WO1987002812A1 - Warning system for rear end vehicle collisions - Google Patents

Warning system for rear end vehicle collisions Download PDF

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Publication number
WO1987002812A1
WO1987002812A1 PCT/AU1986/000320 AU8600320W WO8702812A1 WO 1987002812 A1 WO1987002812 A1 WO 1987002812A1 AU 8600320 W AU8600320 W AU 8600320W WO 8702812 A1 WO8702812 A1 WO 8702812A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
distance
warning system
rear end
approach
Prior art date
Application number
PCT/AU1986/000320
Other languages
French (fr)
Inventor
Yianni Attikiouzel
Byron Arthur Kukulas
Original Assignee
Yianni Attikiouzel
Byron Arthur Kukulas
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yianni Attikiouzel, Byron Arthur Kukulas filed Critical Yianni Attikiouzel
Publication of WO1987002812A1 publication Critical patent/WO1987002812A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q5/00—Arrangement or adaptation of acoustic signal devices
    • B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
    • B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/525—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data
    • B60Q1/535—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking automatically indicating risk of collision between vehicles in traffic or with pedestrians, e.g. after risk assessment using the vehicle sensor data to prevent rear-end collisions, e.g. by indicating safety distance at the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9322—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using additional data, e.g. driver condition, road state or weather data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/024—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects
    • G01S7/025—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects involving the transmission of linearly polarised waves

