Apparatus for determining the distance of a vehicle from a roadway side marking

• US 5,890,083 A
• Filed: 03/07/1996
• Issued: 03/30/1999
• Est. Priority Date: 03/07/1995
• Status: Expired due to Fees

• Current Assignee: Daimler Chrysler Company LLC (Fiat Chrysler Automobiles N.V.)
• Original Assignee: Daimler-Benz AG (Daimler AG)
• Inventors: Hahn, Stefan, Franke, Uwe
• Primary Examiner(s): ZANELLI, MICHAEL J
• Time in patent office: 1118 Days
• Field of Search: 364/424.055, 364/424.045, 364/424.033, 364/460, 364/461, 348/118, 348/119, 356/3.14, 701/45, 701/36, 701/28, 701/300, 701/301, 180/168, 180/169
• US Class Current: 701/45
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/784 using a mosaic of detectors
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors

Abstract

Apparatus is provided for determining the distance of a vehicle from a roadway side marking. An arrangement of light sensitive sensor elements is fitted to the vehicle for optically scanning a portion of the roadway located in front of the vehicle. An evaluation unit, connected downstream of the sensor element arrangement, is also provided. Only one or a few sensor element lines are used as the sensor element arrangement. Each line scans a narrow strip of the roadway which runs in front of the vehicle, not parallel to the vehicle longitudinal axis, and extends laterally as far as the roadway side marking. The evaluation unit reads each sensor element line sequentially and processes the received signals to determine the lateral distance of the vehicle from the roadway marking. The relatively small quantity of data which accumulates permits the processing of the data digitally in real time by a conventional microprocessor. The apparatus is used as sleep warning system or lane guard for motor vehicles.

Claims

1. An apparatus for determining distance of a vehicle from at least one roadway side marking, comprising:

at least first and second light-sensitive sensor elements arranged on the vehicle for optically scanning respective first and second strips of the roadway, which strips are not parallel to a longitudinal axis of said vehicle and extend laterally with respect to the roadway at least as far as the at least one roadway side marking; and

an evaluation unit operatively coupled to receive output signals from the first and second sensor elements, said evaluation unit reading said output signals of each of said first and second sensor elements sequentially and processing said output signals for determining a lateral distance of the vehicle from the at least one roadway side marking;

wherein said first and second strips of the roadway are spaced apart from each other in a direction of said longitudinal axis of said vehicle.

2. Apparatus according to claim 1, further comprising:

a warning signal-producing apparatus having loudspeakers fitted to an interior side of the vehicle via which, in an event of a threatened crossing of the roadway marking by the vehicle which is detected by the evaluation unit, emit an artificially produced rumble strip noise from an interior side of the vehicle on a side on which the vehicle threatens to cross the roadway marking.

3. The apparatus according to claim 2, wherein the sensor elements are part of a line camera fitted behind a windscreen of the vehicle and inclined forward and downward such that each sensor element line scans an associated strip of the roadway extending at right angles to the vehicle longitudinal axis and located between approximately 4 m and 10 m in front of the vehicle.

4. The apparatus according to claim 3, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a determined yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.

5. The apparatus according to claim 2, wherein:

a height of the sensor elements above the roadway, a horizontal distance of the sensor elements from the strip of the roadway scanned by it, and a vehicle speed of the vehicle, are used as input variables for the evaluation unit; and

the evaluation unit determines from said input signals at least one of a yaw angle error and a roadway width between the roadway side markings.

6. The apparatus according to claim 5, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a determined yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.

7. The apparatus according to claim 2, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a determined yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.

8. The apparatus according to claim 1, wherein said first and second sensor elements are part of a line camera fitted behind a windscreen of the vehicle and inclined forward and downward such that each sensor element line scans an associated strip of the roadway extending at right angles to the vehicle longitudinal axis and located between approximately 4 m and 10 m in front of the vehicle.

9. The apparatus according to claim 8, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a determined yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.

10. The apparatus according to claim 1, wherein:

a height of the sensor elements above the roadway, a horizontal distance of the sensor elements from the strips of the roadway scanned, and a vehicle speed of the vehicle, are used as input variables for the evaluation unit; and

the evaluation unit determines from said input signals at least one of a yaw angle error and a roadway width between the roadway side markings.

11. The apparatus according to claim 10, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a determined yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.

12. The apparatus according to claim 1, wherein the evaluation unit determines a time duration until the vehicle would reach a roadway side marking from determined lateral distances of the vehicle from the roadway side markings, and from a detected yaw angle error and a determined vehicle speed, said evaluation unit presupposing a maintenance of an instantaneous driving condition, and emitting a warning signal if the time duration falls below a predetermined minimum duration.