CA2085325C - Apparatus and method of warning rear-end collision - Google Patents
Apparatus and method of warning rear-end collisionInfo
- Publication number
- CA2085325C CA2085325C CA002085325A CA2085325A CA2085325C CA 2085325 C CA2085325 C CA 2085325C CA 002085325 A CA002085325 A CA 002085325A CA 2085325 A CA2085325 A CA 2085325A CA 2085325 C CA2085325 C CA 2085325C
- Authority
- CA
- Canada
- Prior art keywords
- vehicle
- present
- warning
- end collision
- velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Abstract
An apparatus of warning a possible rear-end collision of a vehicle having the apparatus against a preceding vehicle, including a computer, a distance sensor measuring a vehicle-to-vehicle distance to the preceding vehicle, a velocity sensor measuring the velocity of the present vehicle. The computer computes a relative velocity of the present and preceding vehicles from a differential of the vehicle-to-vehicle distance and then an anticipated rear-end collision time by a division of the vehicle-to-vehicle distance by the relative velocity. The computer corrects the anticipated rear-end collision time in response to an acceleration on the relative velocity. The computer produces a warning signal on an alarm in response to the corrected anticipated rear-end collision time. A
method of warning a possible rear-end collision is also disclosed.
method of warning a possible rear-end collision is also disclosed.
Description
SPECIFICATIOM
TITLE OF THE lNV~r.~lON
APPARATUS AND METHOD OF WARNING REAR-END COLLISION
RAr~o~.,~ OF THE lr.v~ lON
1. Field of the Invention The present invention relates to an apparatus and a method of warning a rear-end coll1s~on of an automotive veh~cle measuring a distance between the present vehicle and a prqce~ng veh1cle, computing the then state (e.g. a velocity) of the present vehicle and warning when anticipating a possible rear-end coll1 s~on of the present veh~cle against the prece~ ng vehicle.
TITLE OF THE lNV~r.~lON
APPARATUS AND METHOD OF WARNING REAR-END COLLISION
RAr~o~.,~ OF THE lr.v~ lON
1. Field of the Invention The present invention relates to an apparatus and a method of warning a rear-end coll1s~on of an automotive veh~cle measuring a distance between the present vehicle and a prqce~ng veh1cle, computing the then state (e.g. a velocity) of the present vehicle and warning when anticipating a possible rear-end coll1 s~on of the present veh~cle against the prece~ ng vehicle.
2. R~X~round Art A block diagram of an electronic circuit of a prlor art rear-end coll~sl on warning apparatus is identical to FIG.1 showing a block diagram of an ele~onic circuit of a rear-end coll~s~ on warning apparatus according to a first ~ of the present invention. The prior art rear-end coll~s~ on warning apparatus comprises a distance ~en~or 92, a cen~lal proce~s~ng unit (CPU) comprising, e.g., a mi~G~OCe~Sor, a vehicle velocity sensor 93, and a display or alarm 94. The CPU receives distance signal X of a vehicle-to-vehicle distance between the present vehicle and the prece~lng vehicle from the distance sensor 92 and 20~32~
velocity signal V~ of the present vehicle from the vehicle velocity sensor 93 and produces warning signal W~ on the alarm 94. The alarm 94 warns a possible rear-end collision to a drlver of the present vehicle, e.g., with voice.
The CPU compares velocity slgnAls V~ with diY~ance slgn~ls X and pro~uçe~ warning signals W. when velocity cl~n~l V~ ln~lc~tes 100 km/h and distance signal X
ln~lc~tes 100 m or lower, when velocity slgn~l V lnn~tes 80 km/h and di~Lan~e slgn~l X ~n~lc~tes 80 m or lower and when the veloc~ty slgn~l V~ ln~lcates 60 km/h and di~Lance sign~l X ~ cetes 60 m or lower.
The prior art rear-end co~ on warning appaLatus ~ lres only the veh~-le-to-v~hlcle distance for the preoeAl~ vehlcle but no state of the pL~ce~lng vehicle. Therefore, the prior art rear-end coll1s~on warnlng a~pa,a~s must de~e- ~ n9 a criterlon for pr~uc~ n~
warnlng s~nAl~ W~ ln vlew of the estlmated worst aase, e.g., a case where the p,ece~in~ V~h~cl~ is in a gt~n~n~
positlon. It follows then that the prlor art rear-end colllsio~ warning apparatus must ~lo~u~e warning 5;~n~1 W~
ln re~po~e to a p~ede~el ~ne~ v~h~le-to-v9hl0~e dlstance, e.g., even if the plecedlng vehlcle runs faster than the present vehicle to increase the vehlcle-to-vehlole di~ance with tlme and no rear-end colll~ion of the present v~h~Cle is normally expected to take place. This caUc9s a driver 20~332!~
of the present vehicle to have a clear feel 1 ng of physical disorder. On the other hand, when a case, e.g., a case where the preceding vehicle moves backwards, worse than the estiLmated worst case takes place, the prior art rear-end collision warning apparatus produce warning signal W. too late, which i8 insufficient in the perfol -nce.