Definitions

  • the present invention relates to a warning system for rear end vehicle collisions.
  • Such systems are often intended to be coupled to an automatic breaking system or an automatic air bag activator or the like, with the possible ultimate objective of an automated highway.
  • the major problem with headway warning systems is that of radar returns from unwanted ta>rgets, such as signs and sign posts, overhead bridges, metal debris on the road and the like. The unwanted returns lead to false alarms and to failed detections.
  • the problem stems from the fact that most targets, even where stationary, appear to be approaching the vehicle.
  • the aim of the present invention is to reduce the incidence of rear end vehicle collisions and hence the occurance of whiplash and neck injuries caused thereby. Rear end collisions have been found to be the most frequent type of inter vehicle collision.
  • the main reason for the frequent occurance of such collisions is that following vehicles tend to allow an insufficient safety distance to a leading vehicle.
  • the driver of the following vehicle adopts a safety distance that feels safe based on his or her experience with the vehicle and the predominate weather conditions.
  • the adopted distance may not be sufficiently safe and a rear end collision may occur with the leading vehicle.
  • the present invention provides a warning system for rear end vehicle collisions to provide a warning to a driver of a following vehicle and/or a leading vehicle that the following vehicle is likely to collide with the leading vehicle unless evasive action is taken by one or both of the drivers.
  • a warning system for rear end vehicle collisions characterised in that it comprises a ranging mean arranged to be attached to the rear of a vehicle and disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance determined by the signal processor.
  • a vehicle characterised in that it comprises a front, a rear, a ground engaging steering wheel and a warning system for rear end vehicle collisions comprising a ranging means attached to the rear of the vehicle and disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance determined by the signal processor.
  • Figure 2 is a schematic representation of a vehicle comprising the warning system of Figure 1 and shown in use.
  • FIG. 1 there is shown a warning system for rear end vehicle collisions 10 comprising a ranging means 12 having a transmitter antenna 14 and a receiver antenna
  • the transmitter antenna 14 and the receiver antenna"16 may be formed as a single antenna.
  • the antenna is of a relatively small construction so as to readily allow for installation in vehicles being compact cars.
  • a Mills Cross Antenna could be used, thus achieving a composite beam width of 2°x2° with a
  • V-shaped antenna V-shaped antenna
  • 45° polorization may be used to reduce interference at the receiver antenna 16 from targets adjacent the target immediately following the vehicle A, such as for example, vehicles in adjacent lanes of traffic.
  • the ranging means 12 comprises a steer means
  • the ranging means 12 also comprises radar sensor 17 having a transmitter 18 connected to drive the transmitter antenna 14 and a receiver 20 connected to receive signal collected by the receiver antenna 16.
  • the ranging means 12 may conveniently operate at microwave frequencies such as for example the K-band (17-25 GHz) or the Ku-band (25-40 GHz). Generally, use of higher frequencies is preferred in order to improve discrimination of the target and allow for use of smaller antenna. However, where the frequency is too high weather condititons may adversely affect there-Liabilityand accuracy of the ranging means 12.
  • the ranging means 12 operate on a Doppler principle where the signal received by the receiver 20 is slightly frequency shifted from that which was transmitted. The frequency shift is then proportioned to the radial velocity of a target, relative to the transmitter 18, such as a following vehicle B, as shown in Figure 2.
  • the warning system 10 also comprises a signal processor 22 having an output 24 to the transmitter 18 and an input 26 from the receiver 20.
  • the signal processor 22 comprises an initiator (not shown) to periodically send an activating signal from the output 24 to the transmitter 18 to cause it to transmit a ranging signal.
  • the signal processor 22 also comprises a frequency counter (not shown) connected to the input 26 and configured to determine the frequency shift which has been introduced into the received signal by the moving following vehicle B and hence the velocity of the vehicle B toward the vehicle A.
  • the warning system 10 also comprises a vehicle status means 28 having an output 30 to the signal processor 22.
  • the vehicle status means 28 comprises a vehicle speed measuring means to measure the speed of the vehicle A, an angle measurement means to measure the angle of a ground engaging steering wheel of the vehicle A and a brake sensor to sense application of brakes of the vehicle A.
  • the angle measurement means is connected to the steer means to steer the beam produced by the transmitter antenna 14 to compensate for road curvatures.
  • the signal processor comprises a range calculation means (not shown) configured to determine a safe distance and/or a safe speed of approach for the following vehicle B.
  • the determination of the safe distance and/or safe speed of approach principally based on the measured velocity of the vehicles A & B and the estimated braking deceleration of which the vehicles A & B are capable.
  • the determination of safe distance of approach and the instantaneous distances of approach may conveniently be expressed as follows:
