United States Patent [19J
`Davidian
`
`111111111111111111111111111111111111111111111111111111111111111111111111111
`US005357438A
`5,357,438
`[II) Patent Number:
`[45] Date of Patent: Oct. 18, 1994
`
`[54] ANTI-COLLISION SYSTEM FOR VEHICLES
`
`[76]
`
`Inventor: Dan Davidian, 16 Mania Shochat,
`Holon, Israel
`
`[21] Appl. No.: 70,817
`Jun. 3, 1993
`[22] Filed:
`
`Foreign Application Priority Data
`[30]
`Israel ...................................... 102097
`Jun. 4, 1992 [IL]
`Int. CI.S .............................................. G06F 15/50
`[51]
`[52) u.s. Cl. ······························· 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
`
`[56]
`
`References Cited
`U.S. PATENT DOCUMENTS
`3,737,902 6/1973 O'Hagan et al ....................... 342/41
`3,918,176 11/1975 Abernethy, III et al ........... 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 Chundrlik et al .............. 364/426.04
`5,166,881 11/1992 Akasu .................................. 364/461
`Primary Examiner-Gary Chin
`Attorney, Agent, or Firm-Benjamin J. Barish
`[57]
`ABSTRACf
`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(cid:173)
`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(cid:173)
`trol panel having parameter presetting means for preset(cid:173)
`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
`
`•J
`
`CALCULATION
`MOCULE OF:
`
`* SAFETY DISTANCE
`* COLLISION DISTANCE
`* DANGEROUS
`HOURS & DAYS
`
`A
`
`\ ~FRONT VEHICLE SPACE SENSORr8
`90 ---1 REAR VEHICLE SPACE SENSOR ro
`-j VEHICLE SPEED SENSOR
`l)z
`'1 SKIDDING ,DANGER
`1\
`· I REACTION TIME SWITCH
`"1~====::;130
`
`A
`
`I'
`CLOCK
`_j
`l'----------'191
`
`SWITCHES/SENSORS ~2
`
`1_,
`
`OUTPUT DATA MJDULE
`
`SWITCHES -J CLOCK DISPLAY
`j\52
`SENSORS -!}I STANCE DISPLAY I'!~
`OUTPUT ~ SPEED DISPLAY ~
`r--7:::--:--='=-"'~ 50
`DISPLAY ~ KEY DISPLAYS ~30+
`I I BRAKING REMINDER
`46C
`\ 1---1_
`48C
`(AUDIOVISUAL ALARM)
`DECELERATION ALARM
`54
`3
`~ODULE AND
`(OPTIONAL) VEHICLE _j
`J
`tffiAKLIC+JT ACTUATOR DISPLAY 26A
`BRAKE LIGHT ACTUATOR
`r
`
`VEHICLE AUTOMATIC
`SYSTEMS ACTUATORS
`
`J
`
`-1
`
`96
`
`26
`
`34
`SWITCH/SENSOR
`,!::::=======:
`~VEHICLE LOAD SWITCH/SENSOR
`l)s
`~ ROAD TYPE SWITCH
`---1 VISIBILITY CONDITIONS SW. r36
`H DAYLIGHT/DARK SW./SENSOR 1\4
`H TRAILER SWITCH/SENSOR
`---1
`~ DRIVING ABILITY TEST
`. - - -60 I
`:. J START LP ENABLE DISPLAY ~
