United States Patent 1191
`
`[11} Patent Number:
`
`5,357,438
`
`Davidian
`
`[45] Date of Patent:
`
`Oct. 18, 1994
`
`|||||||I||||I||I|I||l|||||||||||||||I|I||Il|||I|I||||I|||||I|||||Il|||II|||
`U5005357438A
`
`' [541
`1761
`
`ANTI-COLLISION SYSTEM FOR VEHICLES
`
`Inventor:
`
`Dan Davidian, 16 Mania Shochat,
`Holon, Israel
`
`[21]
`
`App]. No: 70,817
`
`[22] Filed:
`
`Jun. 3, I993
`
`[30]
`
`Foreign Application Priority Data
`
`Jun. 4, 1992 [1L]
`
`102097
`
`[58}
`
`G06F 15/50
`Int. Cl.5
`[51]
`[52] us. 01. ............................. .. 364/461; 364/426.04;
`342/455; 340/436; 180/169
`364/460, 461, 424.01,
`Field of Search
`364/42404, 426.04; 340/435, 436, 437, 438,
`961; 342/29, 41, 455; 434/236, 233, 258;
`273/440; 180/167—169; 73/517 A
`References Cited
`
`[56]
`
`1.1.8. PATENT DOCUMENTS
`
`3,737,902 6/1973 O’Hagan et a].
`3,918,176 11/ 1975 Abemethy, III et aI.
`4,621,705 11/1986 Etch
`4,638,239
`1/1987 Zottnik
`
`342/4!
`424/258
`364/461
`73/517 A
`
`4,770,636 9/1988 Buscth
`5,014,200
`5/1991 chander etal.
`5,166,881 11/1992 Akasu
`
`436/236
`364/426.04
`364/461
`
`Primary Examiner—Gary Chin
`Attorney, Agent, or Firm—Benjamin J. Barish
`
`[571
`
`ABSTRACI‘
`
`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 enviromnent, which are utilized
`by the computer for computing the danger-of—collision
`distance to the object.
`
`20 Claims, 30 Drawing Sheets
`
`
`
`
`
`
`
`133610117 IfH-IICLE SDACE smash
`
`PEARVEIIflEfijACESI-JNBCH
`
`0
`
`IIIZ
`H VE-IICIESPEEDSENSOR
`
`REACTION TIIE SWITCH
`
`3mm”, pm
`SIIITCHISENSIF
`
`30
`
`34
`
`VEHICLE LOAD SHITCHIENSOR
`_"—‘—I
`-—I
`ROAD TWE S‘IIITCH
`
`2
`38
`
`VISIBILITY CUIDITIINS 311. 36
`
` I C
`
`DAYLIGHTIDAPII SIHSENSGFI
`
`ITTRAILER Sill TCHISENSCR
`
`REVERSE EAR SENSOR
`
`131117111": ABILITY TEST
`
`INETANT DISTANCE SWITCHES
`
`,4
`
`20
`
`22
`
`1:
`
`
`
`"
`
`go
`
`CALIliATIIN
`MCDILE CF:
`
`
`
`
`
`IE SAFETIr DISTAIDE
`iEULLISIGi DISTANCE
`DANGERIAIS
`HUIBS 8 DAYS
`
`
`
`
`
`
`
`SIiITCI-ESISEIM’IS 1%
`5,
`OUTPUT DATA I-‘II‘JILE
`
`KEY DISPLAYS,,
`
`
`BHAIIIAB FEMIIIJER
`
`
`{1113107de ALAFMI
`,3
`
`
`
`
`
`TEST HUME
`
`IUJTIONALI
`
`
`START-LP ENABLE
`
`
`
`IEHlClE 11110114111:
`SYSTEMS ACHIATIIHS
`
`96
`
`'EIIMIGIT ACTUATOR DISPLAYII
`
`
`
`
`
`
`UNIFIED 1014
`
`DECELERATIO‘I 114111
`
`HOME 110
`109110101} IIEHICLE
`
`3131013
`
`
`
`I ‘
`
`4111011111: 0051117101
`I
`|
`
`RACK 50X ALAPI-I
`DATA 12011.13
`
`
`{OPTIONAL}
`
`
`1
`
`UNIFIED 1014
`
`

