Vehicle anti-collision system

FIELD: physics, navigation.

SUBSTANCE: invention is intended to prevent collision of vehicles. When monitoring the surrounding space, a first initial state is obtained for a first object (18) located in the surrounding space (14) as a reference point during a first stopping event, wherein the initial state includes an indication of the initial position of the first object (18). During a second stopping event (S1), a determination (S2) is made of whether a vehicle (10) has moved between the first and second stopping events by a given minimum distance and/or whether a given minimum time has passed. The initial state is refreshed (S3) by indicating the position of at least a second object (18) located in the surrounding space (14) as a reference point if it is determined that a vehicle (10) has moved between the first and second stopping events by a distance exceeding the given minimum value and/or that a time greater than the given minimum time has passed. The actual position of the second object (18) is determined (S5) as the actual state for further intent to begin movement. A possible collision situation is detected (S6) if comparison of the actual and the initial state yields a distance greater than a given value. The invention also relates to an anti-collision apparatus.

EFFECT: warning a driver on presence of objects in the surrounding space.

8 cl, 2 dwg

 

The technical field to which the invention relates.

The present invention relates to a method and apparatus collision avoidance for a vehicle, in which the space around the vehicle is controlled with sensors detect obstacles.

The level of technology

From the publication DE 102006002232 A1 a method and device for collision avoidance for a vehicle, in which at each stop, the vehicle first registration data about the position of surrounding objects as the initial state. At regular intervals or in case of certain events, for example, identify the intent of the driver to start moving, determined by other provisions as the actual status. If you compare this to the actual condition with the original condition is detected that the vehicle has approached at least one object, this situation is identified as a collision and the driver is issued a warning.

If the vehicle is moved under control of the driver at a very small distance (for example, only a few inches while maneuvering in the Parking lot), then when a new stop in this known sposobnostey registration of the new initial state. If, for example, in the process of maneuvering in the surrounding area moved the people at the new stop these people are identified as targets.

This method has the disadvantage that in this case the driver is unable to see before you stop all surrounding objects, as when moving the vehicle just a few inches he could not see during the whole process of the motion dead zone directly behind your vehicle (or, depending on the type of vehicle, the dead zone, located directly in front of the vehicle and/or to the side of him). Thus, the driver does not receive advance information about what is in the surrounding area there are new objects.

The driver is warned about the possibility of collision only in the course of further movement after defining the initial state, when people will get closer to the vehicle. However, to this point, the driver may underestimate such a warning, because he does not expect - with respect to the initial state defined in the new stop - occurrence of objects, which he can't see, as they moved into the surrounding space only during maneuvering.

Task this is th invention is to develop a method of collision avoidance for a vehicle, ensuring the implementation of an improved system for warning the driver of a vehicle about the presence of objects in the surrounding space.

Disclosure of inventions

This task is solved in the present invention by a method, device and computer program.

Other embodiments of the invention are given in the dependent claims.

One object of the invention is a method of collision avoidance for a vehicle, in the exercise of which control the surrounding space. This method includes:

- obtain the initial condition for at least one of the first in the surrounding space of the object as a landmark at the first stop event, and the initial state includes an indication of the starting position of at least one of the first object,

- determination of the subsequent second stop event, moved if the vehicle between the first and second events stop at a specified minimum distance and/or passed if the specified minimum time,

- updating the initial state by setting the position of the at least one second in the surrounding space of the object as a landmark, if it is determined that between the first and second events stop the key vehicle has moved by a distance exceeding a preset minimum value, and/or that the elapsed time exceeding a certain minimum value,

- determination of the actual position of at least one of the second object as the actual status at the subsequent intention to move,

detection of a possible collision situation, if the comparison of the actual and initial conditions gives a distance greater than the specified value.

Due to the fact that the initial state is recalculated only if the vehicle is moved between the first and second events stop at a specified minimum distance and/or if it has been specified minimum time, allows a full view of the driver of the surrounding space. Thus, the initial state includes only the data obtained about the position of objects known to the driver, which ensures the possibility of warning the driver of each unknown to him the object moving in the surrounding space.

