Abstract: A process and device are disclosed for preventing a vehicle from colliding with an obstacle during parking. The object of the invention is therefore to ensure that a collision can be reliably avoided without any additional intervention of the drive. In a device with at least one sensor for generating signals which represent the distance between the vehicle and an obstacle, the signals are processed in an evaluation unit. When at least one distance-representing signal falls below a limit value, a warning signal is generated. This warning signal drives a control valve which generates a pressure difference between the working chamber and the vacuum chamber in a brake booster when the warning signal is generated. This pressure difference causes the braking pressure to rise in the wheel brake cylinder and therefore slows the vehicle down to a standstill.

Abstract: The invention is a multifunctional, mobile appliance capable of performing a variety of tasks safely, quietly, without pollution, and out of sight of its owner. Such tasks might include lawn mowing, fertilizing, and edging, floor vacuuming, waxing, and polishing, or rug shampooing. In its preferred implementation, the mobile unit 1 would obtain precise real time and position information using the Real Time Kinematic Global Positioning System. The user initially guides the appliance around the work-area perimeters. The device then uses this information to determine the full working area. Proximity detectors and impact sensors help the appliance avoid unexpected obstacles. The device is quiet enough to perform its task in the middle of the night while its owner is asleep, but can be programmed to work continuously or during any user-specified time interval. The small turning radius of the appliance allows it to follow intricate perimeters.

Abstract: A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases.

Abstract: A laser beam transmitted from a laser diode is run for scanning laterally as a transmitted-beam elongated vertically with a lateral width thereof limited. A wave of the transmitted-beam reflected from an object is caught in a beam receiving area which is elongated laterally with a vertical width limited and scanned vertically, and is received by a photo-diode. Even if the vertical width of the transmitted-beam is set at a sufficient large value to absorb an error in the vertical mounting of a radar system, the period of time when the direct sun rays enter the beam receiving area to make the detection impossible can be shortened by vertically scanning the beam receiving area elongated laterally. Thus, the influence of the direct sun rays can be maintained to the minimum to reliably detect the object without need for a precise aiming, excluding the case where the height position of the sun corresponds to the level of the object.

Abstract: A proximity sensing system for a trailer which includes at least one non-contact proximity sensor which is in communication with a brake system. The brake system is configured to operate depending on what is sensed by the proximity sensor. The proximity sensing system may be in communication with electronics and a feedback device in the trailer, such as a display device and/or a speaker. The electronics is configured to control the feedback device depending on what is sensed by the proximity sensor. Preferably, a tractor includes an engine and an electronic engine controller in operable association with the engine. The proximity sensor is in communication with the electronic engine controller, and the electronic engine controller is configured to operate the engine depending on what is sensed by the proximity sensor. The proximity sensor may be optical, microwave or ultrasonic technology based, or may be some other suitable sensor.

Abstract: In an automatic vehicular velocity control apparatus for an automotive vehicle, a relative velocity detector is provided to detect a relative velocity of a preceding vehicle to the vehicle, an inter-vehicle distance command value calculator is provided to calculate an inter-vehicle distance command value, a control response characteristic determinator is provided to determine a control response characteristic of the inter-vehicle distance control system according to a deviation from the inter-vehicle distance command value to a detected value of the inter-vehicle distance and a detected value of the relative velocity, a vehicular velocity command value calculator is provided to calculate a vehicular velocity command value on the basis of the determined control response characteristic of the inter-vehicle distance control system, and a vehicular velocity control section is provided to control at least one of a driving force of the vehicle, a braking force of the vehicle, and a gear ratio of a transmission in s

Abstract: A range finding device of scanning type including a laser beam emitting means which emits pulse laser beams from a single light source while changing an emission angle and scanning, and a range finding means for detecting a range from an object from reciprocating times of the pulse laser beams reflected by the object, wherein the scan is conducted by shifting the pulse laser beams for each scan and the amount of shifting the beams is a value obtained by equally dividing an interval of the beams into a plural, whereby the range from the object can be measured at a high rate in many directions with a low cost, and an angular resolution in horizontal directions, an accuracy of relative position and an accuracy of relative velocity of the object are improved, and a time lag in judging a horizontal direction angle of the object can be minimized.

Abstract: In a device for distance measurement having at least one electroacoustic transducer for transmitting an ultrasonic signal and subsequently receiving an ultrasonic signal reflected from an object, the transmitted power of the transducer can be varied. In the case of a low transmitted power, the oscillation of the transducer decays more rapidly after the transmission time, with the result that it is possible even very soon to receive echoes without interference from the post-pulse oscillation of the transducer. It is therefore possible to measure even very small distances.