`~CONSTANT DISTANCE swnCHEsl\
`\ ~ -
`II
`1
`I '64
`44
`-
`L J ~:::=:::(OP=Ti=ONA=L=) ~9_j5 ~'-_S_TAR_T -_lP_E_NAB_LE_-'1\98
`
`32
`
`20
`rzz
`
`_,
`
`1
`
`11
`·J
`
`REVERSE GEAR SENSOR
`
`SYSTEMS
`AUTOMATIC OPERATION
`
`CONTROL MJDllE
`
`\
`94HL.__ALARM_D_ATA_D_IS_PL_AY____.J 97
`
`BLACK BOX ALARM
`DATA MODLI..E
`(OPTIONAL I
`
`rniviNG ABILITY
`TEST MOOLI..E
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 1 of 30
`
`5,357,438
`
`0
`C\J
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`30
`
`32
`
`34
`
`36
`
`38
`
`VISIBILITY l
`
`1'~--~--··-·· ._,,.1
`30A 30B 30C
`
`42
`I
`
`50
`(
`
`52
`
`40
`
`ROAD TYPE
`
`\.. nAYI TGHT
`
`l
`I
`
`I
`
`CONDITION
`I' '''''I' ---····-·'1 I · - - I··- I t•·---·-··- I
`3~A 3~8 3~C
`34'A JiB
`3tA JtB
`44
`I
`
`{
`
`~1 ~1 ~1 ~1
`
`62
`
`46A
`
`60
`
`I··-· ~--· 11 -1-''"'1 I ..... ""I I'I'V
`JbA 3~8 Jbc
`40A 408
`
`I
`
`FRONT DISTANCE
`COLLISION DANGERI I
`46c
`
`468
`
`SPEED
`BBB: B
`
`I
`
`I bbbb lalalal ~~ IRtsETI (oK) (F) I I
`
`TIME
`BB: BB I
`
`56
`
`54
`
`~ I
`@
`
`\6
`
`48
`
`I
`
`48A
`
`FIG. 2
`
`REAR DISTANCE
`COLLISION DANGER
`48C
`
`488
`
`- - - -
`
`· - - - - - - - -
`
`I
`
`I
`
`~ •
`7J.l
`•
`""d
`=
`'*
`('D = '*
`
`0
`n
`r-t"
`1-l
`...
`QC
`1-l
`\C
`\C
`.a:..
`
`rL1
`l:r'
`(D
`(D
`~
`~
`Q
`""!)
`CN
`
`=
`
`Ul
`--(H
`en
`-....l
`--~
`(H
`00
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`56
`
`54
`
`TIME ~ 6
`
`VOL .
`
`~ • rJJ.
`"'C
`~
`"""'" n>
`
`= """'"
`
`l •
`
`B B B : B I I B B : B B I
`
`50
`
`52
`
`SPEED
`
`\
`
`STATUS
`-REG.
`REACTION TIME
`-FULL
`VEHICULE LOAD
`-YES
`SKIDDING COND.
`-WELL
`VISIBILITY COND.
`-CONCRETE
`ROAD TYPE
`ALARM MODE-CONST. DIST.
`CONST. DISTANCE-100FT.
`REVERSE GEAR
`11\:\:'C\:
`RETURN
`
`46
`
`t:. 1
`
`t:. 1
`
`t:. 1
`
`t:. 1
`
`FRONT DISTANCE
`COLLISION DANGER
`46C
`
`468
`
`62
`
`60
`
`.,... ...........
`'S
`
`16 r xa r S:::. 1 ~)--~ 1 >""' >;\ I I
`
`72
`(
`
`SELECT fl
`
`73
`(
`1
`
`ENTER
`
`I
`
`48
`(
`l 88~: BB
`
`48A
`
`REAR DISTANCE
`
`4~C
`
`* 1 coLLrstof.roANGER 1 1
`
`FIG. 3
`
`I
`
`I
`
`0
`n
`;t"
`.....
`.... ao
`.....
`\C
`\C
`~
`
`00.
`l:r'
`ttl
`~
`(H
`e,
`
`(H
`Q
`
`...
`(JJ
`CH
`(JJ
`...
`""-l
`~
`CH
`00
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 4 of 30
`
`5,357,438
`
`MAIN MENU
`STATUS DISPLAY
`PARAMETERS INPUT
`ALARM MODE SELECTION
`BLACK BOX ALARM DATA
`
`75
`
`FIG.