`

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

`

`US. Patent
`
`M
`
`03.m2m&
`
`95
`
`357,438
`
`:5»:Mao:2%.:wm2<2.m,5523zEmHjB926Em.87.253
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`HIQH4><Qma>ha<omchhHmzouonpHozou4H<mpxn<04240mzH»zaHpu<mm
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`figEEESEE
`
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`pHHJHmHmH>oanonm
`
`0%fitmfi
`
`om
`
`3
`
`

`

`US. Patent
`
`Oct.
`
`18
`
`1994
`
`Sheet 3 of 30
`
`5
`
`,357,438
`
`
`
`mmwz<monqugau
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`
`2325mm
`
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`
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`
`
`
`.wmm:wimpchhutma
`
`
`
`
`
`443;-Q<OJm430H1m>
`
`4
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 4 of 30
`
`MAIN MENU
`
`STATUS DISPLAY
`PARAMETERS INPUT
`
`BLACK BOX ALARM DATA
`DRIVE
`
`3
`
`DRIVING DURATION (HR)...... 2.5
`
`FRONT ALARMS TO DRIVING RATIO..5.3
`
`ALARM TIME
`
`SPEED DISTANCE
`
`19:23:56
`
`
`CONSTANT
`DISTANCE
`763
`
`
`REAR ALARMS TO DRIVING RATIO.......O.O
`250
`MECHANICAL SYSTEMS OPERATED ? N
`200
`
`
`RETURN
`
`
`
`ALARM MODE SELECTION
`5o
`COLLISION DANCER
`
`
`
`OTHER
`CONSTANT DISTANCE.............................
`
`
`RETURN
`RETURN
`
`
`
`
`
`
`
`
`
`
`FTI(5.
`
`11
`
`78
`
`150
`
`100
`
`
`
`19:23:57
`19:23:58
`
`
`
`PARAMETERS INPUT m
`
`
`
`
`
`VEHICLE LOAD W 778
`SAIDDINS CONDITIONS
`LONG
`
`
`
`VISIBILITY CONDITIONS
`ROAD TVPE
`VERY LONG
`
`
`
`
`
`OTHER
`RETURN
` RETURN
`
`5
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 5 of 30
`
`5,357,438
`
`
`
`6
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 6 of 30
`
`5,357,438
`
`
`
`90
`
`'
`
`:EALFRONT VEHICLE SPACE SENSOALT8
`+——lREAR VEHICLE SPACE SENSOR ‘AO
`VEH
`R
`\
`12
`
`ICLE SREED SENSO
`
`REACTION TIME SWITCH
`SKIDDING DANGER
`SWITCHISENSOR
`
`50
`
`34
`
`VEHICLE LOAD SWITCH/SENSOR 32
`
`ROAD TYPE SWITCH
`
`\38
`
`VISIBILITY CONDITIONS SN. 36
`
`DAYLICHTTDARK SN. TSENSOR \14
`
`TRAILER SWITCH}SENSOR
`REVERSE GEAR SENSOR
`
`S—L
`
`DRIVING ABILITY TEST
`
`2O
`l‘22
`
`60
`
`HCDNSTANT DISTANCE SWITCHES\44
`
`FIG. 6A
`
`CALCULATION
`MODULE 0F:
`
`A SAFETY DISTANCE
`A COLLISION DISTANCE
`A DANGEROUS
`HOURS 3! mm
`
`
`
`
`
`7
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 7 of 30
`
`5,357,438
`
`FEIti. AA:
`
`
`
`
`91
`
`SMITCHESISENSORS
`
`92
`
`
`
`OUTPUT DATA MODULE
`
`
`
`
`
`
`
`
`
`DECELERATION ALARM
`
`YOOOLE AND
`
`
`3
`
`
`(OPTIONAL) VEHICLE
`
`
`SWWS
`AUTOMATIC OPERATION
`
`
`CONTROL MODULE
`
`
`
`
`
`
`
`
`OT
`ALARM DATA DISPLAY
`
`
`
`START-UP ENABLE DISPLAY IYfid
`
`
`~—A
`
`
`aammflm52
`
`TISTANCE OISBLAY'Njg
`IIIAAAEIIEIEAIAMI Y
`
`50
`
`'
`
`KEY DISPLAYS
`
`BRAKING REMINDER
`IAOOIOYISUAL ALABMY
`VEHICLE AUTOMATIC
`SYSTEMS ACTOATOBS
`IMMNMBMNONY
`U
`1
`LA
`
`30+
`
`\ABC
`480
`54
`
`96
`
`26A
`
`BRAKE LIGHT ACTUATOR
`
`‘\26
`
`START-UP ENABLE
`
`ITOB
`
`
`
`
`
`DATA MODULE
`
`
`(OPTIONAL)
`
`BLACK BOX ALARM
`
`
`94
`
`OBIYINO ABILITY
`
`~\
`
`1
`(OPTIONAL)
`
`95
`
`8
`
`

