System and method of detecting deviation of an axis and adjusting the axis of a range finder

• US 6,122,040 A
• Filed: 10/30/1998
• Issued: 09/19/2000
• Est. Priority Date: 11/06/1997
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company), Omron Automotive Electronics Company Limited (Nidec Corporation)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company), Omron Corporation
• Inventors: Ishio, Wataru, Kikuchi, Hayato, Arita, Satoru
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US09/182,990
• Time in Patent Office: 690 Days
• Field of Search: 356/4.01, 356/5.01-5.15, 356/141.1, 180/169
• US Class Current: 356/4.01
• 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 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4091 during normal radar operation
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

A plurality of pieces of detection data of a preceding vehicle, which have been collected in a straight line running state in which a self-vehicle and a preceding vehicle are running straight on the same straight line, are extracted as effective detection data. Setting of an inside parameter is automatically changed so that a center of the detection area can coincide with an average center of the preceding vehicle obtained by a statistical treatment of the plurality of pieces of detection data. The above automatic adjusting function is provided in a control circuit 7 of the range finder, and while the self-vehicle is stably running straight on the same straight line while chasing the preceding vehicle, and optical axis adjustment is conducted by operating the automatic adjusting function of the control circuit 7.

Claims

1. A method of adjusting a center of a detection area detected by a range finder at an appropriate position for adjusting an axis of said range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in said detection area is judged and outputted according to said waves reflected on said object to be detected, said method comprising the steps of:

obtaining plural pieces of detection data of said preceding vehicle by said range finder, when said vehicle is running straight on a straight line following a preceding vehicle which is running on the same straight line;

processing said plural pieces of detection data of said preceding vehicle statistically;

judging said appropriate position as an average center of said preceding vehicle; and

changing a parameter of said detection area of said range finder so that said center of said detection area coincides with said appropriate position.

2. A method of detecting deviation of an axis of a range finder from an appropriate position, said range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in said detection area is judged and outputted according to said waves reflected on said object to be detected, said method comprising the steps of:

obtaining plural pieces of detection data of said preceding vehicle by said range finder, when said vehicle is running straight on a straight line following a preceding vehicle which is running on the same straight line;

processing said plural pieces of detection data of said preceding vehicle statistically;

judging said appropriate position as an average center of said preceding vehicle; and

detecting deviation from said appropriate position in said detection area when said appropriate position and said center of said detection area are compared with each other.

4. A method as claimed in claim 2, said method further comprising the steps of:

judging a center of said detection area to deviate from said appropriate position in the vertical direction when said object to be detected is not continuously detected in a period of time exceeding a predetermined period of time.

3. A method of detecting deviation of an axis of a range finder from an appropriate position, said range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in said detection area is judged and outputted according to said waves reflected on said object to be detected, said method comprising the steps of:

observing time variation of said detection data of a reflecting body disposed on both the road sides by said range finder for a predetermined period of time, while said vehicle is running on the straight line;

judging said detection area to deviate from said appropriate position in the transverse direction when a quantity of movement of said reflecting body in the transverse direction exceeds a setting value in the observation.

5. A method as claimed in claim 3, said method further comprising the steps of:

judging a center of said detection area to deviate from said appropriate position in the vertical direction when said object to be detected is not continuously detected in a period of time exceeding a predetermined period of time.

6. A range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in said detection area is judged and outputted according to said waves reflected on said object to be detected, said range finder comprising:

extraction means for extracting only plural pieces of detection data concerning a preceding vehicle, which have been obtained when said vehicle runs on the same straight line as that on which said preceding vehicle runs, as effective data for a predetermined period of time;

processing means for processing said plural pieces of extracted effective data statistically; and

change means for changing setting of a parameter of said detection area according to a result of said processing means, so that a center of said detection area coincides with an average center of said preceding vehicle.

8. A range finder as claimed in claim 6, said range finder further comprising:

mode change means for changing over a collecting time to collect said effective data between a long collecting time mode and a short collecting time mode.

10. A range finder as claimed in claim 6, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor after a predetermined time has passed from the time of collecting detection data is straight; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

12. A range finder as claimed in claim 8, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor after a predetermined time has passed from the time of collecting detection data is straight; and

exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

14. A range finder as claimed in claim 6, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of the said vehicle detected by said sensor is straight when said vehicle has reached a position at which said preceding vehicle was estimated to be located when collecting detection data; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

16. A range finder as claimed in claim 8, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor is straight when said vehicle has reached a position at which said preceding vehicle was estimated to be located when collecting detection data; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

18. A range finder claimed in claim 6, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a position of said preceding vehicle in the transverse direction is continuously detected at one of said positions close to each other for a predetermined setting time; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

20. A range finder claimed in claim 8, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a position of said preceding vehicle in the transverse direction is continuously detected at one of said positions close to each other for a predetermined setting time; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

23. A range finder as claimed in claim 6, said range finder further comprising:

processing means for judging that a center of the detection area deviates from an appropriate position in the vertical direction when said object to be detected is not continuously detected in a period of time exceeding a setting time.

