公开(公告)号：US6157294A

公开(公告)日：2000-12-05

申请号：US199337

申请日：1998-11-25

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa

IPC分类号： G01B11/30 ,  B60Q1/52 ,  B60W30/00 ,  G01B21/00 ,  G01S7/03 ,  G01S7/481 ,  G01S7/497 ,  G01S13/93 ,  G01S17/87 ,  G01S17/93 ,  G08G1/00 ,  G08G1/16 ,  B60Q1/00

CPC分类号： G01S17/936 ,  B60Q1/52 ,  G01S17/875 ,  G01S7/4813 ,  G01S7/4972 ,  B60G2400/82 ,  B60G2401/00

摘要： A vehicle control system for detecting an obstacle present ahead on the road in the course of travel of a vehicle, comprising a first laser radar mounted on the vehicle which emits an electromagnetic beam to detect the obstacle present ahead on the road, and second and third laser radars which measures distances between the first laser radar and the road surface at different angles. The system determines whether the first laser radar is mounted on the vehicle such that the laser beam central axis is horizontal or inclines upward or downward relative to the road surface or vehicle body, based on the distances, a height of the first laser radar from the road surface, the angles at which the distances are measured and reference values. The system may correct the inclination if determined. With the arrangement, the system ensures detection of an obstacle on the road without fail and conduction of a desired obstacle avoidance control.

摘要翻译： 一种车辆控制系统，用于在车辆行驶过程中检测在道路上存在的障碍物，其包括安装在车辆上的第一激光雷达，其发射电磁波束以检测在道路上存在的障碍物，以及第二和第三 激光雷达，其以不同的角度测量第一激光雷达和路面之间的距离。 该系统基于距离，确定第一激光雷达是否安装在车辆上，使得激光束中心轴线相对于路面或车身向上或向下倾斜， 路面，测量距离的角度和参考值。 如果确定，系统可以纠正倾斜度。 通过这种安排，该系统可确保在道路上无障碍地检测障碍物，并导致所需的障碍物避免控制。

公开(公告)号：US6021375A

公开(公告)日：2000-02-01

申请号：US225570

申请日：1999-01-05

申请人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

发明人： Yoshihiro Urai ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Shohei Matsuda

IPC分类号： B60R21/00 ,  B60T7/12 ,  B60T7/22 ,  B60W30/00 ,  B60W30/09 ,  G01S13/93 ,  G08G1/16 ,  G06F13/376

CPC分类号： B60T7/22

摘要： A system for controlling running safety of a vehicle having at least a brake, a steering mechanism manipulated by a vehicle operator, a laser radar for detecting an obstacle present ahead on a course of travel of the vehicle, and a brake actuator mechanism actuating the brake independently of the vehicle operator manipulation. In the system, a first threshold value (defined in terms of relative distance between the vehicle and the obstacle) for avoiding contact with the obstacle by steering and a second threshold value for avoiding contact by operating the brake actuator mechanism are determined and are compared with the detected relative distance. When the detected relative distance is less than the first threshold value, the brake actuator mechanism is immediately operated to generate a relatively small deceleration, thereby enabling effective obstacle avoidance to well meet the intention and desires of the vehicle operator, without causing a problem of interference with the steering of the vehicle operator, while preventing the control accuracy from being degraded.

摘要翻译： 一种用于控制至少具有制动器的车辆的运行安全性的系统，由车辆操作者操纵的转向机构，用于检测在车辆行驶过程中存在的障碍物的激光雷达以及致动所述制动器的制动致动器机构 独立于车辆操纵者操纵。 在该系统中，确定用于避免通过转向与障碍物接触的第一阈值（以车辆与障碍物之间的相对距离定义），以及通过操作制动致动器机构避免接触的第二阈值，并将其与 检测到的相对距离。 当检测到的相对距离小于第一阈值时，立即操作制动器致动器机构以产生相对小的减速度，从而能够有效地避免障碍以很好地满足车辆操作者的意图和期望，而不会引起干扰问题 同时防止控制精度降低。

公开(公告)号：US5995037A

公开(公告)日：1999-11-30

申请号：US105997

申请日：1998-06-29

申请人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

发明人： Shohei Matsuda ,  Yoichi Sugimoto ,  Satoshi Hada ,  Shoji Ichikawa ,  Yoshihiro Urai

IPC分类号： B60R21/00 ,  B60T7/22 ,  B60W30/00 ,  G01S7/41 ,  G01S13/58 ,  G01S13/93 ,  G08G1/00 ,  G08G1/16

CPC分类号： B60T7/22 ,  G01S13/931 ,  G01S13/58 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S7/415

摘要： In an obstacle detection system for a vehicle which has a radar having an electromagnetic wave transmission device and a reflected wave reception device, the electromagnetic transmission device transmits electromagnetic waves in a direction in which the vehicle is traveling, and the reflected wave reception device receives reflected waves produced when the electromagnetic waves transmitted from the electromagnetic wave transmission device are reflected by an object present in the traveling direction of the vehicle. The system detects obstacles present in the traveling direction of the vehicle based on the result of a radar search operation, and it is possible to identify only those objects detrimental to the traveling of the vehicle as obstacles. An obstacle decision device decides whether or not the object detected by the radar is an obstacle, by using the detected value determined by a vehicle speed detection device which detects the speed of the vehicle, the calculated value determined by a relative distance calculation device that calculates a relative distance to the object present in the traveling direction of the vehicle based on the result of search operation by the radar, and the calculated value determined by an overlap calculation device that calculates an overlap in the width direction of the vehicle between the vehicle and the object according to the result of the search operation by the radar.

摘要翻译： 在具有电磁波传输装置和反射波接收装置的雷达的车辆的障碍物检测系统中，电磁传输装置沿车辆行驶方向发送电磁波，反射波接收装置 当从电磁波传输装置发射的电磁波被车辆行进方向上存在的物体反射时产生的波。 该系统基于雷达搜索操作的结果来检测车辆的行进方向上存在的障碍物，并且可以仅识别对作为障碍物的车辆行驶有害的那些物体。 障碍物判定装置通过使用由检测车速的车速检测装置决定的检测值来判定由雷达检测出的物体是否是障碍物，由计算出的相对距离计算装置确定的计算值 基于雷达的搜索操作的结果，存在于车辆行进方向上的物体的相对距离，以及由重叠计算装置确定的计算值，该重叠计算装置计算车辆和车辆的车辆宽度方向上的重叠 根据雷达搜索操作的结果对象。