`
`4
`
`-
`
`BLACK BOX ALARM DATA
`DRIVE NO .................................. 3
`DRIVING DURATION (HRL ..... 2.5
`FRONT ALARMS TO DRIVING RATI0 .. 5.3
`
`78
`
`ALARM TIME SPEED DISTANCE
`117
`19:23:56
`37.5
`115
`19:23:57
`33.2
`19:23:58
`100
`37.4
`
`REAR ALARMS TO DRIVING RATIO ...... .O.O
`MECHANICAL SYSTEMS OPERATED? NC
`RETURN
`
`~ ALARM MODE SELECTION
`COLLISION DANGER
`CONSTANT DISTANCE .............................
`RETURN
`
`76A
`
`- CONSTANT \
`768
`DISTANCE
`250
`200
`150
`100
`50
`OTHER
`RETURN
`
`PARAMETERS INPUT
`REACTION TIME ............... 77A
`VEHICLE LOAD
`SKIDDING CONDITIONS
`VISIBILITY CONDITIONS
`ROAD TYPE
`OTHER
`RETURN
`
`778
`
`REACTION TIME
`REGULAR
`LONG
`VERY LONG
`RETURN
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 5 of 30
`
`5,357,438
`
`\.0 co
`
`1-
`w
`(f)
`w
`~
`
`(\J
`<X)
`
`(\J
`(()
`
`(\J co
`
`0 0 0
`0 0 0
`0 0
`
`-co
`
`tO
`•
`CJ
`.......
`LL..
`
`0 co
`
`M co
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 6 of 30
`
`5,357,438
`
`-
`
`CALCULATION
`MODJLE OF:
`
`* SAFETY DISTANCE
`*-COLLISION DISTANCE
`* DANGEROUS
`HOURS & DAYS
`
`~
`
`~
`90
`
`,~ FRONT VEHICLE SPACE SENSOR~ 8
`~REAR VEHICLE SPACE SENSOR
`~0
`~ VEHICLE SPEED SENSOR
`~ REACTION TIME SWITCH
`SKIDDING DANGER
`SWITCH/SENSOR
`
`I+--
`
`r 12
`) 0
`I\
`3 4
`~ VEHICLE LOAD SWITCH/SENSOR
`~ 32
`\
`3 8 .
`~-
`36
`\ 14
`~
`
`~ ROAD TYPE SWITCH
`
`l+---i VISIBILITY CONDITIONS SW.
`
`I+- DAYLIGHT/DARK SW./SENSOR
`
`~ TRAILER SWITCH/SENSOR
`~ REVERSE GEAR SENSOR
`DRIVING ABILITY TEST
`
`+--
`
`[\
`60
`\
`44
`
`+-- CONSTANT DISTANCE SWITCHES
`
`FIG. 6A
`
`20 r 22
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 7 of 30
`
`5,357,438
`
`FIG 68
`
`I
`
`CLOCK
`
`~1
`
`OUTPUT DATA MODULE
`
`BRAKING REMINDER
`(AUDIOVISUAL ALARM)
`
`30+
`46C
`48C
`
`1___,
`
`1\
`~3
`
`1___,
`
`DECELERATION ALARM
`MODULE AND
`(OPTIONAL) VEHICLE
`SYSTEMS
`AUTOMATIC OPERATION
`CONTROL MODULE
`
`f.---
`
`,__..
`
`I-.
`
`I
`
`I . I
`
`1---J
`
`SWITCHES/ -.I CLOCK DISPLAY I' 52
`~
`46
`SWITCHES/SENSORS 92
`f-+ SENSORS ~ISTANCE DISPLAY!\
`48
`OUTPUT ~ SPEED DISPLAY I' 50
`DISPLAY -1 KEY DISPLAYS ~
`' 54
`
`VEHICLE AUTOMATIC
`~
`96
`SYSTEMS ACTUATORS
`~BRAKLIGHT ACTUATOR DISPLAY i\ 26A
`~ BRAKE LIGHT ACTUATOR
`Ji 26
`I BLACK BOX ALARM h
`DATA MODULE
`94
`f---i
`{OPTIONAL)
`
`ALARM DATA DISPLAY
`
`r'l 97
`1------- START-UP ENABLE DISPLAY r 64
`-i
`I' 98
`
`DRIVING ABILITY
`TEST MODULE
`(OPTIONAL)
`
`II
`14
`I
`
`\
`95
`
`Sl~RT-UP ENABLE
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 8 of 30
`
`5,357,438
`
`100
`
`+
`
`46C
`48C
`54
`
`' - - - - l " " :>o - - - 2 7
`
`1...----.f.:>o.-- 2 9
`
`102
`
`FIG. 7
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 9 of 30
`
`5,357,438
`
`co
`•
`(.!)