SUMMARY OF T~E l~.v~.~lON
An ob~ect of the present invention is to provide an apparatus and a method of warning a rear-end collision of an aut- -~ive vehic1G always in time. In order to achieve the obJect, an apparatus of warning a poss~hle rear-end co~ on of a vPh~c1e having the apparatus of warning the poss~h1P rear-end co111s~on against a prece~lng v~hlc1e aacordlng to a first embo~ of the present inventlon comprises a c~ -~er, a distance sensor measurlng a vehlc1e to-veh~c1e distance between the present vehic1e and the preced~ng vPh~c1e and sPn~ng a distance s~nA1 to the ~c- ~Le~, a velocity sensor sPns~n~ a velocity of the present vehicle and s~n~ i ng a velocity signal to the -~ U~eL, an alarm receiving a warning s~gn~1 from the computer, the computer computing an anticipated rear-end collision time by the equation:
X-TkxVm TaxG ~ Vr 20~2~
, where T~ sings anticipated rear-end collision time in seconds, X signs vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk slgns buffer time in seconds, V~ signs velocity of the present vehicle in m/s, Vr signs relative velocity in m/s, and G signs acceleration on relative velocity Vr, the computer sen~lng the warning signal to the alarm, and the alarm warning ln response to the computed anticipated rear-end collision time.
An apparatus of warning a poss1hle rear-end collision of a vehicle having the apparatus of warning the possible rear-end colllslon against a prP.ce~lng vehicle according to a second ~ ho~ of the present invention comprises a ~ ,~Lel, a distance sensor measurlng a vehicle-to-vqhlcle distance be~.~aen the present vehicle and the prece~ ng vehl ol e and sen~l ng a distance ~ignAl to the aomputer, a velocity sensor sçncl n3 a velocity of the ~les~nt veh~ole and sçn~lng a velocity signal to the computer, a braking sensor s~n~i ng a state of a brake of the ~Lese,lt vehicle and sçn~l ng a braking ~l gnAl to the computer, an Acc~leration sensor se~sl ng a degree of op~.n~ ng of an Accelerator of the present v~hlr,lç and send~ng an acceleration signal to the c _u~er, an alarm receiving a warning ~l gn~l from the computer, the computer computing an anticipated rear-end coll 1 s~ on time by the 20~ 25 equation:
X-T~xVm , w1-ere T~ is anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the preced~ng vehicle in meters, Tk i~
buffer time ln secon~, Vm is velocity of the present vehicle in m/s, a ls a state parame~er of the present vehicle, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, the computer sen~ng the warning s~gn~l to the alarm, the c~ ,uLel changing the value of the pa~- -ter a in response to the braking ~ig and the ~cceleration signal, and the alarm warning in response to the computed anticipated rear-end col 1 ~ 5~ on time.
A method of warning a possible rear-end coll~s~on comprising the steps of detecting a v~h~Cle-to-veh~cle distance be-.~een a vehicle and a prece~ng v~hlcle~
detecting a veloclty of the present v~h1 Cl e, c n, Ling an anticipated rear-end col l 19~ on time by the e~uation:
Ta- X-TkxVm TaxG+v~
, where T~ is anticipated rear-end coll~~~ on time in seco-~fl~, X is veh~cle-to-vehicle distance between the present vehicle and the prece~ ng vehicle in meters, T~ is 20~.~)32~
buffer time in seconds, V~ is velocity of the present veh:Lcle in m/s, Vr ls relative velocity in m/s and, G signs acceleration on relative velocity V~, and warning in response to the computed anticipated rear-end collision time.
~ method of warning a possible rear-end collision comprises the steps of detecting a vehicle-to-vehicle distance between a vPhicle and a prece~ng vehicle, detecting a velocity of the present vehlcle, detecting a state of a brake of the present veh1clç, detectin~ a degree of opening of an accelerator of the present invention, computing an anticipated rear-end co~ n time by the equation:
Ta = X- Tkx V~l axTaxG ~ Vr , where TA is anticipated rear-end collision time in seconds, X is vPh~cle-to-veh1r.le distance between the present veh~clç and the prece~lng vehicle in meters, Tk is buffer time in seco~d~, V~ is velocity of the present vehicle in m/s, a is a state parameter of the present vehicle, Vr is relative velocity in m/s and, G signs acceleration on relative velocity V~, the pai.- -~er a p~,n~ i ng on the state of the brake and the degree of op~n~ng of the accelerator, and warning in response to the computed anticipated rear-end coll 1~1on time.
~ 6 --2 0 ~
In the present invention, the apparatus does not warn a rear-end collision when the prece.~ng vehicle faster runs than the present vehicle even if the vehicle-to-vehicle distance between the present vehicle and the prece~ng vehicle has re~che.~ a predete, 1ne~ value at which the apparatus is to warn the rear-end co1l1s~on. On the other hand, the apparatus can warn a possible rear-end collision long ago before the vehicle-to-vehicle distance has reAched the predetel ~ned value at which the apparatus is to warn the rear-end col~ on, when the pre.ce~ng vehicle moves backwards. Thus, the apparatus can always applup.lately warn the po~s~b1e collision in response to the actual relat1onQh~p be~aen the present veh1c1e and the p,~a~d~ ve.h1c1~..
In addition, the appa-aL~s can serlally produce warnlng s~gnal 8 from a ¢ase of safety to a case of danger in accordance with degrees of dany~ol~Qness so as to clearly notice the degrees of dany~ol1Qness to the driver of the present v~h~c1e.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG.l is a block diagram of an ele~L,Gnic circuit of a rear-end co11~sion warning apparatus according to a first ~ ~oA~ ~ t of the present inventlon; and FIG.2 is a block diagram of an eleuLlonic circult 20~332'3 of a rear-end collision warniny apparatus according to a second embodiment of the present invention.