Abstract: A vehicle interior monitoring system to identify, locate and monitor occupants, including their parts, and other objects in the passenger compartment and objects outside of a motor vehicle, such as an automobile or truck, by illuminating the contents of the vehicle and objects outside of the vehicle with electromagnetic, and specifically infrared, radiation and using one or more lenses to focus images of the contents onto one or more arrays of charge coupled devices (CCD arrays). Outputs from the CCD arrays are analyzed by appropriate computational means employing trained pattern recognition technologies, to classify, identify or locate the contents or external objects. In general, the information obtained by the identification and monitoring system is used to affect the operation of some other system in the vehicle.

Abstract: A radar apparatus for automotive vehicles is provided which is designed to emit laser beams to scan a forward zone for detecting moving object such as preceding vehicles and a downward zone for detecting lane marks printed on a road surface for defining a traffic lane. The downward zone is wider than the forward zone horizontally. Each zone has a minimum width required for assuring desired accuracy of radar detection of an object, thereby minimizing the number of emissions of the laser beams, resulting in an increase in lifetime of a laser diode and production of unwanted data on roadside objects having a low probability that the vehicle will collide them. The apparatus also includes a light focusing mechanism which focuses the laser beam on a given area in the downward zone to increase the power density of a return of the laser beam.

Abstract: A method of recording trajectory data and sensor data for a vehicle while it is manually driven. The trajectory data comprises of the trajectory length and vehicle frame (position and orientation) that are calculated at each motion execution interval. The sensor data comprises of the trajectory length, vehicle frame, sensor frame, and sensor data that are obtained at each sensor execution interval. In particular, if the sensor is a range-finder, an estimated frame of the object that the range finder detects will be added to said sensor data. One objective of this invention is to play back the same motion the vehicle was taught by a human operator. Another objective is to generate a world map for the vehicle. Still further objective is, in the play-back mode, to correct vehicle's positional errors using the sensor data.

Abstract: A method for determining an initiation threshold value for an automatic braking process, in which an automatic braking process is used and a brake pressure is produced which is greater than the brake pressure which corresponds to the operation of the brake pedal by the driver. Short distances between vehicles increase the risk of accidents. If a driver operates the brakes when there is a short distance between the vehicle and the preceding vehicle, in the vast majority of cases, the driver of the following vehicle is often required to perform an emergency braking due to the short distance between the vehicles. To improve the safety of vehicles, an emergency braking is performed, as quickly as possible, when the distance between vehicles is short. This emergency braking, within what is physically possible, ensures rapid deceleration of the vehicle and thus helps to avoid rear-impact accidents.

Abstract: In order to occur a collision warning to prevent the collision in accurate by detecting the preceding vehicle or target, a vehicle lane position estimation device comprising a means for measuring a distance between said host vehicle and said preceding vehicle or a oncoming vehicle, a direction angle from said host vehicle, an angular velocity and a velocity of said host vehicle, a means for calculating lateral and longitudinal distance between said host vehicle and said preceding vehicle or said oncoming vehicle, a means for capturing a front stationary object, a means for obtaining movement of the preceding vehicle or position of the oncoming vehicle, and a means to estimate a lane position of said front stationary object from a relationship of the stationary object being captured and the preceding vehicle being obtained and a positional relationship with the oncoming vehicle.

Abstract: A method and a system for detecting and ranging objects utilize summed and difference signals to determine whether a target is present at a predetermined distance from the system. The summed and difference signals represent corresponding points on two discriminator functions that are derived by summing and subtracting two autocorrelation functions. The two autocorrelation functions are identical functions, except that one has been shifted by a one-bit period. By analyzing the summed and difference signals, the system is able to detect objects that cross a boundary zone located at the predetermined distance from the system. In the preferred embodiment, an optical signal is transmitted by a transmitter of the system to detect a target. Preferably, the optical signal is modulated in accordance with a double concatenated eleventh order Barker-based code. The optical signal is received by an associated photodiode after being reflected by the target.

Abstract: A control system for controlling braking and ACC functions of a vehicle includes a braking algorithm. A first signal processor receives input signals from at least one sensor and transmits transfer signals to the braking algorithm. The control system also includes an ACC algorithm. A second signal processor receives input signals from at least one sensor and transmits transfer signals to the ACC algorithm. Transfer signals are generated by the braking algorithm and transmitted to the ACC algorithm. Transfer signals are generated by the ACC algorithm and transmitted to the braking algorithm. Output signals are generated by the braking algorithm and transmitted to a hydraulic control unit to control vehicular braking. Output signals are generated by the ACC algorithm and transmitted to ACC actuators.