`1-1
`LL..
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 10 of 30
`
`5,357,438
`
`FIG-.9
`
`t
`IRESETI/20
`l
`PARAMETERS INITIALIZATION
`l
`INCREMEMT PULSE COUNT 124
`!
`SEND Tx COMMAND
`126
`i
`WAIT FOR Rx~ TIME OUT WHEN T=TO 128
`~
`COUNT INTERVAL: L=TRx-TTx ""130
`i
`CALC.APPROACH' S.PE.ED:AS-L2-L1 \
`~
`13L
`CALCULATE VEHICLE SPEED OR '
`READ .F..RO.ltl S.E.N"SO..R, V
`134
`t
`IREAD SWITCHES OR l SENSORS OUTPU7;SO G 6
`
`"'"'\
`122
`
`IJ
`
`NO
`
`\
`138
`
`CALCULATE AL=f(L,AS, V,SO)
`-l.
`AL="1"
`140 YES I
`SET AUDIO-VISUAL ALARMS OR \
`142
`ACTUATORS (OPTIONAL)
`~
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 11 of 30
`
`5,357,438
`
`(
`
`(
`
`+
`!50 AL=O, ALSF=O, ALSR=O, ALCJ"'=O, ALCR=O, 1=0
`+
`' 1 5?
`READ RF,BF,ST,SF,DDHF
`RRT,RRF,RBARCLRBF,RST,RSF
`+
`154 READ DRIVING DATE AND HOUR
`
`(
`
`NO
`
`!56
`
`t YES
`158 SF = SF*DDHF
`RSF = RSF*DDHF
`
`16 0
`
`READ RT, VC,DL,AS,BD(AS),RP,SK,CL,RY, V
`
`FIG. 10A @
`
`I
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 12 of 30
`
`5,357,438
`
`FIG-108
`
`8
`
`16?
`
`CD=SD/CSF
`
`RSD=[(RRT*YC*DL*RRF*(V-AS))+(RBD*RP*SK*RCL*RBF)]*RST*RSF
`RCD=RSD/RCSF
`
`164
`
`TO DECELERATION AND BRAKING ALARM MODULE (13)
`
`• @)
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 13 of 30
`
`5,357,438
`
`ICD=O,F=O,ALSF=O,ALSR=O,ALCF=O,ALCR=O
`
`203
`
`204 (
`
`READ CDM
`
`READ MD
`
`NO
`
`~05
`206. r1 L.--____ IC_D ..,.--IC_D_+I ___ __~
`i
`SET AUDIOVISUAL ALARM
`' - - - - - - - - - - - - - - - - ' 207
`
`YES
`
`'----------r--------'"
`'
`8
`FIG. 11A
`
`I
`
`208
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 14 of 30
`
`5,357,438
`
`FIG. 118
`
`209
`
`li,o
`
`YES
`l
`ALSF=ALSF+1
`i
`READ &SAVE TIMES,DISTANCES,SPEEDS \
`211
`FOR X TRIPS
`~
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`\
`211
`
`\
`213
`
`~~-0 1;::.