DETATT~n DESCRIPTION OF THE ~nk~K~ EMBODIMENTS
Preferred embodiments of the present invention will be described with reference to the drawings hereinafter. A block diagram of an electronic circuit of a rear-end coll~~ion warning apparatus 90 of FIG.l according to a f~rst embodiment of the present invantion is identical to that of the prior art rear-end coll~clon warning apparats as described above. The rear-end colll s~on warning apparatus 90 comprises a di~dnce 6enCor 92, a cen~-al proo~~s~ng unit (CPU) 91 comprislng, e.g., a mi~.o~Lo~essor, a vehlcle velocity sensor 93, and a display or alarm 94.
U~l~ke the CPU of the prior art rear-end colllslon warning apparatus, the CPU 91 e ~ ~es relative velocity Vr of the prece~ng and p-esen~ veh~cles~
~cceleration G due to a ch~nge of relative velocity Vr, and then anticipated rear-end co~ on time T~ (i.e. a period of time from the present time to an antioipated rear-end aollision) from computed relative velocity Vr.
by the equation (1):
TaXG~vr ( ) ~0 ~ 2~
, where T~ iS anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the prece~ing vehicle in meters, Tk is buffer time in second~, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s and, G si~ns ~ccel~ration on relative velocity Vr. The CPU 91 then produces warning signal W. from computed anticipated rear-end collision time Ta.
The computation of anticipated rear-end collision time T~ by the CPU 91 will be described hereinafter.
In prinaiple, anticipated rear-end coll~ 8~ on time Ta equals X~Vr. For ~ le, when vehicle-to-vehicle distance X equals 100 m and relative velocity Vr equals 5 m/s (i.e. the present vehiale appro~ah~s a prece~1ng veh1~le at a velocity of 5 m/s), anticipated rear-end coll~s1on time Ta equals 20 secon~R (=100 m/5 m/s). The CPU 91 ~_ _,u~es relative velocity Vr from distance signals X of the distance sensor 92. For example, when the distance sensor 92 measures vehicle-to-vehicle distance X
every sampling time T. of 100 seconds, and the last measured vehicle-to-vehicle distance X1 equals 100.5 m, and the present measured vehicle-to-vehicle distance X2 equals 100 m, relative velocity Vr equals 5 m/s (=(100.5 m - 100 m)/0.1 s).
In the first ~ ~ t of the present invention, _ g _ 20~ 332~
the computation of anticipated rear-end collision time T4 employs the factors of buffer time Tk and acceleration G
due to the change of relative velocity Vr in order to produoe fine anticipated rear-end colllsion time T~.
Buffer time Tk is defined as a period of time during which the driver of the present vehicle views a danger and then brakes. If velocity Vm of the present vehicle is 100 km/h (i.e. approximately 30 m/s) and buffer time Tk equals 0.5 s, the present vehicle will run 15 m unbraked until the driver of the present vehicle starts braking. In the present invention, buffer time Tk is given as a constant to the present vehicle and velocity Vm of the present vehicle times buffer time Tk pro~uce~ an unbraked run distance of the present vehicle. The unbraked run di~ance is detracted from veh~ole-to-v~h~cle distance X
(see the above equation (1)) to produce an actual braked vehlcle-to-veh~cle di~ance.
When the unbraked run distance is more than vehicle-to-vehicle distance X, i.e., the value (X - T~ x Vm) is negative, this means that the present v~h~cle have approAch~ the ~le~ed~ ng vehlcle so that the driver of the present vehlole has no actual buffer time Tk. The CPU 91 ately pro~uQe~ warning s~ ~n~l W~ on the display 94.
~cceleration G matches a variation of relative velocity Vr due to, e.g., the braking of the present 2 ~
vehicle. The employment of acceleration G in the equation (1) always gives accurate anticipated rear-end collision time T~ ately after relative velocity Vr has changed, to :Lncrease the accuracy of the rear-end collision warning apparatus 90. Therefore, the CPU 91 can produce real warning signals W~, cutting a momentary fluctuation in relative velocity Vr.
Acceleration G is defined as a differential of relative velocity Vr and aotually produced by the equation (2):
G= Vrl-Vr2 ---(2) TS
, wherein Vrl is the ple~ent computed relative velocity, Vr2 is the last computed relative velocity and T~ is a ~ ng period of time. When veh~cle-to-veh~cle distance X
decreases, ~cceleration G ls positive. On the other hand, when veh~cle-to-veh~Gle distance X increases, ~ccelAration G is negative.
Acceleration G times anticipated rear-end coll~s~on time T~ gives a variation of relative velocity Vr due to ~ccsleration G for anticipated rear-end coll~s~on time T~. The half of ~cc~leration G times anticipated rear-end collision time TA gives an average velocity of the present vehlcle for anticipated rear-end GOl 1 18~ on time T,.
Therefore, an addition of the half of acceleration G times 2 ~ 2 ~i anticipated rear-end collision time T~ to relative velocity Vr l(see the above equation (1)) causes anticipated rear-end collision time T~ to involve the factor of the change o~
relative velocity Vr; ~~ ately after relative velocity Vr has changed. Thus, the rear-end coll;s~ on warning of the present invention increases the accuracy in the anticipation. Anticipated rear-end coll1s;on time T~ is constant as long aP~ acceleration G is constant. The rear-end collision warning apparatus 90 can preclude an unstable condition that anticipated rear-end collls~ Qn time T~
changes every time relative velocity Vr has r,h~n~ed.