Abstract: An optical distance measuring apparatus is provided which is designed to transmit a laser beam in a cycle to scan a two-dimensional detection zone and to receive a return of the laser beam from a target through a light sensitive unit to determine data on the distance to the target. The light sensitive unit is made of a matrix of cells which are selectively activated in each scan cycle of the laser beam for minimizing optical interference with incoming light other than the return of the laser beam from the target in determining the data on the distance to the target.

Abstract: A process for recognizing the course of the road ahead for a motor vehicle shall be provided, in which the velocity of the vehicle is determined and the position and the velocity of objects located ahead are determined by rigid search antennas oriented in the direction of travel via a radar sensor system, and which makes possible a simple, forward-looking recognition of the course of the road by special evaluation of the measured position and velocity data available. The roadside-specific targets are filtered out of the fixed target by the threshold value comparison of the fixed target amplitudes, and the current distances between the vehicle and the side of the road are determined in discrete angle ranges by ordering filtration. The distances from the side of the road, estimated for each angle range, are sent as characteristics to a classifier for the prediction of the curve type lying ahead, and they are used as support values for a nonlinear regression to obtain a curvature parameter of the curve.

Abstract: A forward condition detecting apparatus for vehicles has a laser radar device mounted on a vehicle. A front height sensor and a rear height sensor detect a front height and a rear height of the vehicle, respectively. An electronic control unit calculates an angle of inclination of the vehicle relative to a reference plane based on a difference between the detected front height and rear height. The electronic control unit then calculates a laser beam radiation angle based on the calculated angle of inclination. The electronic control unit controls an angular position of the laser radar device based on the calculated radiation angle so that the laser beam may be maintained leveled generally in parallel with the reference plane irrespective of the inclination of the vehicle. The laser radar device is preferably mounted in a vehicle front headlight unit to be driven together with a headlight lamp.

Abstract: A system for controlling running safety of a vehicle having an alarm and an automatic braking system. A plurality of decelerations &agr;2n of an obstacle such as another vehicle present ahead on the road is predicted and corresponding manipulated variables &agr;1n (braking amount) to be supplied to the vehicle which indicate possible deceleration of the vehicle are determined. Then threshold values L&agr;2n for alarming and automatic braking are determined corresponding to the predicted deceleration and are successively compared with the distance to the obstacle. When the distance falls below any of the threshold values, alarming or automatic braking is effected to avoid contact with the obstacle, thereby making the system relatively simple and enabling operation to match the driver's expectations.

Abstract: A vehicle follow-up control apparatus includes a distance sensor sensing an actual vehicle-to-vehicle distance from a controlled vehicle to a preceding vehicle, a vehicle speed sensor sensing an actual vehicle speed of the controlled vehicle, and a controller for calculating a desired vehicle speed to be achieved in the controlled vehicle. The desired vehicle speed is calculated in accordance with the actual vehicle-to-vehicle distance, the relative speed and a control gain which is adjusted in accordance with the relative speed.

Abstract: An information display system for a vehicle includes a reverse image display and a rearview mirror. The reverse image display is positioned rearwardly of a driver of the vehicle such that an image of the message being displayed is reflected from the rearview mirror and received in reverse order and thus readable by the driver. A control may be included which activates the reverse image display in response to an input and may vary the intensity, color and/or frequency of repeat of the display in response to other inputs. The control may convey multiple messages through a single reverse image display or through multiple displays.

Abstract: The present invention prevents the interference of vehicles traveling on-coming to each other when a plurality of vehicles are traveling on-coming to each other on a traveling path with a predetermined road width without increase in cost caused by setting a wide course width and without a drop in work efficiency caused by decreasing velocity. If one of the vehicles detects the other vehicle by its obstacle detection means when the vehicles are traveling on-coming to each other, the vehicle which detects the other vehicle begins deceleration to stop itself. At the same time, this vehicle transmits a deceleration control command for stopping the other vehicle to the other vehicle via transmission/reception means, therefore the other vehicle starts deceleration even if this vehicle cannot detect an obstacle.

Abstract: An integrated message system for a vehicle provides an extendable, prioritized message scheme. Using this scheme, the message system acts as a centralized message provider for variety of alerts and operating data originating throughout the vehicle. The message system defines a hierarchy of message levels, each having a unique output protocol. The protocol defines attributes associated with messages at a particular level such as textual or graphical message, an auditory alert, as well as the scheme for playing these messages and alerts. The system integrates a variety of subsystems that conventionally have separate driver interfaces such as a collision warning system and an adaptive cruise control system.