  • Vr actual velocity of vehicle B. b ⁇ - braking deceleration of vehicle A. b - braking deceleration of vehicle B.
  • Vo-Vr relative velocity measured by the ranging means 12.
  • the warning means 10 also comprises an adjustment means
  • the adjustment means 32 is arranged to be adjusted by a driver of the vehicle A to compensate the determination of the safe distance of approach for prevailing road conditions such as weather and qualityof road and/or visibility and the estimated driver reaction time.
  • the former is used to modify the estimated values of braking deceleration capable of the vehicles A & B.
  • the latter is used to increase the value of safe distances by adding a term which is the product of the velocity (Vo) of the vehicle A and the reaction time (TR) of the driver of the vehicle A, namely TRVQ.
  • the reaction time Tr is expected to be based on the experience and the age and the like of the driver.
  • the warning means 10 may also comprise a range rate means configured to count beats produced by the.
  • the range rate means thus determines the rate of charge of the distance to the following vehicle B and is used to determine a safe speed of approach thereof.
  • the range rate means also serves to provide a check of the range determinations.
  • the warning means 10 also comprises an alarm means 36 connected to an output 38 of the signal processor 22.
  • the alarm means comprises a visual alarm 40 ( Figure 2) arranged to be located adjacent the rear of the vehicle A and in view of the driver of the following vehicle B.
  • the alarm means 36 is activated by the signal processor 22 to operate the visual alarm 40 when the distance and/or speed of approach of the following vehicle B is not outside the determined safe distance and/or the safe speed of approach so as to provide a warning to the driver of the following vehicle B. It is intended that the driver of the following vehicle B then act upon the warning toattempt to avoid a collision.
  • the alarm means 36 also comprises an audio and/or visual alarm 42 arranged to be located adjacent a front of the vehicle A and in hearing range and/or in view of the driver of the vehicle A.
  • the alarm means 36 is activated by the signal processor 22 to operate the audio and/or visual alarm 42 when the distance and/or speed of approach of the following vehicle B continues to be not outside the determined safe distance and/or the safe speed of approach, so as to provide a warning to the driver of the vehicle A.
  • the audio and/or visual alarm 42 is thus activated after the visual alarm 40 and so the driver of the vehicle A is given an ultimate warning of a collision.so as to take action to brace himself or herself to avoid neck injury which is otherwise generally associated with surprise rear end collisions.
  • the warning system 10 of the present invention is installed into a vehicle A.
  • the antennae 14 and 16 are attached to the rear of the vehicle A.
  • the visual alarm 40 is attached to the vehicle A adjacent the rear and disposed in a rearward direction to be viewed by a driver of a following vehicle B.
  • the audio and/or visual alarm 42 is attached adjacent the front of the vehicle A and disposed rearwardly to be heard and/or viewed by the driver of the vehicle A. Connections are then made to attach the vehicle status means 28 to the vehicle A.
  • the driver Before driving the vehicle A the driver enters details such as his or her age and experience into the adjustment means 22. The date used by the adjustment means 32 to determine the likely reaction time TR of the driver. The reaction time TR is sent to the signal processor 22 via the output 32 in order to adjust the determination of safe distances and/or safe speed for the following vehicle B.
  • the driver also enters into the adjustment means 32 the prevailing road and weather condition. These conditions are used, ad described hereinabove, to adjust the determination of safe distances and/or safe speed or approach.
  • the signal processor 22 is set for the braking deceleration generally found in the make and model of vehicle to which the warning system 10 is attached. Also, an estimate of an average braking deceleration for likely following vehicle B is also set into the signal processor 22.
  • the transmitter 22 periodically activates the transmitter 18 which in turn transmits a ranging beam to be radiated by the transmitter antenna 14.
  • the ranging signal is reflected by the vehicle B back to the receiving antenna 16.
  • the frequency counter in the signal processor 22 measures the frequency change in the ranging signal and hence the relative approach velocity of the following vehicle B.
  • the distance to the following vehicle is determined by the signal processor 22 using the expression for R.
  • the range rate is also determined by the range rate means as described hereinabove.
  • the signal processor 22 When the distance and/or the speed of approach is not outside the safe distance and/or safe speed of approach the signal processor 22 first activates the alarm means
  • the signal processor 22 then activates the audio and/or visual alarm 42 to warn the driver of the vehicle A to brace himself or herself.
  • the receiver 20 does not receive a return ranging signal.
  • the angle measurement means in the vehicle status means 28 determines the angle of deflection of the steering wheels of the vehicle and produces a corresponding steering of the ranging beam.
  • the warning system 10 of the present invention provides a two stage warning to attempt to avoid rear- end vehicle collisions. Modifications and variations such as would be apparent to a skilled addressee are deemed within the scope of the present invention.

