System and method of avoiding collisions

• US 6,268,803 B1
• Filed: 08/06/1998
• Issued: 07/31/2001
• Est. Priority Date: 08/06/1998
• Status: Expired due to Term

• Current Assignee: Collision Avoidance Technologies Inc. (Quarterhill Inc. (f/k/a Wi-LAN Inc.))
• Original Assignee: Altia Technology (Altia Group)
• Inventors: Parisi, Michael A., Gorman, Richard P., Melin, Kurtis W., Gunderson, Richard A.
• Primary Examiner(s): Wu, Daniel J.
• Assistant Examiner(s): Nguyen, Tai T.
• Application Number:
  US09/130,279
• Time in Patent Office: 1,090 Days
• Field of Search: 340/903, 340/431, 340/436, 340/53, 367/99, 180/168, 343/7, 179/146
• US Class Current: 340/903
• CPC Class Codes: B60Q 9/006 using a distance sensor
• CPC Class Codes: B60Q 9/007 providing information about the distance to an obstacle, e.g. varying sound
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance system including a control module, a first transmitting device connected to the control module, wherein the first transmitting device transmits a signal, a first receiving device connected to the control module, wherein the first receiving device receives a return of the signal transmitted from the first transmitting device and transmits a first return signal representative of the return to the control device, a second transmitting device connected to the control module, wherein the second transmitting device transmits a signal, and a second receiving device connected to the control module device, wherein the second receiving device receives a return of the signal transmitted from the second transmitting device and transmits a second return signal representative of the return to the control device, wherein the control module includes measurement circuitry used to measure the first and second return signals and display means for displaying a transverse location of an object as a function of said first and second return signals.

Claims

1. A collision avoidance system, comprising:

a control module;

a plurality of transmitting devices connected to the control module, wherein the plurality of transmitting devices includes a first and a second transmitting device, wherein the first and second transmitting devices transmit a first signal and a second signal, respectively;

a plurality of receiving devices connected to the control module, wherein the plurality of receiving devices includes a first and a second receiving device, wherein the first receiving device receives a return representative of the signal transmitted from the first transmitting device and transmits to the control module a first return signal representative of the first return and wherein the second receiving device receives a return of the signal transmitted from the second transmitting device and transmits to the control device a second return signal representative of the return; and

wherein the control module includes measurement circuitry used to measure the first and second return signals and calculate a transverse location of an object as a function of said first and second return signals and further wherein the control module includes a display means for displaying the transverse location.

2. The collision avoidance system of claim 1, wherein the first transmitting device and the first receiving device are cooperatively integrated into a single transceiver.

3. The collision avoidance system of claim 1, wherein the second transmitting device and the second receiving device are cooperatively integrated into a single transceiver.

4. The collision avoidance system of claim 1, wherein the control module logs the transverse location of the object.

5. In a collision avoidance system having a plurality of sensors, including a first and a second sensor, a method of displaying a transverse location, comprising the steps of:

placing the system proximate an object;

transmitting a signal from the first sensor to said object;

sensing a return from the object of the signal transmitted from the first sensor and generating a first return signal as a function of the sensed return of the signal transmitted from the first sensor;

transmitting a signal from the second sensor to said object;

sensing a return from the object of the signal transmitted from the second sensor and generating a second return signal as a function of the sensed return of the signal transmitted from the second sensor;

calculating a transverse location as a function of the first and second return signals; and

displaying an indication of the calculated transverse location.

6. The system according to claim 5, wherein the step of displaying an indication includes the steps of creating a display showing an area behind the vehicle and showing the object at a location within the display corresponding to the transverse location.

7. The system according to claim 5, wherein the step of displaying an indication includes the steps of:

dividing a line into a plurality of zones; and

selecting a zone from the plurality of zones; and

placing an indication within the selected zone.

8. The method according to claim 7, wherein the step of placing an indication includes the step of lighting a light-emitting diode representative of the selected zone.

9. For a vehicle having a collision avoidance system with a plurality of sensors, including a first and a second sensor, a method of calculating the distance from a rear-most portion of the vehicle to an object, comprising the steps of:

transmitting a signal from the first sensor to the object;

sensing a return from the object of the signal transmitted from the first sensor and generating a first return signal as a function of the sensed return of the signal transmitted by the first sensor;

transmitting a signal from the second sensor to said object;

sensing a return from the object of the signal transmitted from the second sensor and generating a second return signal as a function of the sensed return of the signal transmitted by the second sensor;

determining spacing between the first and second sensors;

determining a perpendicular distance from the sensors to the rear-most portion of the vehicle; and

calculating the distance from the rear-most portion of the vehicle to the object as a function of the spacing, the perpendicular distance, and the first and second return signals.

