Own position calculating device and own position calculating method

FIELD: physics.

SUBSTANCE: own position calculating device includes a light projector configured to project a light beam with a pre-installed pattern onto a road surface near the vehicle, an image pickup module configured to capture a road surface image near a vehicle. The image includes an area, to which the light beam is projected with the preset pattern. The device also comprises an orientation angle calculation module, an orientation change amount calculation unit, and a home position calculation module. The orientation change amount calculation unit is configured to calculate a change amount of the vehicle orientation based on temporal changes of a plurality of characteristic points on the road surface that are detected from the image obtained by the image pickup module. To determine conditions for detecting characteristic points, the detection condition section is used.

EFFECT: accurate and stable assessment of the current position of the vehicle, regardless of the condition, in which the characteristic points are detected.

8 cl, 12 dwg

 



 

Same patents:

FIELD: machine building.

SUBSTANCE: invention relates to machine building and can be used to prevent accidents with vehicles. Vehicle contains accessory for emergency determination of the brake path, system of emergency automatic braking, device for remote tracking of its movement trajectory, device for operative mobile communication with central computer control station. The device for mobile communication with the control station is used to transmit to its PC data of coordinates of the vehicle movement, state of its path to calculate the brake path in case of the emergency brake, and to receive from the central control station of the signal on possible collision with another vehicle, as well as reception of the command for emergency linking of the vehicle with its movement path using the emergency automatic brake in case if the calculated brake path exceeds the distance from the another vehicle with which collision is possible.

EFFECT: increased efficiency of the vehicle braking.

FIELD: transport.

SUBSTANCE: vehicle identification system includes communication device, detection device and vehicle identification device. Communication device receives other vehicle information connected with other vehicle near the main vehicle. Detection device finds other vehicle near the main vehicle. Vehicle identification device identifies a vehicle transmitting other vehicle information based on other vehicle information received using communication device and result of detection using detection device. Vehicle identification device is configured with possibility to switch between capture mode to capture transmitting vehicle and tracking mode to identify transmitting vehicle.

EFFECT: higher communicating vehicle identification accuracy.

6 cl, 13 dwg

FIELD: physics; control.

SUBSTANCE: invention relates to systems for preventing collision of vehicles when overtaking. In the method of preventing collision of cars, optical radiation from vehicles on with-flow and contra-flow lanes, as well as from the vehicle moving ahead is received at the overtaking vehicle. The radiation is then converted into electrical signals and, based on said information, the possibility of safe overtaking is determined for the overtaking vehicle, followed by signalling to the driver of the overtaking vehicle moving on the with-flow lane. In case of a risk of collision, signalling is made to prohibit overtaking on the contra-flow lane. The apparatus for implanting the method comprises two electro-optical transducers, an acceleration sensor, a velocity sensor, a sensor for the longitudinal slope of the road, a computer, a switch for input of information on geometric dimensions of vehicles, light and audio signalling devices.

EFFECT: safer overtaking.

2 cl, 1 dwg

FIELD: physics, navigation.

SUBSTANCE: set of inventions relates to detection of intermittent stationary objects. System to detect intermittent stationary object nearby moving object comprises image capture device, module to convert the point of observation, module to extract characteristic points, module to compute signal shape data, module to detect data on peaks, module to detect versions of intermittent stationary objects and module to evaluate said objects. System to detect intermittent stationary object nearby moving object comprises image capture step, step to convert the point of observation, step to extract characteristic points, step to compute signal shape data, step to detect data on peaks, step to detect versions of intermittent stationary objects and step to evaluate said objects.

EFFECT: high accuracy of detection.

15 cl, 21 dwg

FIELD: transport.

SUBSTANCE: invention relates to technique of driving condition representation to driver. Information representation device to be used in a vehicle includes movement conditions receiving module; the first module for movement conditions distributions calculation; the first module for driving instability determination; module for training completion determination; the second module for driving instability determination; instability selection module and module for information representation to driver. Driving conditions data is the data received in time range differing from immediately preceding time range. Other time range changes depending on training degree which is ratio of elapsed time from movement conditions data collection start to present time to training time, where time range is set so that it becomes greater while training degree increases. In another version, the device additionally contains module of driving scenario determination.

EFFECT: functionality enhancement.

17 cl, 16 dwg

FIELD: transport.

SUBSTANCE: proposed device comprises image capture device mounted at the vehicle to catch the imaged sideways therefrom, nearby vehicle detection unit light projecting candidate object detector projecting the light with luminescence equal to or higher than the first threshold magnitude, unit to detect the causes for revealing if light projecting candidate object exists or not as well as supplier of data to driver on nearby vehicle.

EFFECT: higher accuracy of nearby vehicle.

9 cl, 9 dwg

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

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: 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

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