In operation, the apparatus according to the first ~ ~o~ ~r~ o* the present invention ~irst computes anticipated rear-end collislon tlme T. by the equation (3):
Ta= X ___ (3 ) and corrects anticipated rear-end collision time T~ by acceleration G on relative velocity Vr to produce warning sl~nal W, ~o~espo~1ng to an actual relat;nn~h1p between the present veh~cle and the preced1n3 vehicle.
Thus, anticipated rear-end co~ ion time T~
constituting warning si~n~l W. from the CPU 91 can provide a series of a 20-~ecnnd before warning, a 19-sec~nd before warning, a 18-second before warning --- so that the apparatus can serially warn by degrees of danger.
20~:~32~
As shown in FIG.2, a rear-end collision warning apparatus 1 according to a second embodiment of the present invention comprises a central processing unit (CPU) 2, a distance sensor 3 measuring a VÇh~ Cl e-to-vehicle distance between the present vehicle and the prece~i ng vehicle and s~n~ln~ vehicle-to-vehicle dis~ance signal X to the CPU 2, a vehicle velocity sensor 4 concurrently sen~; n~ velocity ~t~n~l V~ of the present vehicle to the CPU 2, a display or alarm 5 receiving warning signal W, from the CPU 2 and warning to a driver of the present vehicle, a braking ~P.ncor 6 Qen~ng braking signal B, of a brake to the CPU 2, and an acceleration ~ensor 7 sen~ ng ~ccel Ara~ion Si gn~l AR
of an ~ccelerator to the CPU 2.
The rear-end collision warning apparatus 1 employs a braking and an ~cc~leration of the driver of the present vehicle as additional factors for a fine computation of anticipated rear-end collisi on time T~.
These additional factors serve to finely correct anticipated rear-end coll~si on time T~ according to the first ~ t of the present invention.
The CPU 2 computes relative velocity Vr of the present and prece~i ng vehicles, ~ccel~ration G, and then anticipated rear-end collis~ on time T~ from computed relative velocity Vr by the equation (4):
, where a ls a state parameter of the present vehicle. The . : . .
2~ 32~
Ta= X~TkxVm (4) value of the parameter a depends on a state of a brake of the present vehicle and a degree of opening of an accelerator of the present vehicle. When the braking sensor 6 produces no braking signal and the acceleration sensor 7 produces no ~cceleration signal, the value of a equals 1.
The CPU 2 produces warning signal W. from ~_- ,u~ed anticipated rear-end collision time Ta.
The CPU 2 produces a first acceleration G by the equation (1) when a is 1. It is easily anticipated that the present veh~cle will be ~cc~le~ated at a seco~d acceleration G greater than the first ~cceleration G when Aac~le~ation stgn~l A. ~n~c~tes a degree of open1ng of an accelerator larger than a prede~eL ~ned value. Thus, the CPU 2 ~ ,u~e~ (a x G) by the equation (4) to produce anticipated rear-end time TA shorter than that produced by the equation (1), where a ~ 1. On the other hand, when the CPU 2 has received braking s~ gn~l B., the CPU 2 selects the paL -te~ a to be a correspon~lng value and computes (a x G) by the equation (4) to produce antiaipated rear-end time T~ longer than that pro~uGed by the equation (1), where ~ <
1.
The present invention is not rigidly restricted to the embodiments described above. It is to be unde x~ood 2~332~
that a person skilled in the art can easily change and modify the present invention without departing from the spi.rit of the invention defined in the appended clA1 ~.
,, .
velocity signal V~ of the present vehicle from the vehicle velocity sensor 93 and produces warning signal W~ on the alarm 94. The alarm 94 warns a possible rear-end collision to a drlver of the present vehicle, e.g., with voice.
The CPU compares velocity slgnAls V~ with diY~ance slgn~ls X and pro~uçe~ warning signals W. when velocity cl~n~l V~ ln~lc~tes 100 km/h and distance signal X
ln~lc~tes 100 m or lower, when velocity slgn~l V lnn~tes 80 km/h and di~Lan~e slgn~l X ~n~lc~tes 80 m or lower and when the veloc~ty slgn~l V~ ln~lcates 60 km/h and di~Lance sign~l X ~ cetes 60 m or lower.
The prior art rear-end co~ on warning appaLatus ~ lres only the veh~-le-to-v~hlcle distance for the preoeAl~ vehlcle but no state of the pL~ce~lng vehicle. Therefore, the prior art rear-end coll1s~on warnlng a~pa,a~s must de~e- ~ n9 a criterlon for pr~uc~ n~
warnlng s~nAl~ W~ ln vlew of the estlmated worst aase, e.g., a case where the p,ece~in~ V~h~cl~ is in a gt~n~n~
positlon. It follows then that the prlor art rear-end colllsio~ warning apparatus must ~lo~u~e warning 5;~n~1 W~
ln re~po~e to a p~ede~el ~ne~ v~h~le-to-v9hl0~e dlstance, e.g., even if the plecedlng vehlcle runs faster than the present vehicle to increase the vehlcle-to-vehlole di~ance with tlme and no rear-end colll~ion of the present v~h~Cle is normally expected to take place. This caUc9s a driver 20~332!~
of the present vehicle to have a clear feel 1 ng of physical disorder. On the other hand, when a case, e.g., a case where the preceding vehicle moves backwards, worse than the estiLmated worst case takes place, the prior art rear-end collision warning apparatus produce warning signal W. too late, which i8 insufficient in the perfol -nce.