`

`US. Patent
`
`Oct. 13,1994
`
`Sheet 8 of 30
`
`5,357,438
`
`
`
`
`
`Hun“:
`
`-
`
`E
`
`_
`
`_
`
`.
`
`106
`
`.
`
`'
`,
`
`——
`
`,.
`_.
`>7
`
`--
`
`$80
`4
`
`27
`
`29
`
`
`
`9
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 9 of 30
`
`5,357,438
`
`IG.
`
`8 F
`
`10
`
`10
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 10 of 30
`
`5,357,438
`
`
`
`CALCULATE AL=f€L,AS, K50)
`
`
`
`
`
`140 YES
`
`
`SET AUDIO-V15 UAL ALARMS 0R \
`
`
`
`ACTUATORS (OPTIONAL)
`
`11
`
`11
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 11 of 30
`
`5,357,438
`
`
`
`I YES
`
`158 SF = SFal‘DDHF
`
`RSF =-' RSF*DDHF
`
`160
`
`FIG. 10A
`
`i
`
`12
`
`
`
`
`
`
`'
`
`'
`
`12
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 12 of 30
`
`5,357,438
`
`FIG-10B e
`
`sn=lmra=rcwmnnw+mp=mmsncuswarsmr
`
`CIhflHWCSF
`
`RCD=RSDIRCSF
`
`.mmfimflflWRMRMHWVfiMHMMHmHflHfiflmmflWmflMflF
`
`164
`
`IUDflHLflMEWNANDBRMHMIMMMHMHWHEflfl
`
`13
`
`13
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 13 of 30
`
`5,357,438
`
`ICD=O,|=0,ALSF=O,ALSRIO,ALCF=O,ALCR=O
`
`
`
`SET AUDIOVISUAL ALARM
`
`
`
`
`
`
`(:>
`
`ALARM MODE="CONSTANT DISTANCE"?
`
`NO r
`
`202
`
`FIG. 11A
`
`208
`
`READ MD,SD
`
`1'
`
`6)
`
`14
`
`14
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 14 of 30
`
`5,357,438
`
`llB
`
`FIG;
`
`.___
`
`MD<SD OR MDISD
`
`09
`
`2
`
`\ 2
`
`1o
`
`YES
`
`ALSF=ALSF+1
`
`READ &SAVE TIMES,DISTANCES,SPEEDS \
`
`2H
`
`\
`211
`
`\ 2
`
`12
`
`FOR X TRIPS
`
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`READ RMDBSDSD
`
`NO
`
`
`
`
`1 YES
`\214
`
`RSDI
`
`Y
`
`(a
`U
`
`15
`
`15
`
`

`

`US. Patent
`
`Oct. 13,1994
`
`Sheet 15 of 30
`
`5,357,438
`
`®<‘
`
`@ FIG. 110
`
`RMD<RSD 0R RMD:RSD
`1 YES
`215
`
`NO
`
`ALSR=ALSR+1
`
`216
`
`READSSAVEIRMESLMRANCESSREEDS
`FOR >< TRIPS
`
`217
`
`ACTUARERRAKEUGRTSI]SRLAY.
`SET AUDIOV‘SUAL ALARM
`
`'
`
` ®
`
`l
`
`READ RMD,RCD,CD
`
`1
`
`YES
`
`RCD:CD
`
`-
`
`16
`
`217
`
`233
`
`235
`
`16
`
`