Therefore, if the vehicle moves during maneuvering only at a very small distance, in accordance with the present invention is not registering a new initial state and the original state is registered during the penultimate event the Oia stop. If during shunting occurs, for example, the movement of people in the space around the vehicle, in accordance with the present invention when the new stop is not registered these people as guidance in the initial state, and generating a warning to the driver about these people, because they were absent in the initial state, the previously registered.

Thus, the present invention provides a reliable informing the driver about objects in the surrounding space, which he cannot see, even in the case when, for example, these objects move in the surrounding space while maneuvering in the Parking lot.

You can also provide that if the vehicle is not moved for a specified minimum distance and in less than the specified minimum time, the original condition when you first stop event should be updated by specifying the orientation of the vehicle.

With this updating of the initial state specified in the penultimate stop event, it is possible to consider the relative displacement between the vehicle and the reference points without generating unnecessary alarms, for example, if the vehicle approached the object, Izv the STN driver, only a few inches.

In a preferred embodiment of the invention, the specified minimum distance is chosen so that it corresponds at least to the extent not viewed by the driver zone around the vehicle. This ensures registration of the new initial state only if the driver before stopping can view all the space around the vehicle.

For example, the minimum distance can be chosen in such a way that it will accommodate the length of the vehicle or the sum of the length of the vehicle and the length of the surrounding space in front of the vehicle and behind him.

In one embodiment of the present invention the control of the space around the vehicle by using any of its sensors detect obstacles, including ultrasonic, and/or radar and/or laser sensors and/or performs analysis of the received video image of the surrounding space.

If it detects a situation of a possible collision, the driver may receive a warning signal, which may be optical, acoustic and/or tactile. You can also include generating different tones for different sieves the Nations, for example for different phases of movement (the driver's intention to start moving), different distances to a dangerous object or in different directions, where possible collision.

Another object of the invention is a device for collision avoidance for a vehicle containing at least one sensor detecting obstacles, designed to control the surrounding space. Proposed in the invention, the device is configured to:

- obtain the initial condition for at least one of the first in the surrounding space of the object as a landmark at the first stop event, and the initial state includes an indication of the starting position of at least one of the first object,

- determine when the subsequent second stop event, moved if the vehicle between the first and second events stop at a specified minimum distance and/or passed if the specified minimum time,

- updating the initial state by setting the position of the at least one second in the surrounding space of the object as a landmark, if it is determined that between the first and second events stop the vehicle has moved by a distance exceeding a preset minimum value, and/or that the past is about time, exceeding a preset minimum value,

- determine the actual position of at least one of the second object as the actual status at the subsequent intention to move,

- detection of a possible collision situation, if the comparison of the actual and initial conditions gives a distance greater than the specified value.

Brief description of drawings

The preferred implementation of the present invention are illustrated by the example presented in the description below with the attached drawings. In the drawings shown:

in Fig.1 is a schematic representation of a vehicle with a device for collision avoidance according to one of embodiments of the present invention,

in Fig.2 - the sequence of steps in the process of collision avoidance according to one of embodiments of the present invention.

The implementation of the invention

As can be seen from Fig.1, a vehicle 10 is equipped with several sensors 12 detect obstacles, such as ultrasonic sensors. Each sensor 12 has a working area D (the detection area) indicated in Fig.1 by the dashed line. For individual work areas D sensors 12 are overlapped in such a way that together they cover all surrounding the space 14 around the vehicle 10.

Instead of the ultrasonic sensors can also use radar, laser or any other suitable sensors detect obstacles. You can also control the surrounding space 14 using one or more cameras and sensors 12 for video image analysis for the purpose of recognition (identification) of objects in the surrounding space 14. The sensors 12 may record the presence of objects 18 in the surrounding space 14 of the vehicle 10 and can also be configured to determine distances between the object 18 and the vehicle 10.

