United States Patent [19]
`Davidian
`
`USO05357438A
`[11] Patent Number:
`[45] Date of Patent:
`
`5,357,438
`Oct. 18, 1994
`
`ANTI-COLLISION SYSTEM FOR VEHICLES
`' [54]
`[76] Inventor:
`Dan Davidian, 16 Mania Shochat,
`Holon, Israel
`Appl. No.: 70,817
`[21]
`[22] Filed:
`Jun. 3, 1993
`[30]
`Foreign Application Priority Data
`Jun. 4, 1992 [IL]
`Israel .................................... .. 102097
`
`[51] Int. (:1; ............................................ .. G06F 15/50
`[52] US. (:1. ............................. .. 364/461; 364/426.04;
`342/455; 340/436; 180/169
`[58] Field Of Search ................. .. 364/460, 461, 424.01,
`364/424.04, 426.04; 340/435, 436, 437, 438,
`961; 342/29, 41, 455; 434/236, 238, 258;
`273/440; 180/167-169; 73/517 A
`References Cited
`U.S. PATENT DOCUMENTS
`
`[56]
`
`3,737,902 6/1973 O’Hagan et a1. .................... .. 342/41
`3,918,176 11/1975 Abernethy, III et a1. ........ .. 424/258
`4,621,705 11/1986 Etoh .................................. .. 364/461
`4,638,289 1/ 1987 Zottnik ........................... .. 73/517 A
`
`4,770,636 9/1988 Buschke ............................ .. 436/236
`5,014,200 5/1991 0111111111111 6161. ........... .. 364/426.04
`5,166,881 11/1992 Akasu ................................ .. 364/461
`Primary Examiner-Gary Chin
`Attorney, Agent, or Firm—Benjamin J. Barish
`[57]
`ABSTRACT
`An anti-collision system for vehicles includes a speed
`sensor for sensing the speed of the vehicle, a space
`sensor for measuring the distance of the vehicle from an
`object, a computer for computing a danger-of-collision
`distance to the object, an alarm actuated by the com
`puter when the sensed distance of the object is equal to
`or less than the danger-of-collision distance compared
`by the computer, and a brake light actuated upon the
`actuation of said alarm. The system also includes a con
`trol panel having parameter presetting means for preset
`ting preselected parameters concerning the vehicle, the
`vehicle driver, and the environment, which are utilized
`by the computer for computing the danger-of-collision
`distance to the object.
`
`‘20 Claims, 30 Drawing Sheets
`
`14 FRONT VEHICLE SPACE SENSOR \8
`
`<— REAR VEHICLE SPACE SENSOR \10
`
`-'
`
`CLOCK
`
`MJ 8’
`
`SWITCHES/SENSORS 150
`
`OUTPUT DATA WODULE
`
`SWITCIES 4 CLOCK DISPLAY
`
`CALCULATION
`MODULE 0F:
`
`* SAFETY DISTANCE
`A vCOLLISION DISTANCE
`* DANGEROUS
`HOURS & DAYs
`
`<--
`
`VE-IICLE SPEED SENSOR
`
`\
`12
`
`<— REACTION TIME SWITCH
`SKTDDING ,DANOER
`SWITCH/SENSOR
`A SWITCH/SENSOR
`@VEHICLE LO D
`\32
`
`§O
`\
`34
`
`~—
`
`ROAD TYPE SWITCH
`
`38
`
`\
`8— VISIBILITY CONDITIONS SW.
`36
`
`‘— DAYLIOHTIDARK SW/SENSOR T14
`
`‘52
`46
`I SENSORS ‘@118
`MIMI @ 511
`LAM W 30+
`BRAKING REMINDER
`46C
`DECELERATION ALARM \ —* (AUDIOVISUAL ALARM)
`\‘gif
`MODULE AND
`(OPTIONAL) VEHICLE
`
`93 _, VEHICLE AUTOMATIC
`SYSTEMS ACTUATORS
`
`96
`
`SYSTEMS
`»
`AUTOMATIC OPERATION
`
`\
`9
`@TIAMLIIMT ACT AT
`U“
`U ORDIS LAY 26A
`
`3- TRAILER SWITCH/SENSOR T20
`
`CONTROL MODLLE
`
`_» BRAKE LIGHT ACTUATOR
`
`\26
`
`‘— REVERSE OEAR SENSOR
`
`DRIVING ABILITY TEST W
`
`*7 CONSTANT DISTANCE SWITCHES \
`
`BLACK BOX ALARM
`e DATA MODULE
`(OPTIONAL)
`
`A '
`94- ALARM DATA DISPLAY
`
`W97
`
`a
`
`DRIVING ABILITY \ __, START-LP ENABLE DISPLAY 16,
`TEST MODULE
`95
`'
`(OPTIONAL)
`-4
`\98
`
`START-LP ENABLE
`
`VWGoA - Ex. 1005
`Volkswagen Group of America, Inc., Petitioner
`Case No. IPR2015-00276
`1
`
`

`
`US. Patent
`
`0ct.18, 1994
`
`Sheet 1 of 30
`
`5,357,438
`
`2
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 2 of 30
`
`5,357,438
`
`
`
`Any AHMV Emma E mmm mummm
`
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`
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`
`52¢; EC 28 202828 28:28 ages: 15 mi: 75:25
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`02 mm» "E5 028 %< 9a 3% Oz mm; 55 .2: E: z: 23 Ha
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`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 3 of 30
`
`5,357,438
`
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`
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`87256 58: 2;. 528 228%
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`Fhllllw J2 mm "mm mummm
`
`mm
`
`
`
`m2: Swim -
`
`on.
