Process and device for detecting and monitoring a number of preceding vehicles

• US 6,816,084 B2
• Filed: 02/20/2001
• Issued: 11/09/2004
• Est. Priority Date: 02/18/2000
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Stein, Fridtjof
• Primary Examiner(s): Lee, Benjamin C.
• Assistant Examiner(s): Nguyen, Phung
• Application Number:
  US09/788,856
• Publication Number:
  US 20020021229A1
• Time in Patent Office: 1,358 Days
• Field of Search: 340/903, 340/461, 340/435, 340/436, 340/539, 701/58, 701/79, 701/93, 701/96, 701/25, 342/70, 342/71
• US Class Current: 340/903
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/081 using distance control
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2555/80 Country specific, e.g. driver age limits or right hand drive
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• 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 2013/9323 Alternative operation using light 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 2013/93276 in the windshield area
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

For substantial relieving the driver of a vehicle with respect to the monitoring of the preceding environment as well as the evaluation of distances and speeds of multiple preceding vehicles, there is provided in accordance with the invention a process for detecting and monitoring a number of vehicles (A through C) preceding one'"'"'s own vehicle (E), which process divides the preceding environment into at least a near zone (ZII) and at least one distant zone (ZI), wherein for the preceding vehicles (A through C) respectively their lane (S1 through S3), speed (V_A through V_C) and/or distance to the monitoring vehicle (E) are determined, and on the basis of the respective determined lane (S1 through S3), speed (V_A through V_C) and/or distance for the preceding vehicles (A through C) their position with respect to the near zone (ZII) or the distant zone (ZI) are determined, wherein on the basis of the respective determined speeds (V_A through V_C) and/or positions of the preceding vehicles (A through C) the actual speed (V_{E actual}) of the monitoring vehicle (E) is adjusted.

Claims

1. A process for detecting and monitoring a number of vehicles (A through C) preceding a monitoring vehicle (E), comprising:

subdividing the environment preceding the monitoring vehicle into at least one near zone (ZII) and at least one distant zone (ZI),

determining for the preceding vehicles (A through C) respectively the lane (S1 through S3), speed (V_A through V_C) and distance from the monitoring vehicle (E),

determining on the basis of the respectively determined lane (S1 through S3), speed (V_A through V_C) and distance information for the preceding vehicles (A through C) their positions with respect to the near zone (ZII) or the distant zone (ZI), and

adjusting the actual speed (V_{E actual}) of the monitoring vehicle (E) on the basis of the respectively determined speed (V_A through V_C) and position of the preceding vehicles (A through C).

2. A process according to claim 1, further comprising detecting a lane change of one of the preceding vehicles (S1 through S3).

3. A process according to claim 2, wherein said adjustment of the actual speed (V_{E actual}) of the monitoring vehicle (E) comprises accelerating or decelerating in response to a lane change of the one of the preceding vehicles (A through C).

12. A process as in claim 1, wherein said process is completed on the basis of not more than two forward-looking sensors.

4. A device for detecting and monitoring a number of vehicles (A through C) preceding a monitoring vehicle (E) including

a first sensor (2) with a first aperture angle (α

) for detecting preceding vehicles (A through C) in a distant zone (ZI) and

a second sensor (4) with a second aperture angle (β

) for detecting preceding vehicles (A through C) in a near zone (ZII),

wherein the second aperture angle (β

) is larger than the first view angle (α

) and

the device further including an assistant unit for adjusting the actual speed (V_{E actual}) and actual distance of the monitoring vehicle (E) on the basis of the detected position and speed (V_A through V_C) of the preceding vehicles (A through C).

5. A device according to claim 4, wherein the second aperture angle (β

) covers a range of from 20°

to 180°

.

6. A device according to claim 4, wherein the first aperture angle (α

) covers a range of from 3°

through 30°

.

7. A device according to claim 4, in which the second sensor (4) is a wide angle sensor, in radar unit, an optical camera or a laser scanner.

8. A device according to claim 4, wherein the first sensor (2) is a long range radar.

13. A device as in claim 4, wherein said device comprises not more than two forward-looking sensors.

9. A process for detecting and monitoring a number of vehicles (A through C) preceding a monitoring vehicle (E), comprising

subdividing the environment preceding the monitoring into at least one near zone (ZII) and at least one distant zone (ZI),

detecting preceding vehicles (A through C) in the distant zone (ZI) by a first sensor (2) with a first aperture angle (α

) and detecting preceding vehicles (A through C) in the near zone (ZII) by a second sensor (4) with a second aperture angle (β

),

determining for the preceding vehicles (A through C) respectively the lane (S1 through S3), speed (V_A through V_C) and distance from the monitoring vehicle (E),

determining, on the basis of the respectively determined lane (S1 through S3), speed (V_A through V_C) and distance information for the preceding vehicles (A through C), their positions with respect to the near zone (ZII) or the distant zone (ZI), and

adjusting the actual speed (V_{E actual}) of the monitoring vehicle (E) on the basis of the respectively determined speed (V_A through V_C) and position of the preceding vehicles (A through C).

10. A process according to claim 9, comprising detecting a lane change of one of the preceding vehicles (S1 through S3).

11. A process according to claim 10, wherein the actual speed (V_{E actual}) of the monitoring vehicle (E) is accelerated or decelerated in response to a lane change of the one of the preceding vehicles (A through C).

14. A process as in claim 9, wherein said process is completed on the basis of not more than two forward-looking sensors.