Sensors 12 detect obstacles associated control block 16, which determines on the basis of their signals, the position of the object 18 located in the surrounding space 14 of the vehicle 10 and the detected one of the sensors 12. This may establish the presence or absence of objects 18 in a separate work areas D sensors 12 or to determine the distance of each object from 18 of the vehicle 10 and the corresponding direction, and the position of each object 18 in a suitable coordinate system.

Next with reference to Fig.2 explains the principle of operation of the above described device. While the following method is implemented in the block 16 is driven by the I. First, in step S1 it is checked, stopped, whether the vehicle 10, that is, whether it came in a stationary state. Because the way that corresponds presented in this description of the exemplary embodiment of the invention, can be implemented only with a stationary vehicle 10, the request will be repeated until then, until it is determined that the vehicle 10 is in place, i.e., it is without motion.

If the vehicle 10 has stopped (alternatively "Yes" in step S1), then in step S2 it is checked, moved whether the vehicle 10 between the last two events stop at the minimum distance. This can be done either by determining the position of the vehicle 10, for example using a GPS receiver, or alternatively, by checking, moving if the vehicle 10 between the last two events stop in for a minimum time.

The minimum distance can be chosen in such a way that after moving in the distance, the driver immediately before the stop of the vehicle 10 could see all the blind space in front of the vehicle 10 and behind him.

For example, the minimum distance can exactly match the length of the vehicle 10, it is may be equal to the sum of the length of the vehicle 10 and the length of non-viewable by the driver of the space in front of the vehicle 10 and behind him or the sum of the length of the vehicle 10 and the length of the controlled sensors 12 surrounding space 14 in front of the vehicle 10 and behind him.

The minimum time can be a fixed preset value or defined by dividing the minimum distance (in accordance with any of the above definitions) at average speed of the vehicle 10 between the last two events stop.

If between the last two events stop the vehicle 10 has moved by at least the minimum distance (alternatively "Yes" in step S2), then following this, in step S3 is logged its original state by determining the starting position. To do this, using sensors 12 is determined by the initial position of one or more objects 18 in the surrounding space 14 of the vehicle 10. You can get information about the original position of the object 18 may include a determination of the presence of the object in the working area D of the sensor 12 and/or the determination of the distance to the object 18 from the vehicle 10 and/or direction to the object 18 from the vehicle 10.

If the definition of the initial condition in the surrounding space 14 there are no objects 18, the data about the original position cannot be obtained in the manner described above. In this case, as the data about the original position can be used in ofany one or more distance values, who, for example, for each work zone D sensor 12 is equal to the length of the respective working zone D.

If step S2 is found that between the last two events stop the vehicle 10 has moved a distance less than the minimum (alternative to "no" in step S2), then in step S4 reconciliations of the initial state determined at the last stop, with the new position of the vehicle 10.

In this new position of the vehicle 10 can be determined using a GPS sensor or by evaluating the distance traveled between the last two events stop by determining the time, speed and angle of yaw). Data about the initial position stored in the storage device, can be recalculated by adding the vectors of distances traveled by the vehicle 10 between the last two events stop - in object distance 18 from the vehicle 10, agreed with his new position. If the data about the initial position only establish the presence or absence of objects 18 in the respective working areas D sensors 12, it is possible to estimate the possibility of after this object 18 in the working area D other sensor 12 in the vehicle 10.

After that, in step S5 determines the I actual position. This step is performed after specified time periods or in case of predefined events, such as when the driver's intention to start the movement, recognized by the position of the brake pedal and/or accelerator and/or the position of the drive rod of the gearbox with manual or automatic switching.

This establishes the presence and/or determining the actual position of the object 18 in the surrounding space 14. Here, as in the case of determining the initial state in step S3, it is possible to determine the actual position of the object 18 in a suitable system of coordinates or distance and direction to objects 18 from the vehicle 10.