`
`$26
`
`4
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 4 0f 30
`
`5,357,438
`
`\
`
`MAIN MENU
`STATUS DISPLAY
`PARAMETERS INPUT
`ALARM MODE SELECTION
`T BLACK BOX ALARM DATA
`BLACK BOX ALARM DATA
`
`DRIVE NO ................................ .. 3
`
`DRIVING DURATION IHRI .... .. 2.5
`FRONT ALARMS TO DRIVING RATIO..5.3
`ALARM TIME] SPEED | DISTANCE
`19:23:56
`I17
`37.5
`19:23:57
`I15
`33.2
`19123358
`IOO
`37.4
`
`REAR ALARMS TO DRIVING RATIO ..... ..0.0
`MECHANICAL SYSTEMS OPERATED ? NO
`RETURN
`
`ALARM MODE SELECTION
`COLLISION DANGER
`CONSTANT DISTANCE ........................... ..
`RETURN
`
`76A
`
`F I G . 4
`
`.- CONSTANT A
`DISTANCE
`76B
`250
`
`OTHER
`RETURN
`
`PARAMETERS INRIIT \
`REACTION TINE .......... .. 7”
`vEIIICIE LOAD
`SI<IDDINC CONDITIONS
`VISIBILITY CONDITIONS
`ROAD TYPE
`OTIIER
`RET_IIRN
`
`REACTION TINE \
`REGULAR
`LONG
`VERY LONG
`RETURN
`
`5
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 5 of 30
`
`5,357,438
`
`mm
`
`hm.
`
`m.oHn_
`
`.L .L E .“w!
`a h ‘r if
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`
`h j #N J/J.
`
`IQ
`
`5/
`/_ .Ql
`
`l8
`
`‘Klllmw m
`
`6
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 6 of 30
`
`5,357,438
`
`CALCULATION
`MODULE OE:
`
`.
`
`II SAFETY DISTANCE
`II COLLISION DISTANCE
`II DANOEROUS
`HOURS & DAYS
`
`FRONT VEHICLE SPACE SENSOR\8
`
`REAR VEHICLE SPACE SENSOR \10
`
`VEHICLE SPEED SENSOR
`
`REACTION TIME SWITCH
`SKI DDINO DANOER
`SwITOR/SENSOR
`
`\
`12
`3O
`
`\
`34
`
`VEHICLE LOAD SWITCH/SENSOR\
`32
`A38
`
`ROAD TVDE SWITCH
`
`VISIBILITY CONDITIONS SN. \
`36
`
`DAVLIOHT/ DARK SW. / SENSOR A14
`
`TRAILER SNITOR/SENSOR T20
`
`REvERSE SEAR SENSOR
`
`\
`
`DRIVINO ARILITV TEST A
`
`CONSTANT DISTANCE SWITCHES\
`
`FIG. 6A
`
`7
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 7 of 30
`
`5,357,438
`
`(I?