25. A range finder claimed in claim 10, wherein a steering angle sensor is used as said sensor.

26. A range finder claimed in claim 10, wherein a yaw rate sensor is used as said sensor.

29. A range finder claimed in claim 12, wherein a steering angle sensor is used as said sensor.

30. A range finder claimed in claim 12, wherein a yaw rate sensor is used as said sensor.

33. A range finder claimed in claim 14, wherein a steering angle sensor is used as said sensor.

34. A range finder claimed in claim 14, wherein a yaw rate sensor is used as said sensor.

37. A range finder claimed in claim 16, wherein a steering angle sensor is used as said sensor.

38. A range finder claimed in claim 16, wherein a yaw rate sensor is used as said sensor.

41. A range finder claimed in claim 18, wherein a steering angle sensor is used as said sensor.

42. A range finder claimed in claim 18, wherein a yaw rate sensor is used as said sensor.

45. A range finder claimed in claim 20, wherein a steering angle sensor is used as said sensor.

46. A range finder claimed in claim 20, wherein a yaw rate sensor is used as said sensor.

7. A range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in said detection area is judged and outputted according to said waves reflected on said object to be detected, said range finder comprising:

extraction means for extracting only plural pieces of detection data concerning a preceding vehicle, which have been obtained when said vehicle runs on the same straight line as that on which said preceding vehicle runs, as effective data for a predetermined period of time;

comparing means for comparing an average center of said preceding vehicle with a center position of said detection area; and

processing means for detecting deviation of said detection area from an appropriate position.

9. A range finder as claimed in claim 7, said range finder further comprising:

mode change means for changing over a collecting time to collect said effective data between a long collecting time mode and a short collecting time mode.

11. A range finder as claimed in claim 7, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor after a predetermined time has passed from the time of collecting detection data is straight; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

13. A range finder as claimed in claim 9, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor after a predetermined time has passed from the time of collecting detection data is straight; and

exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

15. A range finder as claimed in claim 7, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor is straight when said vehicle has reached a position at which said preceding vehicle was estimated to be located when collecting detection data; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

17. A range finder as claimed in claim 9, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a running direction of said vehicle detected by said sensor is straight when said vehicle has reached a position at which said preceding vehicle was estimated to be located when collecting detection data; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

19. A range finder claimed in claim 7, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a position of said preceding vehicle in the transverse direction is continuously detected at one of said positions close to each other for a predetermined setting time; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

21. A range finder claimed in claim 9, said range finder further comprising:

processing means for judging that said vehicle and said preceding vehicle are running straight on the same straight line under the condition that a running direction of said vehicle detected by a sensor when collecting detection data is straight and also under the condition that a position of said preceding vehicle in the transverse direction is continuously detected at one of said positions close to each other for a predetermined setting time; and

data exclusion means for excluding detection data of said preceding vehicle not satisfying the above conditions as unavailable data.

24. A range finder as claimed in claim 7, said range finder further comprising:

processing means for judging that a center of the detection area deviates from an appropriate position in the vertical direction when said object to be detected is not continuously detected in a period of time exceeding a setting time.

27. A range finder claimed in claim 11, wherein a steering angle sensor is used as said sensor.

28. A range finder claimed in claim 11, wherein a yaw rate sensor is used as said sensor.

31. A range finder claimed in claim 13, wherein a steering angle sensor is used as said sensor.

32. A range finder claimed in claim 13, wherein a yaw rate sensor is used as said sensor.

35. A range finder claimed in claim 15, wherein a steering angle sensor is used as said sensor.

36. A range finder claimed in claim 15, wherein a yaw rate sensor is used as said sensor.

39. A range finder claimed in claim 17, wherein a steering angle sensor is used as said sensor.

40. A range finder claimed in claim 17, wherein a yaw rate sensor is used as said sensor.

43. A range finder claimed in claim 19, wherein a steering angle sensor is used as said sensor.

44. A range finder claimed in claim 19, wherein a yaw rate sensor is used as said sensor.

47. A range finder claimed in claim 21, wherein a steering angle sensor is used as said sensor.

48. A range finder claimed in claim 21, wherein a steering angle sensor is used as said sensor.

22. A range finder incorporated into a vehicle in which waves are irradiated on a predetermined detection area in front of said vehicle in a scanning manner and detection data including at least positional information on an object to be detected which is located in the detection area is judged and outputted according to said waves reflected on said object to be detected, said range finder comprising:

observation means for observing time variation of detection data of a reflecting body disposed on both the road sides on which said vehicle is running for a predetermined period of time when said vehicle is running; and

processing means for judging that said detection area deviates from an appropriate position when a distance of movement of said reflecting body in the transverse direction exceeds a predetermined value in the observation.

49. A vehicle detection system, comprising:

a scanning device for transmitting signals into a detection area in front of a first vehicle;

a receiving device for receiving signals reflected off of a vehicle in said detection area; and

a control device for detecting, based on said reflected signals, a deviation between an axis of said vehicle in said detection area and a center axis of said detection area.

50. A vehicle detection system, comprising:

a scanning device for transmitting signals into a detection area in front of a first vehicle;

a receiving device for receiving signals reflected off of a vehicle in said detection area; and

a control device for controlling said system so that a center axis of said detection area coincides with an axis of said vehicle in said detection area.

51. A method of operating a first vehicle, comprising the steps of:

transmitting signals into a detection area in front of said first vehicle;

receiving signals reflected off of a second vehicle in said detection area; and

controlling said detection area so that a center axis of said detection area coincides with a center axis of said second vehicle.

52. A method of operating a first vehicle, comprising the steps of:

transmitting signals into a detection area in front of said first vehicle;

receiving signals reflected off of a second vehicle in said detection area; and

detecting a deviation between a center axis of said detection area and a center axis of said second vehicle.