SUMMARY OF T~E l~.v~.~lON
An ob~ect of the present invention is to provide an apparatus and a method of warning a rear-end collision of an aut- -~ive vehic1G always in time. In order to achieve the obJect, an apparatus of warning a poss~hle rear-end co~ on of a vPh~c1e having the apparatus of warning the poss~h1P rear-end co111s~on against a prece~lng v~hlc1e aacordlng to a first embo~ of the present inventlon comprises a c~ -~er, a distance sensor measurlng a vehlc1e to-veh~c1e distance between the present vehic1e and the preced~ng vPh~c1e and sPn~ng a distance s~nA1 to the ~c- ~Le~, a velocity sensor sPns~n~ a velocity of the present vehicle and s~n~ i ng a velocity signal to the -~ U~eL, an alarm receiving a warning s~gn~1 from the computer, the computer computing an anticipated rear-end collision time by the equation:
X-TkxVm TaxG ~ Vr 20~2~
, where T~ sings anticipated rear-end collision time in seconds, X signs vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk slgns buffer time in seconds, V~ signs velocity of the present vehicle in m/s, Vr signs relative velocity in m/s, and G signs acceleration on relative velocity Vr, the computer sen~lng the warning signal to the alarm, and the alarm warning ln response to the computed anticipated rear-end collision time.
An apparatus of warning a poss1hle rear-end collision of a vehicle having the apparatus of warning the possible rear-end colllslon against a prP.ce~lng vehicle according to a second ~ ho~ of the present invention comprises a ~ ,~Lel, a distance sensor measurlng a vehicle-to-vqhlcle distance be~.~aen the present vehicle and the prece~ ng vehl ol e and sen~l ng a distance ~ignAl to the aomputer, a velocity sensor sçncl n3 a velocity of the ~les~nt veh~ole and sçn~lng a velocity signal to the computer, a braking sensor s~n~i ng a state of a brake of the ~Lese,lt vehicle and sçn~l ng a braking ~l gnAl to the computer, an Acc~leration sensor se~sl ng a degree of op~.n~ ng of an Accelerator of the present v~hlr,lç and send~ng an acceleration signal to the c _u~er, an alarm receiving a warning ~l gn~l from the computer, the computer computing an anticipated rear-end coll 1 s~ on time by the 20~ 25 equation:
X-T~xVm , w1-ere T~ is anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the preced~ng vehicle in meters, Tk i~
buffer time ln secon~, Vm is velocity of the present vehicle in m/s, a ls a state parame~er of the present vehicle, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, the computer sen~ng the warning s~gn~l to the alarm, the c~ ,uLel changing the value of the pa~- -ter a in response to the braking ~ig and the ~cceleration signal, and the alarm warning in response to the computed anticipated rear-end col 1 ~ 5~ on time.
A method of warning a possible rear-end coll~s~on comprising the steps of detecting a v~h~Cle-to-veh~cle distance be-.~een a vehicle and a prece~ng v~hlcle~
detecting a veloclty of the present v~h1 Cl e, c n, Ling an anticipated rear-end col l 19~ on time by the e~uation:
Ta- X-TkxVm TaxG+v~
, where T~ is anticipated rear-end coll~~~ on time in seco-~fl~, X is veh~cle-to-vehicle distance between the present vehicle and the prece~ ng vehicle in meters, T~ is 20~.~)32~
buffer time in seconds, V~ is velocity of the present veh:Lcle in m/s, Vr ls relative velocity in m/s and, G signs acceleration on relative velocity V~, and warning in response to the computed anticipated rear-end collision time.
~ method of warning a possible rear-end collision comprises the steps of detecting a vehicle-to-vehicle distance between a vPhicle and a prece~ng vehicle, detecting a velocity of the present vehlcle, detecting a state of a brake of the present veh1clç, detectin~ a degree of opening of an accelerator of the present invention, computing an anticipated rear-end co~ n time by the equation:
Ta = X- Tkx V~l axTaxG ~ Vr , where TA is anticipated rear-end collision time in seconds, X is vPh~cle-to-veh1r.le distance between the present veh~clç and the prece~lng vehicle in meters, Tk is buffer time in seco~d~, V~ is velocity of the present vehicle in m/s, a is a state parameter of the present vehicle, Vr is relative velocity in m/s and, G signs acceleration on relative velocity V~, the pai.- -~er a p~,n~ i ng on the state of the brake and the degree of op~n~ng of the accelerator, and warning in response to the computed anticipated rear-end coll 1~1on time.
~ 6 --2 0 ~
In the present invention, the apparatus does not warn a rear-end collision when the prece.~ng vehicle faster runs than the present vehicle even if the vehicle-to-vehicle distance between the present vehicle and the prece~ng vehicle has re~che.~ a predete, 1ne~ value at which the apparatus is to warn the rear-end co1l1s~on. On the other hand, the apparatus can warn a possible rear-end collision long ago before the vehicle-to-vehicle distance has reAched the predetel ~ned value at which the apparatus is to warn the rear-end col~ on, when the pre.ce~ng vehicle moves backwards. Thus, the apparatus can always applup.lately warn the po~s~b1e collision in response to the actual relat1onQh~p be~aen the present veh1c1e and the p,~a~d~ ve.h1c1~..