`
`1i14
`
`READ RMD,RSD,SD
`
`~~0
`
`~ YES
`RSD=SD
`i
`(G)
`
`"-._/
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 15 of 30
`
`5,357,438
`
`0 I
`
`FIG. 11C
`
`~ YES
`~
`ALSR=ALSR+I
`1216
`'"------~-------'1
`~
`READ &SAVE TIMES,DISTANCES,SPEEDS i'\
`FOR X TRIPS
`217
`~
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`j
`READ RMD,RCD,CD
`
`®
`I
`
`NO
`
`215
`
`""
`217
`
`~33
`
`~ YES
`RCD=CD
`
`34
`
`~
`1235
`
`..______ _______ __,,
`
`t
`0
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 16 of 30
`
`5,357,438
`
`FIG. 110
`
`.,-----___, YES
`
`r1 ALCR=ALCR+1 1-
`
`237
`
`NO I
`READ RMD,RSD,SD
`
`236
`
`~ 238
`
`NO
`
`YES
`
`RSD=SD
`L - - - - - - - - , - - - - - - - ' 240
`
`ALRA=ALSR
`
`ALSR=O
`
`YES
`24{ ALSR=ALSR+1
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 17 of 30
`
`5,357,438
`
`FIG. 11E
`
`READ &SAVE TIMES,DISTANCES!.SPEEDS
`FOR X TRIPS
`~
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`243
`
`244
`
`®
`I
`
`I =0
`I
`~ YES
`
`NO
`
`t
`246~ I= I +1 I
`I YES
`
`NO
`
`t
`
`\
`247
`
`245
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 18 of 30
`
`5,357,438
`
`FIG. 11F .
`
`NO
`
`NO
`
`218
`
`YES
`
`@
`
`READ MD,CD
`
`219
`
`220
`
`YES j
`G)
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 19 of 30
`
`5,357,438
`
`· FIG. 11G @
`
`READ MD,SD
`
`( ALFA=ALSF 1..--<::::::_
`227
`ALSF=O
`
`225
`
`I'
`ALSF=ALSF+I
`t___ ______ _____j 228
`~
`READ &SAVE TIMES,DISTANCES,SPEEDS \
`FOR X TRIPS
`229
`~
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`229
`
`@ NO
`
`230
`
`\
`1=1+1
`L-----~----___1 231
`
`232
`
`~ YES
`I= 0
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 20 of 30
`
`5,357,438
`
`FIG. 11H
`
`._____ __ A_LC_F_A_LC_F+_I ___ ____.1)22
`f2\
`u-----..~
`READ &SAVE TIMES,DISTANCES,SPEEDS
`FOR X TRIPS
`
`\
`223
`
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`OR (OPTIONAL) ACTUATE
`AUTOMATIC MECHANICAL SYSTEMS
`
`\
`221
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 21 of 30
`
`5,357,438
`
`\
`1:AD "REACTION TIME" SWITCH POSITION ,RT 300
`l
`
`READ :CAR LOAD!IIWLER" SWITCH POSITION
`OR "CAR LOAD" SENSOR AND "TRAILER"
`SENSOR OUTPUT, CL
`
`302
`
`304
`
`READ "SKIDDING DANGER" SW. POSITION
`OR SENSOR OUTPUT, SK
`j
`IREAD "VISIBILITY CONDITION" SW. POSITION, YC 3 06
`l
`READ "ROAD TYPE" SW. POSITION, RP
`
`308
`
`READ "DAYLIGHT" SW.·POSITION \
`OR SENSOR OUTPUT, DL
`l
`@
`
`310
`
`FIG.12A
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 22 of 30
`
`5,357,438
`
`FIG.128 ~
`
`READ :Mml MODE" SW. POSITION, nt
`
`312
`
`READ "CONSIANT DISIANCE" SW. POSITION, COM
`
`314
`
`REAlJ 'REYERSE GEAR' SENSOR OUTPUT, RY r 316
`,........----t
`rEAD/CALCULATE CAR SPEED SENSOR OUTPUT, Y 1\318
`t
`READ FRONT CAR SPACE SENSOR OUTPUT, MD
`READ REAR CAR SPACE SENSOR OUTPUT, RMD 320
`
`READ CLOCK TIME, T 322
`