`
`CLOCK
`
`\
`
`9L
`
`FIG. 6B
`
`‘
`
`52 '
`\ SWITCHES!» CLOCK DISPLAY
`SW1 TCHES/ SENSORS 92» SENSORS “DISTANCE DISPLAY \jg
`
`OUYDUY DATA MODULE
`
`OUTPUT -, SPEED DISPLAY \SO '
`
`DISPLAY a KEY DISPLAYS
`,
`
`RRAAIAID REMINDER
`(AUDIOVISUAL ALARM)
`
`93 _, VEHICLE ADIDIAAIID
`SYSTEMS ADIDAIDRS
`
`30+
`46C
`\458C
`4
`
`\
`%
`
`DECELERATION ALARM \
`MODULE AND
`
`(OPTIONAL) VEHICLE
`
`SYSTEMS
`ADIDMAIID OPERATION
`CONTROL MODULE
`
`DRAALIDRI ADIIIAIDR DISPLAY A
`26A
`A 26 I
`
`BRAKE LIDRI ADIDAIDR
`
`RLADA BOX ALARM
`DAIA MODULE
`IDPIIDRALI
`
`A
`94
`
`ALARM DAIA DISPLAY
`
`A97
`
`DRIYIRS ARILIIY \
`ILSI MODULE
`95
`(OPTIONAL)
`
`SIARI-DP ENABLE DISPLAY A 6A
`'
`\DS
`
`SIARI-DP ENABLE
`
`8
`
`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 8 of 30
`
`5,357,438
`
`
`
` 106
`
`9
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 9 of 30
`
`5,357,438
`
`w .w:
`
`10
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 10 of 30
`
`5,357,438
`
`START
`
`FIG-9
`
`\
`RESET 120
`l
`PARAMETERS INITIALIZATION
`
`INCREMEMT PULSE COUNT
`
`4
`
`V
`
`SEND TX COMMAND
`
`126
`
`WAIT FOR RX, TIME OUT WHEN T=T0
`l
`COUNT INTER VAL: L=TRX-T]l' \13 O
`
`cALaAPPRoA CH SPEED:AS=L2—LI “13 2
`
`V
`CALCULATE VEHICLE SPEED OR \
`READ FROM SENSOR, V 13 4
`$
`READ SWITCHES OR SENSORS OUTPUTZSOF3 6
`
`CALCULATE AL=f/L,AS, V,SO)
`
`\
`138
`
`<>No
`
`.
`
`AL= "I "
`14 0 YES
`
`SET AUDIO- VISUAL ALARMS 0R \
`ACTUATORS (OPTIONAL)
`14 2
`
`11
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 11 0f 30
`
`5,357,438
`
`f
`
`4,
`1.50 AL=0, ALSF=0, ALSR=0, ALCF=0, ALCR=0, [=0
`
`READ RE BESZSE DDHF
`152/
`RRZ RRE RBD,R CL, RBI; RS 1; RSF
`
`f
`
`V
`
`1554 READ DRIVING DATE AND HOUR
`
`I YES
`158 SF = SF’VDDHF
`RSF = RSHDDHF
`I
`+
`f
`160 READ RT, VQDLASBDMSARBSKCLRKV ‘
`
`FIG. 10A
`
`C8D
`
`12
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 12 of 30
`
`5,357,438
`
`FIG—1OB
`
`G’)
`
`V
`
`CD=SD/CSF
`RsD=[(RRT*vc*DL*RRMV-ASIHMMRHSHRcuRmkRmRsF
`RCD=RSD / RCSF
`
`[
`
`T0 DECELERATION AND BRAKING ALARM MODULE (13)
`
`V
`
`END
`
`13
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 13 of 30
`
`5,357,438
`
`@
`
`1cm,E0,ALsE:0,ALSR:0,AL<:E:0,AEcR:0
`L
`
`203
`
`204 /
`
`=
`
`206
`
`NO
`
`READ CDM
`
`V
`READ MD
`
`l
`MD<CDM
`YES
`
`ICDIICDH
`
`3
`05
`
`SET AUDIOVISUAL ALARM
`
`207‘
`
`FIG. 11A @
`
`14
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 14 of 30
`
`5,357,438
`
`FIG. 11B
`
`MD<SD OR MDISD
`
`‘
`
`209
`
`YES
`\
`ALSFIALSFH
`210
`l
`READ &SA\/E TIMESDISTANCESSPEEDS \
`FOR x maps
`211
`l
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`,i
`READ RMDRSDSD
`
`\
`211
`
`15
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 15 of 30
`
`5,357,438
`
`<9 F I G , 1 1C
`
`‘
`
`®+—— RMD<RSD DR RMD:RSD
`1 YES
`ALSR:ALSR+1
`l
`READ &SA\/E TIMES,DISTANCES,SPEEDS
`FOR >< TRIPS
`
`215
`
`\
`216
`
`217
`
`217
`
`233
`
`ACTUATE BRAKELIGHT & DISRLAY.
`SET AUDIOVISUAL ALARM
`
`READ RMDRDDDD
`
`NO
`
`34
`
`1 YES
`RcD:cD
`
`\
`235
`
`16
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 16 of 30
`
`5,357,438
`
`YES
`f
`ALCRIALCRH <—
`
`237
`
`6
`
`ALRAIALSR
`l
`ALSRIO
`
`®
`
`RMD<RCD OR RMDIRCD
`.