In addition, the appa-aL~s can serlally produce warnlng s~gnal 8 from a ¢ase of safety to a case of danger in accordance with degrees of dany~ol~Qness so as to clearly notice the degrees of dany~ol1Qness to the driver of the present v~h~c1e.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG.l is a block diagram of an ele~L,Gnic circuit of a rear-end co11~sion warning apparatus according to a first ~ ~oA~ ~ t of the present inventlon; and FIG.2 is a block diagram of an eleuLlonic circult 20~332'3 of a rear-end collision warniny apparatus according to a second embodiment of the present invention.
DETATT~n DESCRIPTION OF THE ~nk~K~ EMBODIMENTS
Preferred embodiments of the present invention will be described with reference to the drawings hereinafter. A block diagram of an electronic circuit of a rear-end coll~~ion warning apparatus 90 of FIG.l according to a f~rst embodiment of the present invantion is identical to that of the prior art rear-end coll~clon warning apparats as described above. The rear-end colll s~on warning apparatus 90 comprises a di~dnce 6enCor 92, a cen~-al proo~~s~ng unit (CPU) 91 comprislng, e.g., a mi~.o~Lo~essor, a vehlcle velocity sensor 93, and a display or alarm 94.
U~l~ke the CPU of the prior art rear-end colllslon warning apparatus, the CPU 91 e ~ ~es relative velocity Vr of the prece~ng and p-esen~ veh~cles~
~cceleration G due to a ch~nge of relative velocity Vr, and then anticipated rear-end co~ on time T~ (i.e. a period of time from the present time to an antioipated rear-end aollision) from computed relative velocity Vr.
by the equation (1):
TaXG~vr ( ) ~0 ~ 2~
, where T~ iS anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the prece~ing vehicle in meters, Tk is buffer time in second~, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s and, G si~ns ~ccel~ration on relative velocity Vr. The CPU 91 then produces warning signal W. from computed anticipated rear-end collision time Ta.
The computation of anticipated rear-end collision time T~ by the CPU 91 will be described hereinafter.
In prinaiple, anticipated rear-end coll~ 8~ on time Ta equals X~Vr. For ~ le, when vehicle-to-vehicle distance X equals 100 m and relative velocity Vr equals 5 m/s (i.e. the present vehiale appro~ah~s a prece~1ng veh1~le at a velocity of 5 m/s), anticipated rear-end coll~s1on time Ta equals 20 secon~R (=100 m/5 m/s). The CPU 91 ~_ _,u~es relative velocity Vr from distance signals X of the distance sensor 92. For example, when the distance sensor 92 measures vehicle-to-vehicle distance X
every sampling time T. of 100 seconds, and the last measured vehicle-to-vehicle distance X1 equals 100.5 m, and the present measured vehicle-to-vehicle distance X2 equals 100 m, relative velocity Vr equals 5 m/s (=(100.5 m - 100 m)/0.1 s).
In the first ~ ~ t of the present invention, _ g _ 20~ 332~
the computation of anticipated rear-end collision time T4 employs the factors of buffer time Tk and acceleration G
due to the change of relative velocity Vr in order to produoe fine anticipated rear-end colllsion time T~.
Buffer time Tk is defined as a period of time during which the driver of the present vehicle views a danger and then brakes. If velocity Vm of the present vehicle is 100 km/h (i.e. approximately 30 m/s) and buffer time Tk equals 0.5 s, the present vehicle will run 15 m unbraked until the driver of the present vehicle starts braking. In the present invention, buffer time Tk is given as a constant to the present vehicle and velocity Vm of the present vehicle times buffer time Tk pro~uce~ an unbraked run distance of the present vehicle. The unbraked run di~ance is detracted from veh~ole-to-v~h~cle distance X
(see the above equation (1)) to produce an actual braked vehlcle-to-veh~cle di~ance.
When the unbraked run distance is more than vehicle-to-vehicle distance X, i.e., the value (X - T~ x Vm) is negative, this means that the present v~h~cle have approAch~ the ~le~ed~ ng vehlcle so that the driver of the present vehlole has no actual buffer time Tk. The CPU 91 ately pro~uQe~ warning s~ ~n~l W~ on the display 94.
~cceleration G matches a variation of relative velocity Vr due to, e.g., the braking of the present 2 ~
vehicle. The employment of acceleration G in the equation (1) always gives accurate anticipated rear-end collision time T~ ately after relative velocity Vr has changed, to :Lncrease the accuracy of the rear-end collision warning apparatus 90. Therefore, the CPU 91 can produce real warning signals W~, cutting a momentary fluctuation in relative velocity Vr.
Acceleration G is defined as a differential of relative velocity Vr and aotually produced by the equation (2):
G= Vrl-Vr2 ---(2) TS
, wherein Vrl is the ple~ent computed relative velocity, Vr2 is the last computed relative velocity and T~ is a ~ ng period of time. When veh~cle-to-veh~cle distance X
decreases, ~cceleration G ls positive. On the other hand, when veh~cle-to-veh~Gle distance X increases, ~ccelAration G is negative.