`

`US. Patent
`
`Oct. 18,1994
`
`Sheet 16 of 30
`
`5,357,438
`
`HE. 110
`
`ES
`
`
`
`/
`
`_
`ALCR—ALCRH
`
`237
`
`6
`
`_
`RMD<RCDORRMD—RCD
`
`NOI
`
`READRMDBSDSD
`
`
`3
`
`2 6
`
`238
`
`.
`
`ALSRIO
`
` ALHAZALSR
`* YES
`((5
`242
`ALSR ALSRH
`
`f
`
`:
`
`17
`
`17
`
`

`

`U.S.I Patent
`
`Oct. 18, 1994
`
`Sheet 17 of 30
`
`5,357,438
`
`9 FIG. 11E
`
` 243
`
`READ &SAVE TIMESDISTANCESBPEEDS
`
`FOR X TRIPS
`
`ACTUATE BRAKEUGHT & DISPLAY.
`
`SET AUDIOVISUAL ALARM
`
`244
`
`
`
`18
`
`18
`
`

`

`US. Patent
`
`Oct. 18,1994
`
`Sheet 18 of 30
`
`5,357,438
`
`® FIG. 11F-
`
`ALSF NOT EQUAL TO 0 W
`
`218
`
`
`
`
`19
`
`19
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 19 of 30
`
`5,357,438
`
`FIG. 11G
`@
`READ MD,SD
`
`
`224
`
`MD<SD 0R MD=SD
`
`
`225
`
`YES
`
`
`
`‘l
`
`228
`READ ASAVE TIMES,DISTANCES,SPEEDS \
`
`FOR x TRIPS
`
`229
`
`ACTUATE BRAKELIGHT & DISPLAY.
`SET AUDIOVISUAL ALARM
`
`\
`229
`
`@4“
`
`YES
`
`230
`
`231
`
`20
`
`20
`
`

`

`U.S. Patent
`
`Oct. 18, 1994
`
`Sheet 20 of 30
`
`5,357,438
`
`FIG. 11H
`
`GD
`1
`+
`Z
`ALCF ALCF 1
`
`\
`222
`
`A
`
`®
`
`READ &SAVE TJMES,DISTANCES,SPEEDS \
`
`FOR >< TRIPS
`
`223
`
`l
`
`ACTUATE BRAKELIGHT & DISPLAY.
`
`\
`
`22¢ OR (OPTIONAL) ACTUATE
`
`SET AUD$0V1SUAL ALARM
`
`AUTOMATIC MECHANICAL SYSTEMS
`
`21
`
`21
`
`

`

`US. Patent
`
`Oct. 13,1994
`
`Sheet 21 of 30
`
`5,357,438
`
`- @
`0
`
`SAD "REACTION TIME"SWITCH POSITION ,RI'
`
`300
`
`\
`
`302
`
`SENSOR OUIPUI} CL
`
`READ :CAII LOAD/IRAILEII"SWITCII POSITION
`OR 'CAR LOANSENSOR AND "TRAILER"
`
`
`
` READ 'SKIDDING DANGERWW. POSITION
`
`OR SENSOR OUTPUI; SK
`
`EA!) "VISIBILITY CONDITION"SW. POSITION V0 306
`
`READ "ROAD ITI’E"SW. POSITION HP
`
`308
`
`
`
`READ "DAFLIGHMW-POSITION
`
`on SENSOR OUTPUT, BL
`
`
`
`
`
`FIG.12A
`
`22
`
`22
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 22 of 30
`
`5,357,438
`
`FIG.12B
`
`
`
`
`READ 'CONSTANT BISTANCE'SW POSITION, CM!
`
`314
`
`1
`
`HEADFRONTCARSPAJESENSOR 0mm;MD
`
`320
`
`
`
`
`
`
`
`23
`
`23
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 23 of 30
`
`5,357,438
`
`
` READ DR I V I NG DURAT I 0N
`
`350
`DD (IN WHICH v+o)
`
`
`0F DRIVE No. x
`
`
` READ ALFA , ALRA , ALSF ,
`
`ALSR OF DRIVE NO.X
`
`352
`
` TFA=ALFA+ALSF
`
`TRA=ALRA+ALSR
`
`354
`
`
`
`DISPLAY TOTAL FRONT
`
`
`
`ALARMS QUANTITY TO
` OF DR I VE NO . X
`
`
`FADR=TFAIDD
`
`
`24
`
`24
`
`