Abstract

A warning device for rear end vehicle collisions (10) comprising a radar (12) attached to a rear of a vehicle (A) and directed to determine the range of a following vehicle (B) and to activate a warning alarm (36, 40, 42) when the distance and/or speed of approach of the following vehicle (B) are not outside a nominally safe distance and/or speed of approach determined by a signal processor (22) of the warning device (10). The warning alarm (36, 40, 42) is first activated to warn (40) a driver of the following vehicle (B) and then to warn (42) a driver of a leading vehicle (A). The invention also relates to a vehicle (A) having the warning device (10) fitted to it.

Description

TITLE "WARNING SYSTEM FOR REAR END VEHICLE COLLISIONS"
DESCRIPTION
The present invention relates to a warning system for rear end vehicle collisions.
FIELD OF THE INVENTION
In the past attention has been given to development of headway vehicle collision warning systems with the object of warning a driver of a vehicle when an obstacle appears in front of the vehicle for example another vehicle, or pedestrian, or a cyclist or an animal or the like.
Such systemsare often intended to be coupled to an automatic breaking system or an automatic air bag activator or the like, with the possible ultimate objective of an automated highway. The major problem with headway warning systems is that of radar returns from unwanted ta>rgets, such as signs and sign posts, overhead bridges, metal debris on the road and the like. The unwanted returns lead to false alarms and to failed detections. The problem stems from the fact that most targets, even where stationary, appear to be approaching the vehicle. The aim of the present invention is to reduce the incidence of rear end vehicle collisions and hence the occurance of whiplash and neck injuries caused thereby. Rear end collisions have been found to be the most frequent type of inter vehicle collision. The main reason for the frequent occurance of such collisions is that following vehicles tend to allow an insufficient safety distance to a leading vehicle. Generally, the driver of the following vehicle adopts a safety distance that feels safe based on his or her experience with the vehicle and the predominate weather conditions. However, where road conditions are adverse and/or the driver of the following vehicle experiences a lapse in concentration or is distracted the adopted distance may not be sufficiently safe and a rear end collision may occur with the leading vehicle.
SUMMARY OF THE INVENTION The present invention provides a warning system for rear end vehicle collisions to provide a warning to a driver of a following vehicle and/or a leading vehicle that the following vehicle is likely to collide with the leading vehicle unless evasive action is taken by one or both of the drivers.
In accordance with one aspect of the present invention there is provided a warning system for rear end vehicle collisions characterised in that it comprises a ranging mean arranged to be attached to the rear of a vehicle and disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance determined by the signal processor. In accordance with a further aspect of the present invention there is provided a vehicle characterised in that it comprises a front, a rear, a ground engaging steering wheel and a warning system for rear end vehicle collisions comprising a ranging means attached to the rear of the vehicle and disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance determined by the signal processor. BRIEF DESCRIPTION OF THE DRAWINGS
The present invention will now be described, by way of example, with reference to the accompanying drawings, in which:- Figure 1 is functional block diagra m of a warning system for rear end vehicle collisions in accordance with the present invention; and
Figure 2 is a schematic representation of a vehicle comprising the warning system of Figure 1 and shown in use.
DESCRIPTION OF THE INVENTION
In Figure 1 there is shown a warning system for rear end vehicle collisions 10 comprising a ranging means 12 having a transmitter antenna 14 and a receiver antenna
16 arranged to be attached to the rear of a vehicle A as shown in Figure 2.
The transmitter antenna 14 and the receiver antenna"16 may be formed as a single antenna. Preferably, the antenna is of a relatively small construction so as to readily allow for installation in vehicles being compact cars. For example, a Mills Cross Antenna could be used, thus achieving a composite beam width of 2°x2° with a
V-shaped antenna.
Further,it is envisaged that 45° polorization may be used to reduce interference at the receiver antenna 16 from targets adjacent the target immediately following the vehicle A, such as for example, vehicles in adjacent lanes of traffic.
Preferably, the ranging means 12 comprises a steer means
(not shown) arranged to steer a beam transmitted from the transmitter antenna 14. The steer means could produce a mechanical steering of the transmitter antenna 14 and/or an electrical steering of the beam pattern produced by the transmitter antenna 14. Steerage of the beam from the transmitter antenna 14 is preferred to enable the warning system 10 to allow for curvature in roads upon which the vehicle A travels. The ranging means 12 also comprises radar sensor 17 having a transmitter 18 connected to drive the transmitter antenna 14 and a receiver 20 connected to receive signal collected by the receiver antenna 16. The ranging means 12 may conveniently operate at microwave frequencies such as for example the K-band (17-25 GHz) or the Ku-band (25-40 GHz). Generally, use of higher frequencies is preferred in order to improve discrimination of the target and allow for use of smaller antenna. However, where the frequency is too high weather condititons may adversely affect there-Liabilityand accuracy of the ranging means 12.
It has been found that to reduce the effects of weather conditions on the performance of the warning system 10, • especially backscatter caused by rain and attentuation caused by adhesion of snow ice or water to a radome of the transmitter and receiver antenna 14 and 16, the antenna 14 and 16 require a high gain. It is envisaged that the ranging means 12 operate on a Doppler principle where the signal received by the receiver 20 is slightly frequency shifted from that which was transmitted. The frequency shift is then proportioned to the radial velocity of a target, relative to the transmitter 18, such as a following vehicle B, as shown in Figure 2. The warning system 10 also comprises a signal processor 22 having an output 24 to the transmitter 18 and an input 26 from the receiver 20. The signal processor 22 comprises an initiator (not shown) to periodically send an activating signal from the output 24 to the transmitter 18 to cause it to transmit a ranging signal. The signal processor 22 also comprises a frequency counter (not shown) connected to the input 26 and configured to determine the frequency shift which has been introduced into the received signal by the moving following vehicle B and hence the velocity of the vehicle B toward the vehicle A.