Acceleration G times anticipated rear-end coll~s~on time T~ gives a variation of relative velocity Vr due to ~ccsleration G for anticipated rear-end coll~s~on time T~. The half of ~cc~leration G times anticipated rear-end collision time TA gives an average velocity of the present vehlcle for anticipated rear-end GOl 1 18~ on time T,.
Therefore, an addition of the half of acceleration G times 2 ~ 2 ~i anticipated rear-end collision time T~ to relative velocity Vr l(see the above equation (1)) causes anticipated rear-end collision time T~ to involve the factor of the change o~
relative velocity Vr; ~~ ately after relative velocity Vr has changed. Thus, the rear-end coll;s~ on warning of the present invention increases the accuracy in the anticipation. Anticipated rear-end coll1s;on time T~ is constant as long aP~ acceleration G is constant. The rear-end collision warning apparatus 90 can preclude an unstable condition that anticipated rear-end collls~ Qn time T~
changes every time relative velocity Vr has r,h~n~ed.
In operation, the apparatus according to the first ~ ~o~ ~r~ o* the present invention ~irst computes anticipated rear-end collislon tlme T. by the equation (3):
Ta= X ___ (3 ) and corrects anticipated rear-end collision time T~ by acceleration G on relative velocity Vr to produce warning sl~nal W, ~o~espo~1ng to an actual relat;nn~h1p between the present veh~cle and the preced1n3 vehicle.
Thus, anticipated rear-end co~ ion time T~
constituting warning si~n~l W. from the CPU 91 can provide a series of a 20-~ecnnd before warning, a 19-sec~nd before warning, a 18-second before warning --- so that the apparatus can serially warn by degrees of danger.
20~:~32~
As shown in FIG.2, a rear-end collision warning apparatus 1 according to a second embodiment of the present invention comprises a central processing unit (CPU) 2, a distance sensor 3 measuring a VÇh~ Cl e-to-vehicle distance between the present vehicle and the prece~i ng vehicle and s~n~ln~ vehicle-to-vehicle dis~ance signal X to the CPU 2, a vehicle velocity sensor 4 concurrently sen~; n~ velocity ~t~n~l V~ of the present vehicle to the CPU 2, a display or alarm 5 receiving warning signal W, from the CPU 2 and warning to a driver of the present vehicle, a braking ~P.ncor 6 Qen~ng braking signal B, of a brake to the CPU 2, and an acceleration ~ensor 7 sen~ ng ~ccel Ara~ion Si gn~l AR
of an ~ccelerator to the CPU 2.
The rear-end collision warning apparatus 1 employs a braking and an ~cc~leration of the driver of the present vehicle as additional factors for a fine computation of anticipated rear-end collisi on time T~.
These additional factors serve to finely correct anticipated rear-end coll~si on time T~ according to the first ~ t of the present invention.
The CPU 2 computes relative velocity Vr of the present and prece~i ng vehicles, ~ccel~ration G, and then anticipated rear-end collis~ on time T~ from computed relative velocity Vr by the equation (4):
, where a ls a state parameter of the present vehicle. The . : . .
2~ 32~
Ta= X~TkxVm (4) value of the parameter a depends on a state of a brake of the present vehicle and a degree of opening of an accelerator of the present vehicle. When the braking sensor 6 produces no braking signal and the acceleration sensor 7 produces no ~cceleration signal, the value of a equals 1.
The CPU 2 produces warning signal W. from ~_- ,u~ed anticipated rear-end collision time Ta.
The CPU 2 produces a first acceleration G by the equation (1) when a is 1. It is easily anticipated that the present veh~cle will be ~cc~le~ated at a seco~d acceleration G greater than the first ~cceleration G when Aac~le~ation stgn~l A. ~n~c~tes a degree of open1ng of an accelerator larger than a prede~eL ~ned value. Thus, the CPU 2 ~ ,u~e~ (a x G) by the equation (4) to produce anticipated rear-end time TA shorter than that produced by the equation (1), where a ~ 1. On the other hand, when the CPU 2 has received braking s~ gn~l B., the CPU 2 selects the paL -te~ a to be a correspon~lng value and computes (a x G) by the equation (4) to produce antiaipated rear-end time T~ longer than that pro~uGed by the equation (1), where ~ <
1.
The present invention is not rigidly restricted to the embodiments described above. It is to be unde x~ood 2~332~
that a person skilled in the art can easily change and modify the present invention without departing from the spi.rit of the invention defined in the appended clA1 ~.
,, .
Claims (4)
1. An apparatus of warning a possible rear-end collision of a vehicle having the apparatus of warning the possible rear-end collision against a preceding vehicle, comprising:
a computer;
a distance sensor measuring a vehicle-to-vehicle distance between the present vehicle and the preceding vehicle and sending a distance signal to said computer;
a velocity sensor sensing a velocity of the present vehicle and sending a velocity signal to said computer;
an alarm receiving a warning signal from said computer;
said computer computing an anticipated rear-end collision time by the equation:
Ta= , where Ta is anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, said computer sending the warning signal to said alarm; and said alarm warning in response to the computed anticipated rear-end collision time.
a computer;
a distance sensor measuring a vehicle-to-vehicle distance between the present vehicle and the preceding vehicle and sending a distance signal to said computer;
a velocity sensor sensing a velocity of the present vehicle and sending a velocity signal to said computer;
an alarm receiving a warning signal from said computer;
said computer computing an anticipated rear-end collision time by the equation:
Ta= , where Ta is anticipated rear-end collision time in seconds, X is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, said computer sending the warning signal to said alarm; and said alarm warning in response to the computed anticipated rear-end collision time.