`
`NO l
`
`READ RMD,RSD,SD
`
`6
`
`23
`
`\
`238
`
`:
`
`/
`
`242 ALSRgSRH
`
`17
`
`

`
`US.‘ Patent
`
`Oct. 18, 1994
`
`Sheet 17 of 30
`
`5,357,438
`
`Q9 FIG. 11E
`
`READ &SAVE TIMESDISTANCESSREEDS \
`FOR X TRIPS
`243
`1
`ACTUATE RRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`l
`@
`
`244
`
`l :0
`
`NO
`
`YES I
`
`5
`
`NO
`
`T
`246K I:|+1
`I YES
`
`L
`
`\
`247
`
`245
`
`18
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 18 of 30
`
`5,357,438
`
`@ FIG. 11F -
`
`ALSF NOT EQUAL TO 0 w
`
`218
`
`YES
`
`@——~» READMQCD 219
`
`19
`
`

`
`US. Patent
`
`Oct. 18, 1994
`
`Sheet 19 of 30
`
`5,357,438
`
`FIG. 116
`
`(L9
`
`5
`
`READ MD,SD
`
`224
`
`227K ALFAIALSF
`F:
`ALS 0
`
`MD<SD OR MDISD
`
`225
`
`\
`ALSFIALSFH
`228
`l
`READ &SA\/E TIMES,D|STANCES,SPEEDS \
`FOR X TRIPS
`229
`l
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`\
`229
`
`@9
`
`NO
`
`9
`
`231
`
`232
`
`1 YES
`
`230
`
`1 YES
`:0
`A
`
`@
`
`20
`
`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 20 of 30
`
`I
`
`5,357,438
`
`FIG. 11H
`
`69
`I
`
`Z
`
`ALCE ALlCE+I
`
`I
`
`®
`
`\
`
`222
`
`READ &SAVE TlMES,DISTANCES,SPEEDS \
`
`FOR x TRIPS
`
`I
`
`223
`
`
`
`
`
`ACTUATE BEIAKELIGHT & DISPLAY.
`
`
`
`
`
`SET AUDIOVISUAL ALARM
`
`OEI IOPTIONALI ACTUATE
`
`AUTOMATIC MECHANICAL SYSTEMS
`
`21
`
`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 21 of 30
`
`5,357,438
`
`A w
`G
`
`EAD "REACTION TIME"SWITCH POSITION ,RT
`
`300
`
`\
`
`READ :CAR LOAD/TRAILER"SWITCH POSITION
`OR "CAR LOAD"SENSOR AND "TRAILER"
`
`
`SENSOR OUTPUT} CL
`
`302
`
`
`
` READ "SKIDDING DANGER " SW. POSITION
`
`OR SENSOR OUTPUT} SK
`
`304
`
`EAD "VISIBILITY CONDITION" SW. POSITION, VC 306
`
`READ "ROAD TYPE" SW. POSITION, RP
`
`308
`
`
`
`READ "DAYLIGHT" SW. ‘POSITION
`
`OR SENSOR OUTPUT} DL
`
`
`
`FIG.12A
`
`22
`
`22
`
`

`
`23
`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 22 of 30
`
`5,357,438
`
`FIG.12B
`
`
`
`
`
`READ 'ALARMMOI)E'SW. POSITION, AM
`
`312
`
`READ 'CON.§TANT DISTANCE"SW. POSIHON CM!
`
`314
`
`1
`
`
`
`READFRONTCARSPALNESENSOR 01/TPU];MD
`
`320
`
`
`
`23
`
`

`
`24
`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 23 of 30
`
`5,357,438
`
`I
`
`READ DRIVING DURATION
`DD (IN WHICH v+O)
`OF DRIVE NO. X
`
`‘B50
`
`Y
`
`
`
`
`
`READ ALFA,ALRA,ALSF,
`
`352
`
`ALSR OF DRIVE NO.X
`
` TFA=ALFA+/ALSF
`
`354
`
`
`
`TRA=ALRA+ALSR
`
`
`
`DISPLAY TOTAL FRONT
`
`ALARMS QUANTITY TO
`
`
`
`
`
`DRIVING DURATION RATIO 1356
`
`OF DRIVE NO.X
`
`FADR=TFA/DD
`
`
`
`24
`
`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 24 of 30
`
`5,357,438
`
`C’?
`
`DISPLAY TOTAL REAR
`
`ALARMS QUANTITY TO
`
`
`
`
`
`358
`
`RATIO OF DRIVE NO.X
`
`
`DRIVING DURATION
`
`RADR=TRA/DD
`
`
`
`OFDRIVE NO. X:TIMES,
`
` DISPLAY ALARMS DATA
`
`
`
`
`
`
`360
`
`DISTANCES & SPEEDS
`
`IN WHICH ALARMS WERE
`
`SET AND/OR BRAKE
`
`
`
`
`
`LIGHT ACTUATED
`
`
`
`DISPLAY MECHANICAL
`
`SYSTEMS AUTOMATIC
`
`OPERATION DATA OF
`
`362
`
`DRIVE NO. X:
`
`ACTUATION TIME AND
`
`DISTANCE,ACTUATED
`
`SYSTEMS (BRAKES.