In step S6 by comparing the actual and the initial state is determined, closer to the vehicle 10 at least one object 18. This definition applies to the case when the object 18, who were already in the surrounding space 14 of the vehicle 10 when you register initial state, is moved in the direction of the vehicle 10, and to the case when the object 18 is absent in the surrounding space 14 of the vehicle 10 when you register initial state, moved into the surrounding space 14.

If the vehicle 10 is not approached any object 18 (alternative to "no" in step S6), then the process is terminated, as no identified risk of collision.

If step S6 is detected that the vehicle 10 has approached at least one object 18 (alternatively "Yes" in step S6), it is identified the risk of collision and in step S7 for the driver generates an acoustic, optical and/or tactile warning signal.

The above process is performed during operation of the vehicle 10 a continuous and cyclic manner. Therefore, when stopping the vehicle 10 may be repeatedly determined corresponding to the actual state, which is compared with the original state.

You can generate different alarms depending on the various situations that arise during the movement of the vehicle 10. For example, the first warning signal can arrive at the stop of the vehicle 10, if there is danger of collision, and the second warning signal may be issued if, in addition found the driver's intention to start moving.

1. The method of collision avoidance for a vehicle (10), which control the surrounding space (14), including:
- obtain the initial condition for at least one of the first finding is eghosa in the surrounding space (14) of the object (18) as the reference point at the first stop event, moreover, the initial state includes an indication of the starting position of at least one of the first object (18),
- determining (S2) during a subsequent second event stop (S1) moved if the vehicle (10) between the first and second events stop at a specified minimum distance and/or passed if the specified minimum time,
- update (S3) the initial state by setting the position of the at least one second in the surrounding space (14) of the object (18) as a guide, if it is determined that between the first and second events stop the vehicle (10) is moved by a distance exceeding a preset minimum value, and/or that the elapsed time exceeding a certain minimum value,
- define (S5) the actual position of at least one of the second object (18) as the actual status at the subsequent intention to move,
detection (S6) of a possible collision, if the comparison of the actual and initial conditions gives a distance greater than the specified value.

2. The method according to p. 1, characterized in that if the vehicle (10) is moved to the specified minimum distance and in less than the specified minimum time, the original condition when you first stop event, focus in what azanium about the position of the vehicle (10).

3. The method according to p. 1, characterized in that the specified minimum distance is chosen so that it corresponds at least to the extent not viewed by the driver zone around the vehicle (10).

4. The method according to p. 1, characterized in that the specified minimum distance corresponds to the length of the vehicle (10).

5. The method according to one of paragraphs.1-3, characterized in that the specified minimum distance corresponds to the sum of the length of the vehicle (10) and the length of the surrounding space (14) in front of the vehicle (10) and behind him.

6. The method according to one of paragraphs.1-3, characterized in that the control of the surrounding space (14) osushestvlya using installed on the vehicle (10) sensors (12) detection of obstacles, including ultrasonic, and/or radar and/or laser sensors and/or performing analysis of the video image of the surrounding space (14).

7. The method according to one of paragraphs.1-3, characterized in that the detection (S6) of a possible collision, the driver generates a warning signal (S7).

8. Unit collision for a vehicle (10) containing at least one sensor (12) detection of obstacles, designed to control the surrounding space (14), and performed with the opportunity to:
- get the state to at least one of the first in the surrounding space (14) of the object (18) as the reference point at the first stop event, moreover, the initial state includes an indication of the starting position of at least one of the first object (18),
- determining (S2) during a subsequent second event stop (S1) moved if the vehicle (10) between the first and second events stop at a specified minimum distance and/or passed if the specified minimum time,
- actualization (S3) the initial state by setting the position of the at least one second in the surrounding space (14) of the object (18) as a guide, if it is determined that between the first and second events stop the vehicle (10) is moved by a distance exceeding a preset minimum value, and/or that the elapsed time exceeding a certain minimum value,
- define (S5) the actual position of at least one of the second object (18) as the actual status at the subsequent intention to move,
- detection (S6) of a possible collision, if the comparison of the actual and initial conditions gives a distance greater than the specified value.



