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WO1998000730A1 - Systeme anti-collision - Google Patents

Systeme anti-collision Download PDF

Info

Publication number
WO1998000730A1
WO1998000730A1 PCT/AU1997/000412 AU9700412W WO9800730A1 WO 1998000730 A1 WO1998000730 A1 WO 1998000730A1 AU 9700412 W AU9700412 W AU 9700412W WO 9800730 A1 WO9800730 A1 WO 9800730A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
distance
collision avoidance
avoidance system
truck
Prior art date
Application number
PCT/AU1997/000412
Other languages
English (en)
Inventor
Barry Manclark
Original Assignee
Duskedge Pty. Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Duskedge Pty. Ltd. filed Critical Duskedge Pty. Ltd.
Priority to AU31611/97A priority Critical patent/AU3161197A/en
Publication of WO1998000730A1 publication Critical patent/WO1998000730A1/fr

Links

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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/002—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle
    • B60Q9/007—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for parking purposes, e.g. for warning the driver that his vehicle has contacted or is about to contact an obstacle providing information about the distance to an obstacle, e.g. varying sound
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/64—Luminous indications
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G01S2015/939—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details vertical stacking of sensors, e.g. to enable obstacle height determination

Definitions

  • This invention relates to a collision avoidance system for a vehicle .
  • This invention has particular but not exclusive application to heavy vehicles such as trucks which have visibility problems when reversing.
  • US Patent 5,303,205 discloses a system in which ultrasonic transducers are mounted on a truck.
  • the ultrasonic transducers provide the driver of the truck with a distance readout.
  • the readout is advantageously mounted in the truck's reversing mirror.
  • the present invention relates to an improved collision avoidance system.
  • This invention in one aspect resides broadly in a collision avoidance system for a vehicle, the system including: - transmitting means for transmitting a signal; receiving means for receiving the transmitted signal when reflected by an object; and processing means for calculating the distance between the vehicle and object, wherein the processing means is adapted to operate actuating means when the calculated distance is less than a predetermined distance.
  • the actuating means is associated with the brakes of the vehicle.
  • the actuating means is associated with a motor for retarding the approach of the vehicle towards the object.
  • the processing means also calculates the closing velocity of the vehicle and the object and the predetermined distance is dependant on the calculated closing velocity.
  • FIG 1 is a schematic diagram of a collision avoidance system according to the invention.
  • FIG 2 is a block diagram according to the invention
  • FIG 3 is a schematic illustration of the indicating means ;
  • FIG 4 is schematic view of the brake control circuit
  • FIG 5 is schematic example of the implementation of the system.
  • vehicle 1 With reference to FIG 1 there is illustrated vehicle 1, animate object (person) 2 and inanimate object 3.
  • the system may be adapted to discriminate between animate and inanimate objects.
  • the system may include infra-red sensing means.
  • the system may include motion sensing means or means for calculating the velocity of the detected object to determine whether or not it is animate or inanimate, or more strictly mobile or immobile.
  • Telesonic sensor 6 is an ultrasonic transceiver, although in other embodiments it may be another form of transducer such as, for example, a low powered microwave transducer.
  • an ultrasonic signal having a frequency of 40 kHz at ⁇ 20 vDC is generated.
  • This signal is fed to output transducers whereby a longitudinal wave is transmitted at approximately 331 metres per second depending on atmospheric conditions.
  • the system may include means for compensating for temperature and/or pressure variation. It would be understood that the system calculates distance based on the time delay between transmission and reception. Accordingly, variations in atmospheric conditions will be influential and a look up table may be included to enable compensation. A look up table is not required if the transducer utilises an electromagnetic signal rather than a longitudinal sound wave.
  • Telesonic controller 5 communicates with Telesonic sensor 6 and includes processing means for calculating the distance between the vehicle and detected object based on the time delay between transmission and reception.
  • Display means 10 may include audio and/or visual indicators.
  • the display means may include a read out of the distance and/or may include an audio output with an increase in frequency as the distance to object closes and/or may include a visual output having an intensity which is inversely proportional to the distance .
  • Telesonic controller 5 also receives input from gearbox 4. In this regard the system is only activated when a reverse gear is selected rather than having the system active at all times. There is also a manual override or inhibit switch 7 which can be operated by the driver of the vehicle. Telesonic controller 5 also receives input from parameter switches 9. Parameters relating to the system may be selectively varied by the operator of the vehicle or may be set when the system is installed at parameter values appropriate to the particular vehicle.
  • Telesonic controller 5 is capable of actuating braking system 8.
  • the brakes will be automatically applied if the vehicle approaches within a predetermined distance of the object.
  • the predetermined distance is dependant on the approach velocity of the vehicle to the object. Thus, if the vehicle is approaching the object at a high speed then the predetermined distance is set at a larger value so that the speed of the vehicle can be retarded before the object is struck.
  • the application of the brakes is subject to further criteria being satisfied.
  • the truck must have reverse gear engaged and the manual inhibit switch must not be activated.
  • FIG 4 there is illustrated a simplistic view of the brake control circuit showing redundancy features.