`
`STEERING ETC.)
`
`25
`
`25
`
`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 25 of 30
`
`5,357,438
`
`372 S
`
`CHOOSE RANDOMALLY 6 NUMBERS FROM 1 TO 9
`
`
`CHOOSE RANDOMALLY 6 DIRECTIONS OE ARROWS
`
`
`CHOOSE RANDOMALLY "FIRST/LAST"
`
`
`
`
`HORIZONTAL/VERTICAL
`
`READ ANDDTSPLAY NUMBERS AND ARROWS
`AND THE "FIRST/LAST" LETTER
`
`373
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`
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`375
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`
`("START" I 1)
`
`
`26
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`

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`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 26 of 30
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`5,357,438
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`FIG. 14B
`
`READ TIME T
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`
`27
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`27
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`

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`U.S. Patent
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`Oct. 18, 1994
`
`Sheet 27 of 30
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`5,357,438
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`FIG.
`
`140
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`
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`. 386
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`28
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`

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`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 28 of 30
`
`5,357,438
`
`FIG. 14D
`
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` NO
`PERIOD
`LIMITATION IS OVER
`
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`FOR A PREDETERIVIIND PERIOD
`
`29
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`29
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`

`
`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 29 of 30
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`5,357,438
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`1
`
`5,357,438
`
`ANTI-COLLISION SYSTEM FOR VEHICLES
`
`FIELD AND BACKGROUND OF THE
`INVENTION
`
`The present invention relates to an anti-collision sys-
`tem for vehicles. The invention is especially useful for
`passenger cars, taxis, trucks and buses, and is therefore
`described below particularly with respect to such vehi-
`cles, but the invention, or some aspects of the invention,
`could also advantageously be used for other types of
`vehicles, e.g., trains and aircraft.
`One of the most frequent causes of vehicle accidents
`is the failure of a vehicle to maintain an assured safe
`distance behind another vehicle to prevent a rear end
`collision should the front vehicle suddenly stop. The
`assured safe distance required to prevent such a rear-
`end collision depends on the reaction time of the vehicle
`driver before the brake pedal is actually depressed, and
`the braking distance traversed by the vehicle before it
`comes to a complete stop after the braking pedal has
`been depressed. Both of these factors vary according to
`the surrounding circumstances at the time of driving.
`In order to prevent collisions, many parameters,
`which are constantly changing during the year or even
`during a trip, may affect the stopping distance of the
`vehicle and therefore should be taken into account.
`These parameters include: the condition of the driver,
`such as the driver’s reaction time; the condition of the
`vehicle, such as the vehicle load, the tires pressure; and
`environmental conditions, such as road type, visibility,
`skidding condition.
`It is very important that the computer determines the
`danger-of-collision distance according to the specific
`conditions existing at the time the vehicle is being oper-
`ated. Thus, if the determined danger-of-collision dis-
`tance is too high for the specific operating conditions,
`there will be a high rate of “false alarms”; this will
`reduce the credibility of the system to the driver, which
`can result in a true collision condition being ignored. 0n
`the other hand, if the determined danger-of-collision
`distance is too low for the specific operating conditions,
`this could result in failure to actuate the alarm in time
`when there was truly a collision condition.
`Many anti-collision systems have been proposed, but
`insofar as I am aware, none has yet gained any wide-
`spread use, probably because the proposed systems
`have not taken into consideration the variable nature of
`the many parameters which influence the reaction time
`and/or the braking distance involved at any particular
`time for determining the assured safe distance required
`to be maintained.
`An object of the present invention is to provide an
`anti-collision system which is more closely responsive
`to the actual driving conditions for actuating an alarm.
`
`BRIEF SUMMARY OF THE INVENTION
`
`According to the present invention, there is provided
`an anti-collision system for vehicles, comprising: means
`for determining the speed of the vehicle; means for
`measuring the distance of the vehicle from an object; a
`computer for receiving a number of parameters, includ-
`ing the speed of the vehicle, and for computing from the
`parameters a danger-of-collision distance to the object;
`and a Collision alarm actuated by the computer when
`the measured distance of the object is equal to or less
`than the danger-of-collision distance computed by the
`computer; characterized in that the system also includes
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`a control panel having parameter presetting means for
`presetting preselected parameters which are utilized by
`the computer for computing the danger-of-collision
`distance to the object.
`According to further features in the preferred em-
`bodiment of the invention described below, the system
`also includes a Safety alarm actuated by the computer,
`before actuating the Collision alarm, when the mea-
`sured distance is equal to or less than the danger-of-col-
`lision distance multiplied by a predetermined safety
`factor.