 

Same patents:

FIELD: transport.

SUBSTANCE: in the first version, the method includes determination of presence of a vehicle moving ahead along adjacent lane in concurrent direction using video camera, measurement of distance to the vehicle with calculation of its side mirrors "blind area" position and rear vehicle position relative to "blind area", as well as determination of its type and dimensions, warning about hazardous proximity using indicators located in instrument cluster, assistance in the process of vehicle driving through vehicle deceleration in case when driver of vehicle moving ahead along adjacent lane begins to execute unsafe manoeuvre. In the second version, monitoring system switches on video camera, ultrasonic sensors and microcontroller. The ultrasonic sensors located on vehicle front bumper determine position of moving ahead vehicle side mirrors "blind area". Microcontroller produces warning signals for driver about vehicle entry into "blind area" of going ahead vehicle.

EFFECT: higher traffic safety due to automatic monitoring of moving ahead vehicle blind area condition.

7 cl, 3 dwg

FIELD: transport.

SUBSTANCE: alert system comprises annunciator of approach to dangerous point connected via communication line with receiver arranged at locomotive, decoder, memory unit, gate multivibrator, three-input OR element, control circuit, reset pulse generator and people presence control pickups.

EFFECT: higher safety.

1 dwg, 1 tbl

FIELD: transport.

SUBSTANCE: invention relates to automotive parking helps. Control device comprises computer to determine the distance to parking point in parking lot for vehicle to overcome, camera to register situation nearby the vehicle, interface for connection to device to output instructions on manoeuvring at motion to parking point, interface for connection with device for manual input of parking space boundaries and interface for connection to means intended for setting relationship between parking space boundaries and vehicle position. Camera is set to view the space ahead of vehicle. Portable computer comprises above described control device. Proposed method comprises registration of situation nearby vehicle by said camera, calculation of distance to parking point in parking lot for vehicle to overcome, outputting of instructions on manoeuvring at motion to parking point Picture produced by camera is used for manual input of parking space boundary to be compared with current position of vehicle.

EFFECT: efficient parking help for driver.

11 cl, 4 dwg

FIELD: transport.

SUBSTANCE: set of inventions relates to device and method for parking assistance. Device contains available parking space recorder, final target parking position setting facility, contact determination facility, final target parking position calculation facility, the first, the second and the third path calculation facility, the first path, the second path and the third path display facility. The contact determination facility provides determination whether there is the first path for vehicle to reach final target parking position without contacting with the edge of available parking space. The method consists in the following: available parking space is recorded, final target parking position is set, existence of the first path for vehicle to reach final target parking position without contacting with the edge of available parking space is determined. The first path is displayed if it exists. Angle of approach and not final target parking position is calculated if the first path does not exist. Not final target parking position is position that should be reached when vehicle is entering available parking space at approach angle. The second and the third paths are calculated and displayed.

EFFECT: higher efficiency of parking assistance.

10 cl, 15 dwg

FIELD: physics.

SUBSTANCE: device according to the first version includes a steering angle detection unit, an operation detection unit in which the steering wheel returns to a neutral position after turning right or left, and a parking mode selection unit. The device according to the second version includes a steering angle detection unit, an operation detection means in which the steering wheel returns to a neutral position after turning right or left, and a parking mode selection means. The method includes detecting the steering angle of the steering wheel, detecting an operation in which the steering wheel returns to a neutral position after turning right or left, selecting one parking mode on the right side of the vehicle or left side of the vehicle from a plurality of parking modes.

EFFECT: easy establishment of the desired parking position.

21 cl, 29 dwg

FIELD: transport.