10. A collision avoidance system, comprising:

a control module;

a first transmitting device connected to the control module, wherein the first transmitting device transmits a signal;

a first receiving device connected to the control module, wherein the first receiving device receives a return of the signal transmitted from the first transmitting device and transmits a first return signal representative of the return to the control device;

a second transmitting device connected to the control module, wherein the second transmitting device transmits a signal; and

a second receiving device connected to the control module, wherein the second receiving device receives a return of the signal transmitted from the second transmitting device and transmits a second return signal representative of the return to the control device,

wherein the control module includes measurement circuitry used to measure the first and second return signals and to calculate a transverse location as a function of the first and second return signals and further wherein the control module includes an interface between the control module and an on-board computer information system.

11. A collision avoidance system for a vehicle comprising:

a control module;

a first transceiver connected to the control module, wherein the first transceiver produces a sensor antenna pattern; and

a second transceiver connected to the control module, wherein the second transceiver produces a sensor antenna pattern;

wherein the control module determines an angle to an object as a function of the amplitude of signals received by the first and second transceivers and the sensor antenna pattern of each transceiver.

12. The system according to claim 11, wherein the control module reduces false alarms as a function of the amplitude of the signals received by the first and second transceivers and the sensor antenna patterns of each transceiver.

13. The system according to claim 11, wherein the control module fuses data from the first and second transceivers.

14. The system of claim 11, wherein the control module includes a means for detecting a slow moving object.

15. The system of claim 11, wherein the control module includes a means for detecting a stationary object proximate to the vehicle.

16. The system according to claim 11, wherein the control module uses the amplitude of the received signals and the sensor antenna patterns to detect an object in an adjacent lane of traffic.

17. A collision avoidance system for a vehicle comprising:

a control module;

a plurality of transmitting devices coupled to the control module;

a plurality of receiving devices coupled to the control module,

wherein the control module includes a built-in-test function which sequentially commands each transmitting device to transmit a signal, detects a return of the signal and sends a signal representative of said return signal to the control module for system verification.

18. The collision avoidance system of claim 17, wherein the control module includes a display module, and further wherein the display module indicates a status as a function of the returns received by the plurality of receiving devices.

19. The collision avoidance system of claim 18, wherein the returns are received from objects within a vicinity of the vehicle.

20. The collision avoidance system of claim 19, wherein the returns are received from reflections from a road surface.

21. A collision avoidance system, which provides object detection around the exterior of a vehicle, comprising:

a control module;

a plurality of transmitting devices connected to the control module, wherein each of the plurality of transmitting devices transmits a signal;

a plurality of receiving devices connected to the control module, wherein each of the plurality of receiving devices receives a return representative of one of the plurality of transmitted signals and wherein each of the plurality of receiving devices transmits to the control module a return signal representative of the return received by that receiving device; and

wherein the control module measures the return signals, detects an object as a function of the return signals, calculates a distance to and location of the object and displays the distance to and the location of the object.

22. The system of claim 21, wherein the control module fuses data received from the plurality of sensors to detect objects within a 360°

view surrounding the vehicle.

23. The system of claim 21, wherein each of the plurality of transmitters produces a sensor antenna pattern and the control module determines an angle to the object as a function of the amplitude of the return signals and the sensor antenna pattern of each transmitter.

24. The system of claim 21, wherein the control module includes a built-in-test function which sequentially commands each transmitting device to transmit a signal, detects a return of the signal and sends a signal representative of said return to the control module for system verification.

25. The system of claim 21, wherein the control module determines whether it can triangulate and calculates an actual perpendicular distance to the object and location of the object with respect to the vehicle.

26. The system of claim 21, wherein the control module includes a means for detecting a slow moving object.

27. The system of claim 21, wherein the control module includes a means for detecting a stationary object proximate to the vehicle.

28. The system of claim 21, wherein the control module fuses data received from the plurality of sensors and provides a single picture of all objects within a 360°

view surrounding the vehicle.