`
`According to further features in the described pre-
`ferred embodiment, below, the control panel also in-
`cludes distance presetting means for presetting a se-
`lected fixed distance from an object, the computer being
`effective to actuate the Collision alarm also when the
`sensed distance to the object is equal to or less than the
`fixed distance.
`
`According to still further features in the described
`preferred embodiment, the preselected parameters in-
`clude: at least one vehicle parameter concerning a pre-
`selected condition of the vehicle; at least one driver
`parameter concerning a preselected condition of the
`vehicle driver; and at least one environmental parame-
`ter concerning a preselected condition of the environ-
`ment. In the described preferred embodiment, the pre-
`setting is effected by a plurality of depressible keys on
`the control panel.
`The system described below also includes a plurality
`of condition sensors for sensing any one of a plurality of
`selected conditions, and for automatically feeding to the
`computer information with respect to the sensed condi-
`tions, which information is also utilized by the com-
`puter for computing the danger-of-collision distance to
`the object. One of the described condition sensors in-
`cludes a condition-of-driver sensor comprising a plural-
`ity of depressible keys, means for displaying a random
`sequence in which the latter keys are to be depressed,
`and means for comparing the actual sequence in which
`the keys are depressed with the displayed random se-
`quence to provide a condition-of-driver parameter,
`which parameter is also utilized by the computer for
`enabling or disabling vehicle operation and/or for com-
`puting the danger-of-collision distance to the object.
`According to another feature in the described pre-
`ferred embodiment, the system further includes a sealed
`recording device which records all incidents in which
`the computer actuates the alarms.
`As will be described more particularly below, an
`anti-collision system constructed in accordance with
`some or all of the foregoing features enables the system
`to be more closely responsive to the actual conditions at
`the time of driving the vehicle, including the condition
`of the vehicle, the driver, and the environment, in deter-
`mining the danger-of-collision distance to avoid a rear-
`end collision. Such a system is useful not only for pas-
`senger vehicles, but also for other types of vehicles,
`such as trucks and buses. The condition-of-driver sensor
`referred to above, and also the sealed recording device,
`are particularly useful in buses, trucks, trains and air-
`craft, to test the condition of the driver, to assure that
`the driver is in proper condition for driving the vehicle,
`and/or to maintain a record which can be later checked
`as to all incidents in which an alarm was actuated by the
`computer.
`According to a further feature, the system includes an
`actuator for actuating a mechanical system of the vehi-
`
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`5,357,438
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`3
`cle, e.g., the brakes of a train, or steering of an aircraft,
`at the time the collision alarm is actuated.
`Further features and advantages of the invention will
`be apparent from the description below.
`BRIEF DESCRIPTION OF THE DRAWINGS
`
`The invention is herein described, by way of example
`only, with reference to the accompanying drawings,
`wherein:
`FIG. 1 diagrammatically illustrates one form of vehi-
`cle equipped with an anti-collision system in accor-
`dance with the present invention;
`FIG. 2 illustrates an example of the system control
`panel to be mounted in the driver’s compartment to
`enable presetting various parameters and also to display
`various information;
`FIG. 3 illustrates another type of control panel that
`may be used in the anti-collision system;
`FIG. 4 illustrates examples of menu-type displays
`which may be included in the control panel of FIG. 3;
`FIG. 5 illustrates a driving ability test device used as
`a condition-of-driver sensor for sensing the condition of
`the driver and/or for enabling or disabling operation of
`the vehicle;
`FIGS. 6A and 6B illustrates the microcomputer in the
`anti-collision system of FIG. 1 mid all the inputs into
`and the outputs therefrom;
`FIG. 7 is a circuit diagram illustrating one form of
`electrical circuit which may be used;
`FIG. 8 illustrates one example of a pattern of pulses
`that may be used by the vehicle in determining its dis-
`tance from an object;
`FIG. 9 is a flow chart illustrating the overall opera-
`tion of the system;
`together, constitute flow charts
`FIGS. 10A—10B,
`illustrating the overall operation of the Calculation
`module in the microcomputer of FIGS. 6A and 6B;
`FIG. 1lA—11H, together, constitute flow charts illus-
`trating the operation of the deceleration alarm module
`in the microcomputer of FIGS. 6A and 6B;
`FIGS. 12A—12B,
`together, constitute flow charts
`illustrating the operation of the output data module in
`the microcomputer of FIGS. 6A and 6B;
`FIGS. 13A—l3B,
`together, constitute flow charts
`illustrating the operation of the black box module in the
`microcomputer of FIGS. 6A and 7B;
`FIGS.
`l4A—14D,
`together, constitute flow charts
`illustrating the operation of the driving ability test mod-
`ule in the microcomputer of FIGS. 6A and 6B;
`FIG. 15 illustrates another control panel which may
`be used to include additional presettable parameters;
`and
`
`FIG. 16 illustrates a control panel particularly useful
`with trains.