SUBSTANCE: invention relates to aviation, in particular to methods of navigation assistance for aircraft path determination. Navigation assistance method consists in determination of future approach path using evaluation of forecasted safe radiuses on future path based on calculation of limit moment starting from which a forecasted safe radius exceeds or is equal to alarm signal generation limit and calculation of limit departure moment which corresponds to maximum moment when an aircraft should leave its predetermined path along which it has been moving, to be able to go to safe altitude.

EFFECT: limitation of departure procedures utilisation during loss of satellite navigational information thus reducing airspace saturation and limiting costs and duration of flights.

15 cl, 5 dwg

FIELD: transport.

SUBSTANCE: invention relates to vehicle driving control device. The device contains side object detector, control device to actuate lateral movement inhibition control, start of entering adjacent lane detector, actuation suppressor to suppress actuation of lateral movement inhibition control. Lateral movement is followed by changing vehicle transversal position relative to lane. Suppression of actuation of lateral movement inhibition control is performed when a vehicle has started to enter adjacent traffic lane, and side object is detected in the adjacent traffic lane.

EFFECT: prevention of improper interference in control for vehicle lateral movement inhibition during changing traffic lane.

22 cl, 11 dwg

FIELD: physics, optics.

SUBSTANCE: invention relates to optoelectronic devices to be used at carries as extra detector of objects in areas invisible for driver. Proposed optical sensor comprises transceiving channels, each including electronic unit, pulse source of optical radiation and photoreceiver, all being connected with electronic unit. Said electronic unit comprises reflected signal processor to execute control algorithm on the basis of measurement of time interval between radiation and registration of signal reflected from the object. Optical radiation source and photoreceiver are arranged, preferably, nearby so that their optical axes are parallel. The number of radiators in said sensor is defined by the relationship n ≥ β/α, where n is the number of radiators, β is central angle of controlled sector, α is beam angle.

EFFECT: higher precision and reliability of detection.

1 dwg

FIELD: transport.

SUBSTANCE: set of inventions relates to driver helps. Proposed device comprises module to determine beginning of the control, vehicle controller and control suppression module. Method of rendering help comprises defining the control beginning, vehicle control step and control suppression step whereat control over turning force application to the vehicle is suppressed for preset time interval after vehicle transverse position relative to road lane approaches said lane.

EFFECT: in situ help for drive in motion.

11 cl, 14 dwg

FIELD: transport.

SUBSTANCE: set of inventions relates to driver helps. Proposed driver's help comprises lateral hindrance detector, hindrance approach inhibit controller, overtaking detector, control suppression module and predicted position estimation module. Note here that hindrance approach inhibit controller defines the beginning of hindrance approach control on the basis of predicted position estimated by predicted position estimation module. Hindrance approach inhibit controller defines the beginning of hindrance approach control on the basis of predicted position estimated by predicted position estimation module. When overtaking is detected by overtaking detector hindrance approach inhibit module inhibits the control over beginning of hindrance approach by aforesaid controller as opposed to conditions when overtaking is detected but not executed so that control over hindrance approach prevention is suppressed.

EFFECT: development of hindrance approach prevention controller.

14 cl, 15 dwg

FIELD: methods of preventions of auto collisions by means of usage of optical radiation.

SUBSTANCE: optical radiations from automobiles, being at favorable and oncoming lines of traffic, are received simultaneously and transformed into electric signals. Then distances to transportation vehicles, being at favorable and oncoming traffic lines, are measured as well as approach speed and geometrical sizes of transportation vehicle in direction of movement. On base of received information, safety distance of motion is provided in relation to transportation vehicle being on favorable line of motion and decision on ability of overtaking is made. Device has two electro-optic converters, calculator with unit for measuring speed of approach speed with transportation vehicles and logic unit, as well as transportation vehicles' geometrical sizes input switch, which transportation vehicle moves in favorable direction, and four light indicators.

EFFECT: safety of overtaking maneuvers.

11 cl, 7 dwg

FIELD: automotive industry.