  • FIG 5 there is schematically illustrated an example of the implementation. Another example would be to implement the counter using a timer interrupt rather than including it in the main procedure.
  • this system can also be used in marine environments, for example in controlling the docking manoeuvres of a ship relative to a wharf.
  • the system can be used to actuate a bow thruster or stern thruster, for example, to prevent collision with the wharf.
  • FIG 1 shows only a single transceiver
  • the system can include multiple transceivers which are preferably spaced in an array across the back of the vehicle.
  • the array may be one dimensional and may extend across the back of the truck.
  • the array may be two dimensional and may extend across the back of the truck and also vertically up the back of the truck.
  • Such a system has a number of advantages. Firstly, it gives comprehensive coverage rearwardly of the truck. Secondly, the array can be used to identify the location of any object located (see FIG 3) .
  • the array of transceivers can have a corresponding array of indicators visible to the operator of the truck. If an object is located at the left of the truck then the left hand indicator will indicate this location to the operator of the truck. If the object then moves to the centre of the rear of truck then the central indicator will be activated and so on. Thus, an object can be tracked as it moves across the back of the truck. In reality, the driver would observe his mirrors and would probably see the object pass behind the truck and could then track it across the truck with the array of indicators until the object emerged on the other side and became visible in the reversing mirror. With reference to FIG 3 there is illustrated a display which is visible to the operator. As previously discussed, the display may be located in the reversing mirrors or may be mounted on the dashboard.
  • the system includes a system malfunction light, auto-brake application indicator and indicating means for indicating to the operator the location and distance of a detected object.
  • the indicating means includes a numeric display which displays the distance to the nearest detected object.
  • the indicating means also includes a one dimensional array of indicator lights, the intensity of which increase as an object approaches. The location of the object is indicated by the individual light in the array which is brightest. Alternatively, the individual lights may be replaced by bars of LEDS which are progressively lit as the vehicle approaches the object. Each LED may represent an increment in distance.
  • the system is adapted for mounting in all forms of vehicles.
  • the system is functional and accurate within the temperature range of -30 to 100°C and with relative humidity between 0 to 100%.
  • the system detects obstacles of a solid nature only i.e. excludes rain etc.
  • the system measures to an accuracy of at least 0.2 metres .
  • the system provides output which is not more than 5 milliseconds later that the time that the measurement was true.
  • the system provides a discrete electrical signal that indicates that the system is functional.
  • the system includes a system malfunction warning light which indicates when there is a problem in the system.
  • the system includes a manual inhibit switch which will disable the auto brake capacity while leaving the indicators active.
  • An emergency situation is one in which the vehicle is reversing and is in imminent danger of collision causing injury or severe damage. While it is conceivable that the system be provided with a mechanism for evaluating whether or not an object is human or not (such as infra-red sensors) , it is intended to consider any object to be possibly human, and any moving object to probably be human.
  • Factors to be taken into consideration of determining if an emergency situation exists are the distance to the object, the velocity of approach, and any acceleration in the approach.
  • the time to collide with an objection can be estimated from the distance, velocity and acceleration of approach. Situations where a person or object move into the reversing path of the vehicle shall be seen as a sudden acceleration of approach.
  • the system should consider the situation to be an emergency if there is insufficient time to stop the vehicle (given driver response for braking time) within the estimated time to collision.
  • the system will include three transceivers in order to provide redundant coverage and to provide reasonable directional information.
  • the transmission of the transceivers may be staggered in the time domain.
  • transmission of the transceivers may be staggered in the frequency domain.
  • the use of multiple frequencies will reduce the risk objects not being detected due to their absorbent characteristics at a particular frequency.
  • the senor knows when a transmission is made and the power level at which it is transmitted, it can determine the maximum possible return signal strength based on the time for the signal to return. This can be used to reject any signal whose strength is above a maximum threshold or above a maximum time delay. This can be used to filter out extraneous noise and signals which have been sent from other vehicles using the same system. It is also possible that the transmission of the respective transceivers be coded to uniquely identify each transceiver.
  • the system can do more than merely actuate.
  • the system can specify a power level to be applied to the brakes or other control system.
  • a power level to be applied to the brakes or other control system.
  • such a system could be used in the marine application where the system actuates bow thrusters or the like at variable power levels.
  • This system can be used in monitoring the movement of gantries such as are used in air bridges connecting an airport terminal to an aircraft.
  • This system is also applicable with loading vehicles working in confined spaces. For example, many accidents occur during the operation of forklifts. It is common practice for forklift operators to reverse gently into objects to obtain a maximum turning circle and to allow them to "feel" their way around confined spaces. This system could be used to provide automatic braking such that any collision occurs at less than a predetermined maximum velocity. Such a system would allow the driver to continue to feel their way around whilst at the same time minimising damage and injury.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