`

`US. Patent
`
`Oct. 18,1994
`
`Sheet 24 of 30
`
`5,357,438
`
`go
`
`V
`
`DISPLAY TOTAL REAR
`
`ALARMS QUANTITY TO
`
`DRIVING DURATION
`
`
`
`
`
`358
`
`
`RATIO OF DRIVE NO.X
`
`RADR=TRAlDD
`
` DISPLAY ALARMS DATA
`
`
`
`
`
`OFDRIVE NO. X:TIMES,
`
`DISTANCES & SPEEDS
`
`
`
`360
`
`IN WHICH ALARMS WERE
`
`
`
`
`
`
`
`SET AND/OR BRAKE
`
`LIGHT ACTUATED
`
`DISPLAY MECHANICAL
`
`SYSTEMS AUTOMATIC
`
`STEERING ETC.)
`
`OPERATION DATA OF
`
`362
`
`DRIVE NO. X:
`
`ACTUATION TIME AND
`
`DISTANCE,ACTUATED
`
`SYSTEMS (BRAKES,
`
`FIG.13B
`
`25
`
`25
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 25 of 30
`
`5,357,438
`
`
`
`CHOOSE RANDOMALLY 6 NUMBERS FROM I TO 9
`CHOOSE RANDOMALLY 6 DIRECTIONS OF ARROWS
`
`
`
`CHOOSE RANDOMALLY "FIRST/LAST"
`
`
`HORIZONTAL/VERTICAL
`
`372 '
`
`
` "START/STOP"
`
`BUTTON PUSHED
`
`I'START' : II
`
`
`375
`
`
`
`PREDETERMIND 394
`
`
`PERIOD
`
`26
`
`26
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 26 of 30
`
`5,357,438
`
`FIG. 14B
`
`READ TIME T
`
`I
`
`376
`
`377
`
`"START / STOP"
`
`
`
`BUTTON PUSHED
`
`("START I 1 J
` 379
`
`27
`
`27
`
`

`

`US. Patent
`
`Oct. 18, 1994
`
`Sheet 27 of 30
`
`5,357,438
`
`FTIG. 14(i
`
`(g)
`
`EmunMET
`
`2:'T
`
`
`THE BUTTONS WERE
`PUSHED IN THE RIGHT ORDER
`
`NO
`
`
`
`ALL
`
`
`
`
`
`
`
`
`
`AND AS MANY TIMES
`
`382
`
`TEST
`385
`
`
`
`SET START-UP ENABLE DISPLAY "OK"
`
`
`
`386
`
`28
`
`28
`
`

`

`US. Patent
`
`Oct. 13, 1994
`
`Sheet 23 of 30
`
`5,357,438
`
`FIG. 14D
`
`
`NO
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`-
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`‘
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`
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`39
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`3
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`I YES
`PERIOD
`LIMITATION IS OVER
`7
`
`,
`
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`
`READ TINIE
`
`391
`
`SET START—LIP ENABLE
`DISPLAY "FAIL"
`
`DONT ENABLE START—UP
`
`390
`
`FOR A PREDETERNIIND PERIOD
`
`YES ©
`
`10
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`YES
`
`389
`
`BUTTON PUSHED
`
`388
`
`I
`RESET
`N0
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`29
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`29
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`

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`

`

`1
`
`5,357,438
`
`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 enr-
`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 presettiug 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 ofa plurality of
`selected conditions, and for automatich 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-ofidrivcr 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-
`
`ANTI-COILISION SYSTEM FOR VEHICLES
`
`FIELD AND BACKGROUND OF THE
`MENTION
`
`IO
`
`15
`
`20
`
`25
`
`30
`
`35
`
`The present invention relates to an anti-collision sys-
`tem for vehicles. The invention is especially useful for
`passenger cars, tards. trucks and buses, and is therefore
`described below particularly with respect to such vehi-
`cles, but the invention, or some aspects ofthe 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 shonld 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
`environmtal 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-aficollision dis~
`tancc is too high for the specific operating conditions,
`there will be a high rate of “false alarms”; this will
`reduce the credibility of the systern 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
`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
`
`45
`
`50
`
`55
`
`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 ofthe vehicle, and for computing from the
`parameters a danger-ofucollision 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
`
`I55
`
`32
`
`32
`
`