SUBSTANCE: device comprises unit for measuring absolute velocity of a vehicle, differentiator, unit for computing safety distance between the vehicles, comparator, actuating members of the breaking system and system for engine control, locator, unit for determining steady deceleration of vehicle, unit for determining brake delay, memory, unit for determining correction to the safety distance, unit for measuring absolute velocity, and pressure gages in the drive for brakes and beginning of braking. The comparator sends a command to the unit for determining the rotation angle of controlled wheels that sends a signal to the electromagnetic valve of the control of actuating member of the steering.

EFFECT: expanded functional capabilities.

1 dwg

FIELD: transportation, safety arrangements.

SUBSTANCE: in suggested method impulse signals from wheels rotational velocity sensors are recorded and inputted to data processing unit. Values of physical variables defining vehicle condition and limit values of physical variables are determined in real time according to values of wheel rotational velocities. At the output of data processing unit, signal is generated which contains information about approximation of physical variables defining vehicle condition to limit values or about exceeding the limit values. Depending on physical variables values and limit values of physical variables defining vehicle condition, the signal with control action preventing vehicle contact with obstacle is generated. Suggested system contains wheels rotational velocity sensors. Data processing unit includes microprocessor being able to identify the operative conditions of wheels rotational velocity sensors, to determine in real time the values of physical variables defining vehicle condition and limit values of physical variables according to values of wheels rotational velocities, and to generate signal containing information about approaching of mentioned values of physical variables to limit values or exceeding limit values.

EFFECT: group of inventions allows preventing typical collisions.

6 cl, 3 dwg, 1 ex

FIELD: automotive industry.

SUBSTANCE: invention relates to automotive industry and can be used as an automatic braking system. Proposed braking system comprises monochromatic oscillation generator, power amplifier, directional radiator, radiation receiver, narrow-band amplifier, two shapers of rectangular pulses, two integrators, comparator, current amplifier and electromagnetic drives. Power amplifier is connected with generator, radiator and pulse shaper connected to integrator, the output of the latter being connected to comparator input. Narrow-band amplifier is connected with receiver and 2nd shaper of rectangular pulses, connected to 2nd integrator. Output of the latter is connected to the 2nd input of comparator. Comparator output is connected to current amplifier, the output of which is connected to electromagnetic drive linked up with the brake drive.

EFFECT: increased speed of brake system operation.

5 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to transport engineering and specifically to anti-collision systems for automobiles moving in a traffic stream. The method of ensuring active safety of transportation vehicles moving in a file involves availability of a system which has two antennae, two modulators, two power amplifiers, a mixer, a frequency converter, a detector, first and second speed detectors, range detector, a device for calculating dangerous distance, ground speed and approach speed, a continuous oscillation generator, an adder, circulator, Doppler filter and a comparator. The system has an antenna position control circuit, a first actuating circuit whose output is connected to a sound source, a second actuating circuit whose output is connected to a throttle valve, a third actuating circuit whose output is connected to the control unit of the antiskid system of the service handbrake system of the vehicle, a fourth actuating circuit whose output is connected to a light indicator.

EFFECT: more efficient control of speed of objects in a traffic stream.

1 dwg

FIELD: transport.

SUBSTANCE: set of invention relates to road traffic safety. In compliance with this invention, set of acceleration magnitudes for target vehicle is defined proceeding from input values derived from determined distances between vehicle and target vehicle (moving ahead and behind of it). Accelerations are further processed to obtain data describing said target vehicle. Said data is transmitted for adjustment of vehicle driving.

EFFECT: higher safety thanks to better adaption to target vehicles.

21 cl, 9 dwg

FIELD: transport.

SUBSTANCE: set of invention relates to traffic safety, particularly, to detecting moving object (transport facility or pedestrian) crossing transport facility trajectory or approaching it. Video cameras secured on transport facility shoot front or rear zone to display traffic situation therein on driver display. Front lateral or rear lateral zones are shot on operation of turn light indicator, or in turn of controlled wheels, or by voice command, or by activation of video camera switch-on push button. Marks describing transport facility boundaries on entering the road or after possible maneuver are displayed in additional window on display screen or over traffic situation image. This allows the driver to define distance to (between) object(s) that hinder possible maneuver. Set of inventions allows perfecting visual control in front lateral or rear lateral zones of transport facility motion.