Cette invention concerne un système anti-collision destiné à un véhicule, lequel système comprend les éléments suivants: un dispositif émetteur permettant d'envoyer un signal; un dispositif récepteur permettant de recevoir le signal émis et réfléchi par un objet; et enfin, un dispositif de traitement qui va calculer la distance entre le véhicule et l'objet. Ce dispositif de traitement est conçu de manière enclencher un système d'actionnement lorsque la distance calculée est inférieure à une distance prédéterminée.
PCT/AU1997/000412 1996-06-27 1997-06-27 Systeme anti-collision WO1998000730A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU31611/97A AU3161197A (en) 1996-06-27 1997-06-27 A collision avoidance system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPO0737A AUPO073796A0 (en) 1996-06-27 1996-06-27 A collision avoidance system
AUPO0737 1996-06-27

Publications (1)

Publication Number Publication Date
WO1998000730A1 true WO1998000730A1 (fr) 1998-01-08

Family

ID=3795053

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1997/000412 WO1998000730A1 (fr) 1996-06-27 1997-06-27 Systeme anti-collision

Country Status (2)

Country Link
AU (1) AUPO073796A0 (fr)
WO (1) WO1998000730A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0993990A3 (fr) * 1998-10-13 2003-10-29 Robert Bosch Gmbh Système d'aide pour se garer
WO2005007459A1 (fr) * 2003-07-10 2005-01-27 Robert Bosch Gmbh Dispositif de securite a identification de collision, compte tenu d'influences environnementales
EP1457790A3 (fr) * 2003-03-03 2005-03-23 Azimut-Benetti S.p.A. Dispositif de mesure de la distance instantanée entre l'arrière d'un navire et une structure fixe, par exemple un quai, une jetée ou une passerelle d'embarquement
WO2006058360A1 (fr) * 2004-12-01 2006-06-08 Zorg Industries Pty Ltd Systeme integre pour vehicule permettant d'eviter des chocs a faible vitesse
US7330103B2 (en) 2005-07-21 2008-02-12 International Business Machines Corporation Vehicle collision avoidance system enhancement using in-car air bag deployment system
WO2012176101A3 (fr) * 2011-06-21 2013-03-07 Koninklijke Philips Electronics N.V. Procédé pour détection de présence fiable et rapide à l'aide d'un capteur
US20130282252A1 (en) * 2011-01-12 2013-10-24 Toyota Jidosha Kabushiki Kaisha Travel support apparatus