2. An apparatus of warning a possible rear-end collision of a vehicle having the apparatus of warning the possible rear-end collision against a preceding vehicle comprising:
a computer;
a distance sensor measuring a vehicle-to-vehicle distance between the present vehicle and the preceding vehicle and sending a distance signal to said computer;
a velocity sensor sensing a velocity of the present vehicle and sending a velocity signal to said computer;
a braking sensor sensing a state of a brake of the present vehicle and sending a braking signal to said computer;
an acceleration sensor sensing a degree of opening of an accelerator of the present vehicle and sending an acceleration signal to said computer;
an alarm receiving a warning signal from said computer;
said computer computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, .alpha. is a state parameter of the present vehicle, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, said computer sending the warning signal to said alarm, said computer changing the value of the parameter a in response to the braking signal and the acceleration signal; and said alarm warning in response to the computed anticipated rear-end collision time.
a computer;
a distance sensor measuring a vehicle-to-vehicle distance between the present vehicle and the preceding vehicle and sending a distance signal to said computer;
a velocity sensor sensing a velocity of the present vehicle and sending a velocity signal to said computer;
a braking sensor sensing a state of a brake of the present vehicle and sending a braking signal to said computer;
an acceleration sensor sensing a degree of opening of an accelerator of the present vehicle and sending an acceleration signal to said computer;
an alarm receiving a warning signal from said computer;
said computer computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, .alpha. is a state parameter of the present vehicle, Vr is relative velocity in m/s, and G is acceleration on relative velocity Vr, said computer sending the warning signal to said alarm, said computer changing the value of the parameter a in response to the braking signal and the acceleration signal; and said alarm warning in response to the computed anticipated rear-end collision time.
3. A method of warning a possible rear-end collision comprising the steps of:
determining a vehicle-to-vehicle distance between a vehicle and a preceding vehicle;
determining a velocity of the present vehicle;
computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s and, G is acceleration on relative velocity Vr; and warning in response to the computed anticipated rear-end collision time.
determining a vehicle-to-vehicle distance between a vehicle and a preceding vehicle;
determining a velocity of the present vehicle;
computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, Vr is relative velocity in m/s and, G is acceleration on relative velocity Vr; and warning in response to the computed anticipated rear-end collision time.
4. A method of warning a possible rear-end collision comprising the steps of:
determining a vehicle-to-vehicle distance between a vehicle and a preceding vehicle;
determining a velocity of the present vehicle;
determining a state of a brake of the present vehicle;
determining a degree of opening of an accelerator of the present invention;
computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, .alpha. is a state parameter of the present vehicle, Vr is relative velocity in m/s and, G is acceleration on relative velocity Vr, the value of said parameter a depending on the state of the brake and the degree of opening of the accelerator; and warning in response to the computed anticipated rear-end collision time.
determining a vehicle-to-vehicle distance between a vehicle and a preceding vehicle;
determining a velocity of the present vehicle;
determining a state of a brake of the present vehicle;
determining a degree of opening of an accelerator of the present invention;
computing an anticipated rear-end collision time by the equation:
, where Ta is anticipated rear-end collision time in seconds, X
is vehicle-to-vehicle distance between the present vehicle and the preceding vehicle in meters, Tk is buffer time in seconds, Vm is velocity of the present vehicle in m/s, .alpha. is a state parameter of the present vehicle, Vr is relative velocity in m/s and, G is acceleration on relative velocity Vr, the value of said parameter a depending on the state of the brake and the degree of opening of the accelerator; and warning in response to the computed anticipated rear-end collision time.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3351815A JP2562090B2 (en) | 1991-12-16 | 1991-12-16 | Rear impact warning device |
| JP3-351815 | 1991-12-16 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2085325A1 CA2085325A1 (en) | 1993-06-17 |
| CA2085325C true CA2085325C (en) | 1997-10-21 |
Family
ID=18419796
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002085325A Expired - Fee Related CA2085325C (en) | 1991-12-16 | 1992-12-14 | Apparatus and method of warning rear-end collision |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US5502432A (en) |
| EP (1) | EP0550852B1 (en) |
| JP (1) | JP2562090B2 (en) |
| CA (1) | CA2085325C (en) |
| DE (1) | DE69218384T2 (en) |
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-
1991
- 1991-12-16 JP JP3351815A patent/JP2562090B2/en not_active Expired - Lifetime
-
1992
- 1992-12-10 US US07/988,675 patent/US5502432A/en not_active Expired - Fee Related
- 1992-12-14 CA CA002085325A patent/CA2085325C/en not_active Expired - Fee Related
- 1992-12-15 DE DE69218384T patent/DE69218384T2/en not_active Expired - Fee Related
- 1992-12-15 EP EP92121340A patent/EP0550852B1/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| DE69218384D1 (en) | 1997-04-24 |
| JP2562090B2 (en) | 1996-12-11 |
| EP0550852B1 (en) | 1997-03-19 |
| EP0550852A1 (en) | 1993-07-14 |
| US5502432A (en) | 1996-03-26 |
| DE69218384T2 (en) | 1997-07-31 |
| CA2085325A1 (en) | 1993-06-17 |
| JPH05166097A (en) | 1993-07-02 |
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