EFFECT: higher safety.

2 cl, 7 dwg

FIELD: physics.

SUBSTANCE: apparatus has a first image input device (IID) and a system controller (SC). The apparatus further includes five electro-optical sensors (EOS), second, third and fourth IID, two blur compensating devices (BCD), a liquid-crystal display and an audio signalling device. The first and second EOS are installed with possibility of obtaining images of the scene in front of the vehicle, while the third and fourth EOS are installed with possibility of obtaining images of the scene behind the vehicle, and the fifth EOS - with possibility of obtaining images of the eyes of the driver. The IID are connected to outputs of the corresponding EOS and are configured to perform intermediate storage of the obtained image data. The first and second BCD are connected to outputs of the first and second IID, respectively, and are configured to increase clearness of the obtained image and detect moving objects. The SC is connected to outputs of the first and second BCD, the third and fourth IID, the fifth EOS and the speed sensor of the vehicle. The SC enables to select contours on the images, detect fixed objects thereon, determining their three-dimensional coordinates on pairs of stereo-images and the motion path from the change in three-dimensional coordinates of objects and detecting obstacles. The audio signalling unit and the liquid-crystal display are connected to corresponding outputs of the SC.

EFFECT: apparatus provides automatic notification of the driver on possible collision of the vehicle with an obstacle, possibility of analysing the condition of the driver in order to prevent sleeping behind the wheel.

1 dwg

FIELD: physics.

SUBSTANCE: optical radiation from vehicles moving on the same and opposite lanes is simultaneously received at a car; said optical radiation is converted to electric signals; the distance to vehicles on the same and opposite lanes is calculated; the approach speed of said vehicles is calculated; geometric dimensions of the vehicle moving in the same direction are determined. Based on said information, light signalling is issued to keep a safe distance from the vehicle in front and on possibility of overtaking in conditions when there is a vehicle in the oncoming lane. Also the maximum acceleration of the car given its current load and technical condition is determined; the longitudinal slope of the road is determined; the possibility of safe overtaking the vehicle in front is determined based on the distance travelled over the overtaking time. During overtaking, conformity of the current values of acceleration, speed of the overtaking car and distance to an oncoming vehicle with calculated is monitored and a light and audio signal is emitted to prevent overtaking if there is risk of collision, and also on a dangerous distance to the vehicle in front, based on the slope of the road.

EFFECT: group of inventions increase reliability of evaluating safety of overtaking and selecting a safe distance to the vehicle in front by taking into account such additional factors as slope of the road surface, the current and maximum possible acceleration of the car given the current load.

2 cl, 2 dwg

FIELD: transport.

SUBSTANCE: method includes synchronisation of reference transmitters clocks, measuring time of radio signal run from antennas of three and more reference transmitters located at distance from transport facilities (TF) and pedestrian to antenna of radio navigation device located on TF or pedestrian, calculation of TF and pedestrian coordinates using computing device, transmission of TF and pedestrian coordinates data and their identification numbers to information computer centre via radio channel, and transmission of alert signals to road users. Radio masts with reference transmitters are installed along roadway in fixed points with known three-dimensional coordinates of antennas. Reference transmitters clock synchronisation with the clock of information computer centre is performed via existing between them optical carrier. Digital road map is created by means of splitting roadway into pixels with known three-dimensional coordinates, with indication of coordinates and meanings of road signs and traffic lights. On TF, two radio navigation devices mutually spaced along TF longitudinal axis are installed, and from their continuously measured three-dimensional coordinates and digital road map the TF position relative to axial line of roadway is determined at any moment.

EFFECT: invention provides higher traffic safety.

8 cl, 2 dwg

Up!