`DISPLAY RT,CL,Sl, YC,RP,DL,AM,CDM,RY, Y,MD,RMD,T
`
`32 4
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 23 of 30
`
`5,357,438
`
`READ DRIVING DURATIONi\
`DD (IN WHICH V~O)
`350
`OF DRIVE NO. X
`
`READ ALFA,ALRA,ALSF,h
`352
`
`ALSR OF DRIVE NO.X
`
`TFA=ALFA+ALSF
`
`TRA=ALRA+ALSR
`
`1\
`354
`
`1\
`356
`
`DISPLAY TOTAL FRONT
`ALARMS QUANTITY TO
`DRIVING DURATION RATIO
`OF DRIVE NO.X
`FADR=TFA/DD
`~
`
`FIG.13A 0
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 24 of 30
`
`5,357,438
`
`-A
`T
`DISPLAY TOTAL REAR
`ALARMS QUANTITY TO ~
`DRIVING DURATION
`358
`RATIO OF DRIVE NO.X
`RADR=TRA/DD
`
`DISPLAY ALARMS DATA~
`OFDRIVE NO. X:TIMES,
`DISTANCES & SPEEDS
`IN WHICH ALARMS WERE
`SET AND/OR BRAKE
`LIGHT ACTUATED
`
`360
`
`DISPLAY MECHANICAL
`SYSTEMS AUTOMATIC
`OPERATION DATA OF
`DRIVE NO. X:
`ACTUATION TIME AND
`DISTANCE,ACTUATED
`SYSTEMS (BRAKES,
`STEERING ETC.)
`
`362
`
`FIG.138
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 25 of 30
`
`5,357,438
`
`FIG. 14A
`
`371
`
`CHOOSE RANDOMALLY 6 NUMBERS FROM I TO 9
`CHOOSE RANDOMALLY 6 DIRECTIONS OF ARROWS
`CHOOSE RANDOMALLY IIFIRST/LASTII
`HORIZGNTALIVERTICAL
`
`372
`
`READ ANDDISPLAY NUMBERS AND ARROWS
`AND THE "FIRST/LASTII LETTER
`
`373
`
`IISTART'=O
`
`'374
`
`WAIT
`USTART/STOPII
`BUTTON PUSHED ~~ PREDETERMIND 394
`PERIOD
`
`®
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 26 of 30
`
`5,357,438
`
`®
`j
`READ TIMET
`
`FIG. 148
`
`376
`
`Tl = T
`__ ____,... _ ____. 377
`
`""
`1=1+1
`....__.....-____. J78
`
`BUTTON PUSH ED
`C'START = I )
`
`379
`
`~JO @
`
`YES j
`8
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 27 of 30
`
`5,357,438
`
`0
`1 READ TIME T r380
`~
`~
`f'
`T2 = T
`1
`
`1
`
`FIG. 14C
`
`381
`
`NO
`
`382
`
`T3 =T2-T1
`...__---r--_ ___. 383
`
`T3<A
`OR T3=A
`
`NO
`
`YES~
`I ENABLE sTART -uP I \ 85
`
`SET START -UP ENABLE DISPLAY "OKII
`-----~------' 386
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 28 of 30
`
`5,357,438
`
`® t YES
`
`FIG. 140
`NO
`
`393
`
`(
`391
`
`(I READ TIME I
`!~ ... ___ ____:.
`SET START -UP ENABLE
`DISPLAY "FAIL"
`t
`DONT ENA.BLE START -UP
`390 FOR A PREDETERMIND PERIOD
`
`392
`
`YESL-0
`®NO I>IC
`YES t
`
`389
`
`388
`
`SET START -UP ENABLE DISPLAY "FAIL" 387
`t
`0
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`30
`
`32
`
`34
`
`36
`38
`SKIDDING VISIBILITY
`CONDITION ( CONDITION
`
`(
`
`40
`
`I
`
`ROAD TYPE
`
`( DAYI TGHT
`
`·
`
`30C
`
`---1""-"1 I · - - I ··-
`32A 328 32C
`c
`c
`402
`404
`I
`I
`
`I
`
`I
`
`1"" ___ 1 - · · - I
`c
`c
`
`I
`
`. ._. ~--··-1-"""""1 I · - - I ,,_
`r
`r
`r
`•
`•
`
`I
`
`FRONT DISTANCE
`COLLISION DANGER I I
`46C
`
`46B
`
`(
`
`46A
`
`52
`( - -· ·-
`
`50
`{ -----
`
`6 2
`61 61 61 61
`(DRIVING( ABILITY\ { TEST
`(
`(
`(
`
`60
`
`{
`
`\
`
`\
`
`I
`
`I
`
`I
`
`I \4 0 5
`I D TAD
`44
`
`42
`
`1
`
`• • • - · • • ___ _(
`
`CONSTANT
`
`I
`
`-+ .----.