`
`DESCRIPTION OF PREFERRED
`EMBODIMENTS
`
`Overall System
`
`The anti-collision system illustrated in FIGS. 1-14 is
`particularly useful for motor vehicles (passengers cars,
`buses, trucks) in order to actuate an alarm when the
`vehicle is travelling at a distance behind another vehicle
`or in front of another, which is equal to or less than a
`danger-of-collision distance computed by a computer
`such that if the front vehicle stops suddenly there is a
`danger of a rear-end collision. For this purpose, the
`system includes means for continuously determining the
`speed of the vehicle; means for measuring the distance
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`and computing the relative speed between it and the
`other vehicle or object; presettable means for presetting
`various conditions of the vehicle, vehicle driver and/or
`environment; and sensors for automatically sensing
`other conditions. All of these are taken into consider-
`ation by the computer for determining the danger-of-
`collision distance. By thus talcing into consideration all
`the foregoing parameters, which may vary widely
`under varying driving conditions, the system is more
`closely responsive to the actual conditions existing at
`the time the vehicle is operated, and therefore provides
`a more creditable alarm.
`In the system described below, there are two alarms:
`a Collision alarm, which is actuated when the vehicle is
`determined to be within the danger-of-collision dis-
`tance; and a Safety alarm, which is actuated before the
`Collision alarm, at a distance greater than the danger-of-
`collision distance by a predetermined safety factor, e.g.,
`1.25. For example, if the danger-of-collision distance is
`determined to be 100 feet for particular driving condi-
`tions, the Safety alarm will be actuated when the vehi-
`cle is within 125 feet, and if this distance continues to
`decrease, the Collision alarm will be actuated when the
`vehicle reaches 100 feet from the object. The Safety
`alarm alerts the driver and is preferably both an inter-
`rupted beep and a continuous visual indicator on the
`panel; whereas the Collision alarm is preferably a con-
`tinuous, higher-intensity beep and a flashing visual indi-
`cator on the control panel.
`The control panel also includes a distance presetting
`means for presetting a selected fixed distance from an
`object, so that when a constant distance alarm is made
`effective the driver can maintain a fixed distance behind
`another vehicle if he so desires. The computer is effec-
`tive to actuate one of the alarms, e.g., the Safety alarm,
`when the distance to the object is equal to or less than
`the fixed distance.
`
`Automatic sensors
`
`FIG. 1 diagrammatically illustrates, for purposes of
`example, a plurality of automatic sensors and other
`electrical devices included in a vehicle equipped with
`an anti-collision system constructed in accordance with
`the present invention.
`Thus, the vehicle, generally designated 2, is equipped
`with a microcomputer 4 having a control panel 6 in-
`stalled in the passenger compartment of the vehicle at a
`location conveniently accessible to the driver. FIGS. 2
`and 3, to be described below, illustrate two types of
`control panels that may be used for this purpose.
`Vehicle 2 further includes a front space sensor 8 for
`sensing the space in front of the vehicle, such as the
`presence of another vehicle, a corresponding rear space
`sensor 10, and a pair of side sensors 11. All the space
`sensors are in the form of pulse (e.g., ultrasonic) trans-
`mitters and receivers, for determining the distance of
`the vehicle from an object, e.g., another vehicle, at front
`or rear. Space sensors may also be provided at the sides
`of the vehicle. Vehicle 2 is further equipped with a
`speed sensor 12 which may sense the speed of the vehi-
`cle in any known manner, for example using the speed
`measuring system of the vehicle itself, or a speed mea-
`suring system independent of the vehicle, e.g., an accel-
`eration sensor, or by calculations based on the Doppler
`effect, etc.
`The automatic sensors on vehicle 2 further include a
`daylight sensor 14, a rain sensor 16, a vehicle load sen-
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`sor 18, a trailer-hitch sensor 20, and a reverse-gear sen-
`sor 22.
`
`In addition to the foregoing sensors, the vehicle 2
`illustrated in FIG. 1 includes a brake light 24 at the rear
`of the vehicle controlled by a brake light actuator 26. It
`also includes a start-up enable device 27 for starting the
`engine of the vehicle.
`The illustrated vehicle further includes a black box
`shown at 28. In this black box are reported every inci-
`dent in which an alarm condition was experienced by
`the vehicle, including pertinent parameters with respect
`to the incident, particularly time, speed of the vehicle,
`and the distance from the object when the alarm was
`triggered. This information may be periodically read
`out of the black box and is particularly useful with
`respect to taxicabs, trucks, buses, trains, vehicles trans-
`porting dangerous cargo (e.g., explosives), ambulances,
`fire department vehicles, etc.
`Further, the vehicle includes an automatic actuator
`29, e.g. for actuating the brakes in case of a train, or the
`steering in case of an aircraft.