The warning system 10 also comprises a vehicle status means 28 having an output 30 to the signal processor 22. The vehicle status means 28 comprises a vehicle speed measuring means to measure the speed of the vehicle A, an angle measurement means to measure the angle of a ground engaging steering wheel of the vehicle A and a brake sensor to sense application of brakes of the vehicle A. The angle measurement means is connected to the steer means to steer the beam produced by the transmitter antenna 14 to compensate for road curvatures. The signal processor comprises a range calculation means (not shown) configured to determine a safe distance and/or a safe speed of approach for the following vehicle B. The determination of the safe distance and/or safe speed of approach principally based on the measured velocity of the vehicles A & B and the estimated braking deceleration of which the vehicles A & B are capable. The determination of safe distance of approach and the instantaneous distances of approach may conveniently be expressed as follows:
R
Figure imgf000007_0001
where R = safe distance of approach
Vo - actual velocity of vehicle A.
Vr - actual velocity of vehicle B. b^ - braking deceleration of vehicle A. b - braking deceleration of vehicle B.
Vo-Vr = relative velocity measured by the ranging means 12. The warning means 10 also comprises an adjustment means
32 connected to the signal processor 22 by an output 24. The adjustment means 32 is arranged to be adjusted by a driver of the vehicle A to compensate the determination of the safe distance of approach for prevailing road conditions such as weather and qualityof road and/or visibility and the estimated driver reaction time. The former is used to modify the estimated values of braking deceleration capable of the vehicles A & B. The latter is used to increase the value of safe distances by adding a term which is the product of the velocity (Vo) of the vehicle A and the reaction time (TR) of the driver of the vehicle A, namely TRVQ. The reaction time Tr is expected to be based on the experience and the age and the like of the driver. The warning means 10 may also comprise a range rate means configured to count beats produced by the. interference • of the frequency shifted received ranging signal' with the transmitted ranging signal or by differentiating the determination of range to the following vehicle B with respect to time. The range rate means thus determines the rate of charge of the distance to the following vehicle B and is used to determine a safe speed of approach thereof. The range rate means also serves to provide a check of the range determinations. The warning means 10 also comprises an alarm means 36 connected to an output 38 of the signal processor 22. The alarm means comprises a visual alarm 40 (Figure 2) arranged to be located adjacent the rear of the vehicle A and in view of the driver of the following vehicle B. The alarm means 36 is activated by the signal processor 22 to operate the visual alarm 40 when the distance and/or speed of approach of the following vehicle B is not outside the determined safe distance and/or the safe speed of approach so as to provide a warning to the driver of the following vehicle B. It is intended that the driver of the following vehicle B then act upon the warning toattempt to avoid a collision.
The alarm means 36 also comprises an audio and/or visual alarm 42 arranged to be located adjacent a front of the vehicle A and in hearing range and/or in view of the driver of the vehicle A. The alarm means 36 is activated by the signal processor 22 to operate the audio and/or visual alarm 42 when the distance and/or speed of approach of the following vehicle B continues to be not outside the determined safe distance and/or the safe speed of approach, so as to provide a warning to the driver of the vehicle A.
The audio and/or visual alarm 42 is thus activated after the visual alarm 40 and so the driver of the vehicle A is given an ultimate warning of a collision.so as to take action to brace himself or herself to avoid neck injury which is otherwise generally associated with surprise rear end collisions. In use, the warning system 10 of the present invention is installed into a vehicle A. The antennae 14 and 16 are attached to the rear of the vehicle A. The visual alarm 40 is attached to the vehicle A adjacent the rear and disposed in a rearward direction to be viewed by a driver of a following vehicle B. The audio and/or visual alarm 42 is attached adjacent the front of the vehicle A and disposed rearwardly to be heard and/or viewed by the driver of the vehicle A. Connections are then made to attach the vehicle status means 28 to the vehicle A.
Before driving the vehicle A the driver enters details such as his or her age and experience into the adjustment means 22. The date used by the adjustment means 32 to determine the likely reaction time TR of the driver. The reaction time TR is sent to the signal processor 22 via the output 32 in order to adjust the determination of safe distances and/or safe speed for the following vehicle B.
The driver also enters into the adjustment means 32 the prevailing road and weather condition. These conditions are used, ad described hereinabove, to adjust the determination of safe distances and/or safe speed or approach.
At installation the signal processor 22 is set for the braking deceleration generally found in the make and model of vehicle to which the warning system 10 is attached. Also, an estimate of an average braking deceleration for likely following vehicle B is also set into the signal processor 22. When driving along the initiator in the signal processor
22 periodically activates the transmitter 18 which in turn transmits a ranging beam to be radiated by the transmitter antenna 14.
Where a target such as the vehicle B is present behind the vehicle A the ranging signal is reflected by the vehicle B back to the receiving antenna 16.
The frequency counter in the signal processor 22 measures the frequency change in the ranging signal and hence the relative approach velocity of the following vehicle B. The distance to the following vehicle is determined by the signal processor 22 using the expression for R.
The range rate is also determined by the range rate means as described hereinabove.
When the distance and/or the speed of approach is not outside the safe distance and/or safe speed of approach the signal processor 22 first activates the alarm means
36 to operate the visual alarm 40 to warn the driver of the following vehicle B so that he/she may take appropriate action. When the distance and/or the speed of approach continues to be not outside the safe distance and/or safe speed of approach the signal processor 22 then activates the audio and/or visual alarm 42 to warn the driver of the vehicle A to brace himself or herself.
Where no vehicle is following the vehicle A the receiver 20 does not receive a return ranging signal. When the vehicle A turns a bend in a road the angle measurement means in the vehicle status means 28 determines the angle of deflection of the steering wheels of the vehicle and produces a corresponding steering of the ranging beam.
It is envisaged that once a vehicle is detected as following the vehicle A that the ranging means 12 and the signal processor 22 only search for targets at or about that range in a range gate type technique. Thus, the warning system 10 of the present invention provides a two stage warning to attempt to avoid rear- end vehicle collisions. Modifications and variations such as would be apparent to a skilled addressee are deemed within the scope of the present invention.