`
`.............,
`
`.............,
`
`I
`
`56
`(
`
`54
`(
`
`48
`(
`
`O
`
`48A
`
`FIG. 15
`
`REAR DISTANCE
`COLLISIO~n DANGER I
`48C
`
`488
`
`•
`
`'I
`
`.
`~ • 'C/).
`:P
`S" =
`
`f"'t-
`
`0
`~
`,..:;;;;
`
`~
`
`~
`ol:oo
`
`r ~
`
`~
`~
`~
`
`,.UI
`~
`...
`........
`~
`00
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`30
`
`36
`.
`VISIBILITY
`CONDITION
`
`I
`
`I
`
`I
`
`3d A
`
`3dB
`
`I
`
`3dc
`
`' 36A ' 3lB
`
`'
`
`40
`
`410
`
`~ DAYLIGHT ~
`' 4dB
`
`'
`
`4dA
`
`'
`
`42
`I
`
`I
`
`1"'\,...., ......... ~ ...........
`
`I
`
`LOAD LEVEL
`
`c:: •
`I rLJ. •
`a. ('1) = "*
`I
`
`'"'C
`
`I
`
`I
`
`I
`
`I
`
`I
`
`0
`t')
`,...
`r"'
`00
`,...
`"'
`\C
`\C
`oll>o
`
`00 =-('I)
`
`('I) -
`
`~
`Q
`
`e,
`
`~
`Q
`
`...
`01
`~
`01
`...
`......)
`~
`~
`00
`
`46A
`
`46B
`
`FRONT DISTANCE
`COLLISION DANGERI I
`c
`46C
`~t~--~B ILJ T ~L(_t~-~_1 -L c \
`- - I
`
`62
`
`60
`
`-. .,__.
`
`50
`
`SPEED
`BBB:B1
`
`52
`(
`
`56
`(
`
`54
`(
`
`I 1..11..1
`
`•
`
`1..11..1
`
`I
`
`I
`
`y VI- •
`
`I
`
`I
`
`I
`
`FIG. 16
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`1
`
`5,357,438
`
`ANTI-COLLISION SYSTEM FOR VEHICLES
`
`5
`
`FIELD AND BACKGROUND OF THE
`INVENTION
`The present invention relates to an anti-collision sys(cid:173)
`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(cid:173)
`cles, but the invention, or some aspects of the invention, 10
`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 15
`collision should the front vehicle suddenly stop. The
`assured safe distance required to prevent such a rear(cid:173)
`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 20
`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 25
`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 30
`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- 35
`ated. Thus, if the determined danger-of-collision dis(cid:173)
`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. On 40
`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 45
`insofar as I am aware, none has yet gained any wide(cid:173)
`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 50
`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. 55
`
`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 60
`measuring the distance of the vehicle from an object; a
`computer for receiving a number of parameters, includ(cid:173)
`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 65
`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
`
`2
`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(cid:173)
`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(cid:173)
`sured distance is equal to or less than the danger-of-col(cid:173)
`lision distance multiplied by a predetermined safety
`factor.
`According to further features in the described pre(cid:173)
`ferred embodiment, below, the control panel also in(cid:173)
`cludes distance presetting means for presetting a se(cid:173)
`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(cid:173)
`clude: at least one vehicle parameter concerning a pre(cid:173)
`selected condition of the vehicle; at least one driver
`parameter concerning a preselected condition of the
`vehicle driver; and at least one environmental parame(cid:173)
`ter concerning a preselected condition of the environ(cid:173)
`ment. In the described preferred embodiment, the pre(cid:173)
`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(cid:173)
`tions, which information is also utilized by the com(cid:173)
`puter for computing the danger-of-collision distance to
`the object. One of the described condition sensors in(cid:173)
`cludes a condition-of-driver sensor comprising a plural(cid:173)
`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(cid:173)
`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(cid:173)
`puting the danger-of-collision distance to the object.