`Control Panel
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`FIG. 2 illustrates one form of control panel 6 for
`presetting various parameters into the system, for dis-
`playing the status of the presettable parameters, and for
`providing the alarms. The parameters are preset by
`depressing selected keys in the control panel, each key
`being illuminated by a light source when it is depressed
`to indicate its depressed condition. Control panel 6
`illustrated in FIG. 2 also includes a number of displays,
`and also a driving ability testing device which will be
`described more particularly below.
`With respect to the presettable parameters, control
`panel 6 illustrated in FIG. 2 includes a group of keys 30
`for presetting the Reaction Time of the driver. Thus,
`key 30a would be depressed to indicate a regular reac-
`tion time, key 30b would be depressed to indicate a long
`reaction time, and key 30c would be depressed to indi-
`cate a very long reaction time. The reaction time would
`be influenced primarily by the age of the driver, but
`could also be influenced by other factors, e.g., the alert-
`ness condition of the driver, etc.
`Control panel 6 includes another group of presettable
`keys 32 to indicate the load condition of the vehicle.
`Thus, depressing key 32a indicates a partial load, key
`32b indicates a full load, and key 32c indicates a trailer
`is hitched to the vehicle. The foregoing presettable
`parameters concerning the load condition of the vehicle
`may be used in the absence of the sensors 18 and 20 for
`automatically sensing the load of the vehicle and the
`hitching of a trailer, respectively, as described earlier
`with respect to FIG. 1.
`Control panel 6 includes two keys 34 indicating the
`condition of the road with respect to the danger of S5
`skidding thereon by the vehicle. Thus, key 34a would
`be depressed to indicate a slippery condition of the road
`and therefore a high danger of skidding, whereas key
`34b would be depressed to indicate an unslippery condi-
`tion of the road (e.g., dry) and therefore a low danger of 60
`skidding.
`Two keys 36 on the control panel 6 indicate the visi-
`bility condition of the road. Thus, key 36a would be
`depressed where the visibility condition is high,
`whereas key 36b would be depressed where it is low,
`e.g., because of fog, sandstorm, snow, etc.
`Three keys 38 indicate the type of road over which
`the vehicle is travelling. Thus, the depression of key 38a
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`indicates an asphalt road, key 38b a concrete road, and
`38c a dirt or gravel road.
`Keys 40 indicate the daylight condition while driv-
`ing. Thus, if it is daytime key 400 would be depressed,
`and if it is nighttime key 40b would be depressed.
`The control panel 6 includes two keys 42 to select the
`mode of operation of the system. Thus, key 42a selects
`the Collision Danger mode of operation, wherein the
`alarm would be actuated whenever a collision danger is
`present as will be described below. However, at times
`the driver would like to know whether or not his vehi-
`cle is within a predetermined fixed distance behind
`another vehicle. In such case, the fixed distance would
`be selected by keys 44, and key 42b would be depressed
`to select the Constant Distance mode, whereupon the
`system would actuate an alarm whenever the sensed
`distance is equal to or less than the selected constant
`distance. In the example illustrated in FIG. 2, keys 44
`enable the selection of any one of three distances,
`namely 50, 100 and 150 meters, by keys 44a, 44b and
`44c, respectively. It will be appreciated, however, that
`other parameters and distances, and other means of
`selecting such parameters and distances, could be pro-
`vided in the control panel 4.
`Control panel 6 further includes a front distance dis-
`play 46, in which are displayed the distance to the front
`vehicle (in region 46a), in which direction (by arrow
`46b), and whether or not there is a collision danger
`(region 46c). A similar display, shown at 48 and having
`regions 48a, 48b and 48c, is provided with respect to the
`rear of the vehicle equipped with the system, whether a
`rear collision danger exists, and the status of the rear
`brake light.
`The actual speed of the vehicle is shown in the speed
`display 50. As indicated earlier, this speed may be taken
`from the conventional speed measuring system of the
`vehicle, or may be independently measured or calcu-
`lated using the front space sensor, e.g., by the Doppler
`effect. Control panel 6 further includes a real time clock
`having a time display 52.
`Control panel 6 further includes a speaker 54 for
`producing an audio alarm in the event of a collision
`danger, in addition to the visually-indicated alarms of
`sections 46c and 48c of the displays 46 and 48. A key 56
`on the control panel enables presetting the volume of
`the audible alarm.
`
`Control panel 4 further includes a driving ability test
`device, generally designated 60, which enables the
`alertness condition of the driver to be tested. This de-
`vice includes a line of depressible keys 61 and a display
`62 controlled by the microcomputer 4 for randomly
`displaying sequences in which keys 61 are-to be de-
`pressed. In the example illustrated in FIG. 4, display 62
`indicates that keys 61 ar