US5467283A
Expired / Lapsed
US
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Obstacle sensing apparatus for vehicles
Assignee: Mazda Motor Corp
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Filing: 1993-10-19
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Granted: 1995-11-14
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Expires: 2013-10-19
Abstract
Abstract An obstacle sensing apparatus for vehicles is provided in which detection of obstacles is performed efficiently by predicting the traveling path of the vehicle appropriately when detection of obstacles by a radar unit is limited to a region along the traveling path. The apparatus is provided with a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle, a steering angle sensor for sensing the steering angle of the vehicle, and a yaw rate sensor for sensing the yaw rate produced by the vehicle. First traveling-path predicting device predicts a traveling path of the vehicle based upon the steering angle, and second traveling-path predicting device predicts a traveling path of the vehicle based upon the yaw rate. One of these traveling paths is selected in dependence upon the operating state of the vehicle and detection of articles by the radar unit is carried out within a limited region along the traveling path selected.
Inventors
- 👤 Tetsuro Butsuen
- 👤 Tohru Yoshioka
- 👤 Hiroki Uemura
- 👤 Tadayuki Niibe
- 👤 Ayumu Doi
- 👤 Ken-ichi Okuda
- 👤 Tomohiko Adachi
- 👤 Satoshi Morioka
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 22:48
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0257; B; B60; B60T; B60T8/00; B60T8/17; B60T8/1755; B60T8/17558; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; B60T2201/00; B60T2201/02; B60T2201/022; B60T2210/00; B60T2210/30; B60T2210/32; G01S2013/93185; G01S2013/932; G01S2013/9324; G01S2013/9327; G01S2013/93271; G08; G08G; G08G1/00; G08G1/16
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
168 words
An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising: (a) steering angle sensing means for sensing steering angle of the vehicle; (b) yaw rate sensing means for sensing yaw rate produced by the vehicle; (c) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means; (d) second traveling-path predicting means for predicting a second traveling path of the vehicle based upon the yaw rate sensed by said yaw rate sensing means; and (e) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon the operating state of the vehicle and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.
Claim 2
Dependent Claim
168 words
An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising: (a) steering angle sensing means for sensing steering angle of the vehicle; (b) yaw rate sensing means for sensing yaw rate produced by the vehicle; (c) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means; (d) second traveling-path predicting means for predicting a second traveling path of the vehicle based upon the yaw rate sensed by said yaw rate sensing means; and (e) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon the operating state of the vehicle and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.
Claim 3
Dependent Claim
65 words
The apparatus according to claim 1, further comprising vehicle velocity detecting means for detecting velocity of the vehicle, wherein said first traveling-path predicting means calculates radius of curvature of the first traveling path based upon the steering angle sensed by said steering-angle sensing means and the vehicle velocity detected by said vehicle velocity detecting means, and calculates a first lateral slip angle of the vehicle.
Claim 4
Dependent Claim
66 words
The apparatus according to claim 1, further comprising vehicle velocity detecting means for detecting velocity of the vehicle, wherein said second traveling-path predicting means calculates radius of curvature of the second traveling path based upon the yaw rate sensed by said yaw rate sensing means and the vehicle velocity detected by said vehicle velocity detecting means, and calculates a second lateral slip angle of the vehicle.
Claim 5
Dependent Claim
72 words
The apparatus according to claim 1, wherein said selecting means selects the second traveling path predicted by said second traveling-path predicting means when the steering angle is less than a predetermined value, and selects whichever of the first and second traveling paths, which are predicted by said first and second traveling-path predicting means, has a smaller angle of curvature when the steering angle is equal to or greater than the predetermined value.
Claim 6
Dependent Claim
45 words
The apparatus according to claim 1, further comprising identifying means for identifying an obstacle nearest to the vehicle from among obstacles that are within an area along the one traveling path selected by said selecting means and that have been sensed by said radar unit.
Claim 7
Dependent Claim
44 words
The apparatus according to claim 5, wherein said identifying means includes radar unit control means for controlling said radar unit so that said radar unit is limited to detect said obstacles within an area along the one traveling path selected by said selecting means.
Claim 8
Dependent Claim
42 words
The apparatus according to claim 5, further comprising automatic braking control means for calculating relative velocity of the vehicle based upon distance between said obstacle identified by said identifying means and the vehicle, and controlling the vehicle based upon the relative velocity.
Claim 9
Dependent Claim
175 words
An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising: (a) steering angle sensing means for sensing steering angle and amount of change in the steering angle of the vehicle; (b) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means; (c) second traveling-path predicting means for predicting a second traveling path of the vehicle which is directly ahead of the vehicle, based upon the amount of change in the steering angle sensed by said steering angle sensing means; and (d) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon an operating state of the vehicles and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.
Claim 10
Dependent Claim
175 words
An obstacle sensing apparatus for an automotive vehicle having a radar unit for transmitting radar waves ahead of the vehicle and sensing obstacles present ahead of the vehicle by receiving reflected radar waves from said obstacles, comprising: (a) steering angle sensing means for sensing steering angle and amount of change in the steering angle of the vehicle; (b) first traveling-path predicting means for predicting a first traveling path of the vehicle based upon the steering angle sensed by said steering angle sensing means; (c) second traveling-path predicting means for predicting a second traveling path of the vehicle which is directly ahead of the vehicle, based upon the amount of change in the steering angle sensed by said steering angle sensing means; and (d) selecting means for selecting one of the first and second traveling paths, which have been predicted by said first and second traveling-path predicting means, in dependence upon an operating state of the vehicles and wherein the sensing of the obstacles is carried out within a limited region along the selected traveling path.
Claim 11
Dependent Claim
42 words
The apparatus according to claim 8, wherein said first traveling-path predicting means sets a radius of curvature of the first traveling path and a lateral slip angle of the vehicle based upon the steering angle sensed by said steering angle sensing means.
Claim 12
Dependent Claim
37 words
The apparatus according to claim 8, wherein said second traveling-path predicting means predicts unconditionally that the second traveling path of the vehicle is directly in front of the vehicle and makes the radius of curvature infinitely large.
Claim 13
Dependent Claim
71 words
The apparatus according to claim 8, wherein said selecting means selects the second traveling path predicted by said second traveling-path predicting means when the steering angle sensed by said steering angle sensing means is less than a predetermined value and the amount of change in the steering angle is greater than a predetermined value, and selects the first traveling path predicted by said first traveling-path predicting means at all other times.
Claim 14
Dependent Claim
45 words
The apparatus according to claim 8, further comprising identifying means for identifying an obstacle nearest to the vehicle from among obstacles that are within an area along the one traveling path selected by said selecting means and that have been sensed by said radar unit.
Claim 15
Dependent Claim
44 words
The apparatus according to claim 12, wherein said identifying means includes radar unit control means for controlling said radar unit so that said radar unit is limited to detect said obstacles within an area along the one traveling path selected by said selecting means.
Claim 16
Dependent Claim
42 words
The apparatus according to claim 12, further comprising automatic braking control means for calculating relative velocity of the vehicle based upon distance between said obstacle identified by said identifying means and the vehicle, and controlling the vehicle based upon the relative velocity.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-11-13 | 1999-05-15 | 1999-11-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-11-13 | 2003-05-15 | 2003-11-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-11-13 | 2007-05-15 | 2007-11-14 | $7700.00 | Window Closed / Lapsed |