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3012236A1 (de) * 1979-03-29 1980-10-02 Craven Geoffrey Craven Naeherungswarngeraet
DE3121684A1 (de) * 1981-06-01 1982-12-16 Klaus Prof Dr Haefner Sicherheitszonen-system fuer fahrzeuge
US4464738A (en) * 1980-02-22 1984-08-07 Sonic Tape Public Limited Company Sonar distance sensing apparatus
GB2139036A (en) * 1983-04-27 1984-10-31 Nissan Motor Optical radar for vehicles
AU6313290A (en) * 1990-09-25 1992-04-02 Semyon Gurevich An automatic accident prevention device
AU1548092A (en) * 1991-04-16 1992-11-17 Solar Wide Industrial Ltd. Vehicle parking aid
DE4312595A1 (de) * 1992-09-23 1994-03-24 Werner Laukien Kraftfahrzeug mit Sicherheitssystem
US5303205A (en) * 1990-02-26 1994-04-12 Trend Tec Inc. Vehicular distance measuring system with integral mirror display

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3012236A1 (de) * 1979-03-29 1980-10-02 Craven Geoffrey Craven Naeherungswarngeraet
US4464738A (en) * 1980-02-22 1984-08-07 Sonic Tape Public Limited Company Sonar distance sensing apparatus
DE3121684A1 (de) * 1981-06-01 1982-12-16 Klaus Prof Dr Haefner Sicherheitszonen-system fuer fahrzeuge
GB2139036A (en) * 1983-04-27 1984-10-31 Nissan Motor Optical radar for vehicles
US5303205A (en) * 1990-02-26 1994-04-12 Trend Tec Inc. Vehicular distance measuring system with integral mirror display
AU6313290A (en) * 1990-09-25 1992-04-02 Semyon Gurevich An automatic accident prevention device
AU1548092A (en) * 1991-04-16 1992-11-17 Solar Wide Industrial Ltd. Vehicle parking aid
DE4312595A1 (de) * 1992-09-23 1994-03-24 Werner Laukien Kraftfahrzeug mit Sicherheitssystem

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0993990A3 (fr) * 1998-10-13 2003-10-29 Robert Bosch Gmbh Système d'aide pour se garer
EP1457790A3 (fr) * 2003-03-03 2005-03-23 Azimut-Benetti S.p.A. Dispositif de mesure de la distance instantanée entre l'arrière d'un navire et une structure fixe, par exemple un quai, une jetée ou une passerelle d'embarquement
US7151714B2 (en) 2003-03-03 2006-12-19 Azimut-Benetti S.P.A. Apparatus for measuring the instantaneous distance between the stern of a vessel and a fixed structure such as quay, a jetty or a landing stage
WO2005007459A1 (fr) * 2003-07-10 2005-01-27 Robert Bosch Gmbh Dispositif de securite a identification de collision, compte tenu d'influences environnementales
US7881842B2 (en) 2003-07-10 2011-02-01 Robert Bosch Gmbh Restraint system with impact recognition, taking into account environmental influences
AU2004325414B2 (en) * 2004-12-01 2010-09-23 Zorg Industries Pty Ltd Integrated vehicular system for low speed collision avoidance
WO2006058360A1 (fr) * 2004-12-01 2006-06-08 Zorg Industries Pty Ltd Systeme integre pour vehicule permettant d'eviter des chocs a faible vitesse
US8548685B2 (en) 2004-12-01 2013-10-01 Zorg Industries Pty Ltd. Integrated vehicular system for low speed collision avoidance
US8855868B2 (en) 2004-12-01 2014-10-07 Zorg Industries Pty Ltd Integrated vehicular system for low speed collision avoidance
US9139200B2 (en) 2004-12-01 2015-09-22 Zorg Industries Pty Ltd Integrated vehicular system for low speed collision avoidance
US9726483B2 (en) 2004-12-01 2017-08-08 Zorg Industries Pty Ltd Integrated vehicular system for low speed collision avoidance
US7330103B2 (en) 2005-07-21 2008-02-12 International Business Machines Corporation Vehicle collision avoidance system enhancement using in-car air bag deployment system
US20130282252A1 (en) * 2011-01-12 2013-10-24 Toyota Jidosha Kabushiki Kaisha Travel support apparatus
US8972142B2 (en) * 2011-01-12 2015-03-03 Toyota Jidosha Kabushiki Kaisha Travel support apparatus
WO2012176101A3 (fr) * 2011-06-21 2013-03-07 Koninklijke Philips Electronics N.V. Procédé pour détection de présence fiable et rapide à l'aide d'un capteur

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