Claims

1. A warning system for rear end vehicle collisions characterised in that it comprises a ranging means arranged to be attached to the rear of a vehicle and disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance determined by the signal processor.
2. A warning system for rear end vehicle collisions according to claim 1, characterised in that it comprises a range means to determine the rate of charge of the distance to the following vehicle, the signal processor being configured to determine the safe distance and a safe speed of approach for the following vehicle based on the range and the range rate and the alarm means being activated when the distance and the speed of approach of the following vehicle are not outside the safe distances and the safe speed determined by the signal processor.
3. A warning system for rear end vehicle collisions according to claim 1 or 2, characterised in that the alarm means may comprise a visual alarm located adjacent the rear of the vehicle and arranged to be in view of a driver of the following vehicle.
4. A warning system for rear end vehicle collisions according to claim 3, characterised in that the alarm means comprises an audio and/or visual alarm arranged to be in hearing range and/or in view of a driver of the vehicle, the audio and/or visual alarm being configured to be activated after the visual alarm located adjacent the rear of the vehicle is activated.
5. A warning system for rear end vehicle collisions according to any one of the preceding claims, character¬ ised in that the processor means comprises an adjustment means to compensate the processormeans in the determination of the safe distance and speed for prevailing road conditions.
6. A warning system for rear end vehicle collisions
5 according to claim 5, characterised in that the adjustment means also allows for compensation of the processor means in determination of the safe distance and speed for the reaction time of the driver of the vehicle.
7. A warning system for rear end vehicle collisions
10 according to any one of the preceding claims, characterised in that the ranging means comprises an antenna and means to steer a beam transmitted by the antenna to compensate for curvature in roads upon which the vehicle travels.
8. A warning system for rear end vehicle collisions
∑5 according to claim 7, characterised in that it comprises an angle measurement means to determine the angle of a ground, engaging steering wheel of the vehicle, the angle measurement means being arranged to steer the beam transmitted by the antenna to compensate for curvature
20 in roads upon which the vehicle travels.
9. A vehicle characterised in that it comprises a front, a rear, a ground engaging steering wheel and a warning system for rear end vehicle collisions comprising a ranging means attached to the rear of the vehicle and
25 disposed to determine the distance to a following vehicle, a signal processor configured to determine a safe distance of approach for the following vehicle and an alarm means to be activated when the distance of approach of the following vehicle is not outside the safe distance
30 determined by the signal processor.
10. A vehicle according to claim 9 characterised in that the warning system for rear end vehicle collisions comprises a range rate means to determine the rate of change of the distance to the following vehicle and the
35 signal processor being configured to determine the safe distance arid a safespeed of approach for the following vehicle based on the range and the range rate and the alarm means being configured to be activated when the distance and the speed of approach of the following vehicle are not outside the safe distance and the safe speed determined by the signal processor.
11. A vehicle according to claim 9 or 10, characterised in that the alarm means comprises a visual alarm located adjacent the rear of the vehicle and in view of a driver of the following vehicle.
12. A vehicle according to claim 11, characterised in that the alarm means comprises an audio and/or visual alarm located adjacentthe front of the vehicle and in hearing range and/or in view of a driver of the vehicle, the audio and/or visual alarm being configured to be activated after the visual alarm located adjacent the rear of the vehicle is activated.
13. A vehicle according to any one "of the preceding claims 9 to 12, characterised in that the warning system comprises an angle measurement means to determine the angle of the ground engaging steering wheel of the vehicle, the angle measurement means being connected to steer a beam transmitted by and antenna of the ranging means to compensate for curvature in roads upon which the vehicle travels.
PCT/AU1986/000320 1985-10-25 1986-10-27 Warning system for rear end vehicle collisions WO1987002812A1 (en)