`According to another feature in the described pre(cid:173)
`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
`ofthe vehicle, the driver, and the environment, in deter(cid:173)
`mining the danger-of-collision distance to avoid a rear(cid:173)
`end collision. Such a system is useful not only for pas(cid:173)
`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(cid:173)
`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-
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`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.
`
`5,357,438
`
`4
`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
`5 other conditions. All of these are taken into consider(cid:173)
`ation by the computer for determining the danger-of(cid:173)
`collision distance. By thus taking 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(cid:173)
`tance; and a Safety alarm, which is actuated before the
`Collision alarm, at a distance greater than the danger-of(cid:173)
`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(cid:173)
`tions, the Safety alarm will be actuated when the vehi(cid:173)
`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(cid:173)
`rupted beep and a continuous visual indicator on the
`panel; whereas the Collision alarm is preferably a con(cid:173)
`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(cid:173)
`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.
`
`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 ofvehi- 10
`cle equipped with an anti-collision system in accor(cid:173)
`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 15
`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; 20
`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 25
`anti-collision system of FIG. 1 and 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 30
`that may be used by the vehicle in determining its dis(cid:173)
`tance from an object;
`FIG. 9 is a flow chart illustrating the overall opera(cid:173)
`tion of the system;
`FIGS. lOA-lOB, together, constitute flow charts 35
`illustrating the overall operation of the Calculation
`module in the microcomputer of FIGS. 6A and 6B;
`FIG. 11A-11H, together, constitute flow charts illus(cid:173)
`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-13B, together, constitute flow charts
`illustrating the operation of the black box module in the 45
`microcomputer of FIGS. 6A and 7B;
`FIGS. 14A-14D, together, constitute flow charts
`illustrating the operation of the driving ability test mod(cid:173)
`ule in the microcomputer of FIGS. 6A and 6B;
`FIG. 15 illustrates another control panel which may 50
`be used to include additional presettable parameters;
`and
`FIG. 16 illustrates a control panel particularly useful
`with trains.
`
`40
`
`DESCRIPTION OF PREFERRED
`EMBODIMENTS
`Overall System
`The anti-collision system illustrated in FIGS. 1-14 is
`particularly useful for motor vehicles (passengers cars, 60
`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 65
`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
`
`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(cid:173)
`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
`55 sensor 10, and a pair of side sensors 11. All the space
`sensors are in the form of pulse (e.g., ultrasonic) trans(cid:173)
`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 mauner, for example using the speed
`measuring system of the vehicle itself, or a speed mea(cid:173)
`suring system independent of the vehicle, e.g., an accel(cid:173)
`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-
`
`MERCEDES
`EXHIBIT 1006
`
`

`

`5
`sor 18, a trailer-bitch sensor 20, and a reverse-gear sen(cid:173)
`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 5
`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(cid:173)
`dent in which an alarm condition was experienced by 10
`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 15
`respect to taxicabs, trucks, buses, trains, vehicles trans(cid:173)
`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 20
`steering in case of an aircraft.
`
`Control Panel
`FIG. 2 illustrates one form of control panel 6 for
`presetting various parameters into the system, for dis- 25
`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 30
`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
`panel6 illustrated in FIG. 2 includes a group of keys 30 35
`for presetting the Reaction Time of the driver. Thus,
`key 30a would be depressed to indicate a regular reac(cid:173)
`tion time, key 30b would be depressed to indicate a long
`reaction time, and key 30c would be depressed to indi(cid:173)
`cate a very long reaction time. The reaction time would 40
`be influenced primarily by the age of the driver, but
`could also be influenced by other factors, e.g., th