`

`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
`other conditions. All of these are taken into consider—
`ation by the computer for determining the danger-of-
`oollision 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-
`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 withhr 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 slums, 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) transw
`mitters and receivers, for determining the distance of
`the vehicle from an object, e.g., another vehicle, at from
`or rear. Space sensors may also be provided at the sides
`of the vehicle. Vehick: 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-
`
`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 GB illustrates the microcomputer in the
`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
`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.
`IGA-IOB,
`illustrating the overall operation of the Calculation
`module in the microcomputer of FIGS. 6A and 613;
`FIG. llA-llI-I, together, constitute flow charts illus-
`trating the operation of the deceleration alarm module
`in the microcomputer of FIGS. 6A and EB;
`FIGS. uA—IZB,
`together, constitute flow charts
`illustrating the operation of the output data module in
`the microcomputer of FIGS. 6A and 6B;
`FIGS. 13A—ISB,
`together, constitute flow charts
`illustrating the operation of the black box module in the
`microcomputer of FIGS. 6A and 7B;
`FIGS. 14Aw14D,
`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-coliision 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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`

`5,357,438
`
`5
`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
`
`6
`indicates an asphalt road, key 386 a concrete road, and
`385' 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 49b would be depressed.
`The control panel 6 includes two keys 42 to select the
`mode of operation of the system. Thus, key 420 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 4213 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 460). A similar display, shown at 48 and having
`regions 48c, 486 and 4&2, is provided with respect to the
`rear of the vehicle equipped with the system, whether a
`rear collision danger BXiS‘lS, and the status of the rear
`brake light.
`The actual Speed. of the vehicle is shown in the speed
`display 59. 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 46: and 48c of the displays 46 and 48. A key 56
`on the control panel enables presetfing 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 6] 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 are to be depressed in a forward
`sequence (left to right) eight times, then depressed in the
`reverse sequence (right to left) another eight times, and
`then to be depressed in the forward sequence a further
`eight times. When the driving ability test is to be con-
`ducted, a Start/Stop key 63 is depressed whereupon a
`timer is started. When the driver completes the test, he
`again depresses key 63. The time is measured between
`the two depressions of key 63 thereby providing an
`indication of the time required by the driver to depress
`the keys according to the required sequences.
`This time is a measure of the “alertness” of the driver.
`It may thereby be used to provide a parameter of the
`driver condition and inputted into the icrocomputer 4.
`In the illustrated system, however, depressing the dis-
`
`[0
`
`[S
`
`25
`
`3D
`
`35
`
`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 30:: would be depressed to indicate a regular reac-
`tion time, key 305 would be depressed to indicate a long
`reaction time, and key She 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. cg, 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 32:: indicateS a partial load, key
`3213 indicates a full load, and key 326 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 2|] 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 55
`skidding thereon by the vehicle. Thus, key 34:: would
`be depressed to indicate a slippery condition of the road
`and therefore a high danger of skidding, whereas key
`346 would be depressad to indicate an unslippery condi-
`tion of the road (cg, dry) and therefore a low danger of so
`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 361: 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 38::
`
`4s
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`34
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`

`5,357,438
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`played sequences of the keys in the right order within a
`predetermined time period is a condition required to be
`met before the vehicle can be started, as will be de-
`scribed more particularly below with respect to the
`flow chart of FIG. 14. Failure to meet the condition is 5
`indicated by display 65, and passing the condition is
`indicated by display 64. If one attempt fails, another
`attempt may be made by depressing Reset key 66. Such
`a driving ability test device is particularly useful with
`respect to trucks, buses, vehicles carrying dangerous
`cargoes, aircraft, and trains, to make sure that the driver
`is fit to operate the vehicle before enabling the vehicle
`for operation.
`FIG. 3 illustrates an alternative type of control panel.
`therein designated 70, which may be used instead of the
`control panel 6 illustrated in FIG. 2. Control panel 70 is
`of the "menu " type, in which a menu display 71 dis—
`plays the various categories of information or options
`that may be selected or preset into the computer or
`displayed in the control panel. The menu display 71 is
`controlled by a Select key 72 which advances the dis-
`play each time the key is depressed (or continuously
`until the key is perm