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Application Number Priority Date Filing Date Title
AUPH3142 1985-10-25
AU314285 1985-10-25

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Publication Number Publication Date
WO1987002812A1 true WO1987002812A1 (en) 1987-05-07

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EP (1) EP0244447A1 (en)
WO (1) WO1987002812A1 (en)

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EP0333495A2 (en) * 1988-03-18 1989-09-20 THE GENERAL ELECTRIC COMPANY, p.l.c. Position determining equipment
GB2260209A (en) * 1991-10-02 1993-04-07 Brian Roger Hardy Braking distance indicating and warning device
GB2291244A (en) * 1994-07-15 1996-01-17 Design Technology & Innovation Vehicle safety systems
GB2298045A (en) * 1995-02-14 1996-08-21 Jr Thomas James Mulhall Proximity warning device
GB2331583A (en) * 1997-11-20 1999-05-26 Thomas Wayne Richards Vehicle automatic distance warning system
WO1999031639A1 (en) * 1997-12-13 1999-06-24 Arnold Jameson Warning system for detecting approaching objects
EP1157889A2 (en) * 2000-05-20 2001-11-28 Georg Hagmeier Warning device for vehicle
WO2004005962A1 (en) * 2002-07-05 2004-01-15 Continental Teves Ag & Co. Ohg System for preventing a rear-end collision
GB2393835A (en) * 2002-08-10 2004-04-07 Martin Christopher Durant Tailgate tracker
GB2397682A (en) * 2003-01-27 2004-07-28 John Mcewen Vehicle rear facing warning lights to signal dangerous proximity to a following vehicle
GB2406989A (en) * 2003-10-10 2005-04-13 Mike Bundy Proximity sensor
EP1852323A1 (en) * 2006-05-04 2007-11-07 Ford Global Technologies, LLC Rear end collision mitigation system for an automotive vehicle
US7390484B2 (en) 2001-12-07 2008-06-24 Cytori Therapeutics, Inc. Self-contained adipose derived stem cell processing unit
US7514075B2 (en) 2001-12-07 2009-04-07 Cytori Therapeutics, Inc. Systems and methods for separating and concentrating adipose derived stem cells from tissue
US7585670B2 (en) 2001-12-07 2009-09-08 Cytori Therapeutics, Inc. Automated methods for isolating and using clinically safe adipose derived regenerative cells
US7651684B2 (en) 2001-12-07 2010-01-26 Cytori Therapeutics, Inc. Methods of using adipose tissue-derived cells in augmenting autologous fat transfer
US7771716B2 (en) 2001-12-07 2010-08-10 Cytori Therapeutics, Inc. Methods of using regenerative cells in the treatment of musculoskeletal disorders
WO2010089609A1 (en) * 2009-02-05 2010-08-12 Trw Limited Collision warning apparatus
ES2349609A1 (en) * 2009-05-25 2011-01-07 Sixto Arias Sanchez Alert device applicable to vehicles automoviles (Machine-translation by Google Translate, not legally binding)
WO2015067403A1 (en) * 2013-11-07 2015-05-14 Robert Bosch Gmbh Warning device for a vehicle
US9597395B2 (en) 2001-12-07 2017-03-21 Cytori Therapeutics, Inc. Methods of using adipose tissue-derived cells in the treatment of cardiovascular conditions
CN112793565A (en) * 2021-01-06 2021-05-14 恒大新能源汽车投资控股集团有限公司 Backward collision alarm system, method and device and vehicle

