the vehicle and the radius calculated by the radius calculating means; and

first warning means for executing a first warning process responsive to the movable obstacle remaining in the warning area for a predetermined period of time.

2. The obstacle warning system of claim 1, wherein the radius calculating means comprises means for calculating the radius of the estimated relative curved path of the vehicle based on two correction-resultant relative positions which are derived from relative positions of at least three points of the movable obstacle.

3. The obstacle warning system of claim 1, further comprising straight travel assuming means for regarding a straight traveling condition as being present responsive to an amount of movement of the movable obstacle relative to the vehicle in the direction of the width of the vehicle no greater than a first predetermined value and responsive to the movable obstacle being in a predetermined area directly in front of the vehicle based on relative positions of at least two points of the movable obstacle which are calculated by the relative position calculating means;

wherein in cases where the straight travel assuming means regards a straight traveling condition as being present, the radius calculating means regards the radius as being infinite without executing a normal radius calculating process while the warning area setting means sets the given warning area based on the infinite radius and the width of the vehicle.

4. The obstacle warning system of claim 1, wherein in cases where at least a part of the movable obstacle moves with respect to the vehicle from a given angular range which can be scanned by the distance measuring system to a region outside the given angular range, the relative position of the movable obstacle is calculated by the relative position calculating means as being a position corresponding to an edge of the movable obstacle closer to the vehicle before at least a part of the movable obstacle moves relative to the vehicle to the region outside the given angular range.

5. The obstacle warning system of claim 1, wherein in cases where a width of the movable obstacle which is recognized based on the relative position thereof corresponds to a given vehicle width and corresponds to a width of a vehicle reflector, the radius calculating unit calculates the radius of the estimated curved path based on data corresponding to the width of the vehicle reflector.

6. The obstacle warning system of claim 1, further comprising:

vehicle speed detecting means for detecting a speed of the vehicle;

relative speed calculating unit for calculating a relative speed of the movable obstacle with respect to the vehicle based on the relative position calculated by the relative position calculating means;

motion judgment means for judging whether the movable obstacle is moving based on the relative speed of the movable obstacle and the speed of the vehicle; and

second warning means for executing a second warning process responsive to the motion judgment means determining that the movable obstacle is moving and has remained in an auxiliary warning area set with respect to the vehicle for a given time, even if the first warning process based on the warning area is not executed by the first warning means.

7. The obstacle warning system of claim 6, wherein the auxiliary warning area is set with respect to the vehicle based on a standard vehicle speed assumed in consideration of a road shape.

8. A warning system for a vehicle, comprising:

first means for periodically detecting a position of a movable obstacle relative to the vehicle;

second means for estimating a trajectory of the vehicle relative to the movable obstacle in response to the position of the obstacle periodically detected by the first means;

third means for calculating a radius of a curvature of the trajectory estimated by the second means;

fourth means for setting a warning area in response to the radius calculated by the third means;

fifth means for detecting whether the position of the movable obstacle periodically detected by the first means remains in the warning area set by the fourth means during a predetermined period of time;

sixth means for generating an alarm responsive to the fifth means determining that the position of the movable obstacle has remained in the warning area for the predetermined period of time; and

seventh means for inhibiting generation of an alarm responsive to the fifth means determining that the position of the obstacle has not remained in the warning area for the predetermined period of time.

9. An obstacle warning system for a vehicle, comprising:

a distance measuring system emitting a reflectable signal of a given angular range in a width-wise direction of the vehicle in a scanning manner and detecting a distance between the vehicle and a movable obstacle in correspondence with a scan angle based on a reflection of the reflectable signal from the obstacle;

a relative position calculating unit calculating a relative position of the movable obstacle with respect to the vehicle based on the distance detected by the distance measuring system and a corresponding scan angle;

radius calculating unit calculating a radius of an estimated relative curved path of the vehicle with respect to the movable obstacle based on relative positions of at least two points of the movable obstacle calculated by the relative position calculating unit;

warning area setting unit setting a given warning area based on the width of the vehicle and the radius calculated by the radius calculating unit; and

warning system executing a given warning process responsive to the movable obstacle remaining in the warning area for a predetermined period of time.