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Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0333495A2 (en) * 1988-03-18 1989-09-20 THE GENERAL ELECTRIC COMPANY, p.l.c. Position determining equipment
EP0333495A3 (en) * 1988-03-18 1991-03-20 THE GENERAL ELECTRIC COMPANY, p.l.c. Position determining equipment
GB2260209A (en) * 1991-10-02 1993-04-07 Brian Roger Hardy Braking distance indicating and warning device
GB2291244A (en) * 1994-07-15 1996-01-17 Design Technology & Innovation Vehicle safety systems
GB2291244B (en) * 1994-07-15 1998-02-11 Design Technology & Innovation Vehicle safety systems
GB2298045A (en) * 1995-02-14 1996-08-21 Jr Thomas James Mulhall Proximity warning device
GB2331583A (en) * 1997-11-20 1999-05-26 Thomas Wayne Richards Vehicle automatic distance warning system
WO1999031639A1 (en) * 1997-12-13 1999-06-24 Arnold Jameson Warning system for detecting approaching objects
EP1157889A2 (en) * 2000-05-20 2001-11-28 Georg Hagmeier Warning device for vehicle
US7651684B2 (en) 2001-12-07 2010-01-26 Cytori Therapeutics, Inc. Methods of using adipose tissue-derived cells in augmenting autologous fat transfer
US7687059B2 (en) 2001-12-07 2010-03-30 Cytori Therapeutics, Inc. Systems and methods for treating patients with processed lipoaspirate cells
US9597395B2 (en) 2001-12-07 2017-03-21 Cytori Therapeutics, Inc. Methods of using adipose tissue-derived cells in the treatment of cardiovascular conditions
US7771716B2 (en) 2001-12-07 2010-08-10 Cytori Therapeutics, Inc. Methods of using regenerative cells in the treatment of musculoskeletal disorders
US7585670B2 (en) 2001-12-07 2009-09-08 Cytori Therapeutics, Inc. Automated methods for isolating and using clinically safe adipose derived regenerative cells
US7514075B2 (en) 2001-12-07 2009-04-07 Cytori Therapeutics, Inc. Systems and methods for separating and concentrating adipose derived stem cells from tissue
US7390484B2 (en) 2001-12-07 2008-06-24 Cytori Therapeutics, Inc. Self-contained adipose derived stem cell processing unit
US7429488B2 (en) 2001-12-07 2008-09-30 Cytori Therapeutics, Inc. Method for processing lipoaspirate cells
US7473420B2 (en) 2001-12-07 2009-01-06 Cytori Therapeutics, Inc. Systems and methods for treating patients with processed lipoaspirate cells
US7501115B2 (en) 2001-12-07 2009-03-10 Cytori Therapeutics, Inc. Systems and methods for treating patients with processed lipoaspirate cells
WO2004005962A1 (en) * 2002-07-05 2004-01-15 Continental Teves Ag & Co. Ohg System for preventing a rear-end collision
GB2393835A (en) * 2002-08-10 2004-04-07 Martin Christopher Durant Tailgate tracker
GB2393835B (en) * 2002-08-10 2005-02-23 Martin Christopher Durant Tailgate tracker
GB2397682A (en) * 2003-01-27 2004-07-28 John Mcewen Vehicle rear facing warning lights to signal dangerous proximity to a following vehicle
GB2406989A (en) * 2003-10-10 2005-04-13 Mike Bundy Proximity sensor
EP1852323A1 (en) * 2006-05-04 2007-11-07 Ford Global Technologies, LLC Rear end collision mitigation system for an automotive vehicle
WO2010089609A1 (en) * 2009-02-05 2010-08-12 Trw Limited Collision warning apparatus
ES2349609A1 (en) * 2009-05-25 2011-01-07 Sixto Arias Sanchez Alert device applicable to vehicles automoviles (Machine-translation by Google Translate, not legally binding)
WO2015067403A1 (en) * 2013-11-07 2015-05-14 Robert Bosch Gmbh Warning device for a vehicle
CN112793565A (en) * 2021-01-06 2021-05-14 恒大新能源汽车投资控股集团有限公司 Backward collision alarm system, method and device and vehicle

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