Abstract: When it is detected that a vehicle is running on a road surface which has a coefficient of friction sufficiently low as to invite ready road wheel slippage, a control which enables the vehicle to automatically follow a preceding vehicle at a predetermined inter-vehicle distance, is inhibited. In one embodiment, when a request for vehicle follow-up is issued by the driver, and the follow-up is inhibited, the driver is informed of the low frictional coefficient of the road and is required to issue a confirmation that follow-up is required before its implementation can be carried out.

Abstract: An automatic following travel system initiates travel in file of a group of vehicles on an inclined path while maintaining a constant distance between the vehicles. During the initiation of travel in file, a travel ECU in a leading vehicle sends a directive indicating that travel in file is to be conducted to the following vehicles. Based on this directive from the leading vehicle, the travel ECUs of each of the following vehicles makes a determination as to the possibility of travel of their own vehicle, and control the movement of their own vehicle so that an approximately constant distance is maintained between their own vehicle and another vehicle positioned in front, thereof. The results of the determination of the possibility of movement are communicated to the leading vehicle. The travel ECU of the leading vehicle sends a directive indicating the release of the parking lock to the following vehicles when determinations that travel is possible have been sent from all following vehicles.

Abstract: The radar apparatus of the present invention comprises a beam transmitter for radiating a radar beam, a beam receiver for receiving a reflected signal, a processor for calculating the position of the object, and a malfunction detecting device for detecting a malfunction of the radar apparatus. At least one of the area irradiated by the beam transmitter and a receiving area of the beam receiver overlaps with a movable area of a wiper blade of the wiper device, and the malfunction detecting device estimates that the radar apparatus is malfunctioning if a wiper passing signal to be detected does not appear in an output signal of the processor while a wiper movement detecting device detects that the wiper device is activated.

Abstract: The invention includes a method for docking autonomous mobile units. Travel maneuvers are specified with which constricted space conditions can be taken into consideration. Further, different motion paths are recited that are to be sequentially traversed in order to locate a guide beam and in order to be able to dock reliably and dependably at a docking device. Preferably, a slot-shaped guide beam residing perpendicular to a travel surface of the unit is provided, and position-sensitive detectors for this guide beam are present on the unit, these being arranged parallel to the travel surface of the unit. The exact rotation (beta) of the unit relative to the docking device can be identified on the basis of the guide beam and the detectors, whereby the unit knows its approximate configuration in the space on the basis of ultrasound and odometry measurements. The invention can particularly be utilized in household robots or industrial robots.

Abstract: In a vehicle safety running system, while a contact probability estimation section estimates that there is a probability that a subject vehicle comes into contact with an object and an automatic braking section performs automatic braking, when the driver voluntarily performs a steering operation to avoid the contact, an automatic braking cancellation gradient is calculated based on the contact probability detected with the contact probability estimation section and the steering operation amount detected with the steering operation amount detection section, whereby automatic braking is cancelled at a speed corresponding to the automatic braking cancellation gradient so calculated. When the contact is easily avoided through the steering operation, the automatic braking cancellation gradient is set large so as to cancel automatic braking quickly, while when the contact is difficult to be avoided, the automatic braking cancellation gradient is set small so as to cancel automatic braking moderately.

Abstract: A system for monitoring operation and location of a first moving vehicle relative to a second moving vehicle. A minimum separation distance between the first and second vehicles is estimated, based on the first vehicle velocity, and optionally on the second vehicle velocity, using location determination (LD) signals received from satellite-based transmitters from GPS, GLONASS and LEO satellites, or from ground-based signal sources such as LORAN signal towers, and using ranging signals from SONAR, RADAR or a similar system. The minimum separation distance is compared with the actual separation distance at selected times, and a vehicle driver is advised if the actual separation distance is too small, if the separation distance is decreasing too quickly, or if the second vehicle velocity is decreasing too quickly. The second vehicle may travel in the same traffic lane, in an adjacent lane, or on a road that intersects the road used by the first vehicle.

Abstract: An apparatus for automatically adjusting the angle of a rotatable side view mirror of a vehicle having a trailer coupled thereto includes transducers attached to the vehicle for transmitting signals toward the trailer and for receiving signals reflected by the trailer. A control unit includes memory for storing dimensional information and a control circuit for generating a mirror control signal for controlling rotation of the rotatable side view mirror. The control circuit is operative to control at least one of the transducers to determine an angle between the vehicle and the trailer based on a time required for signals transmitted by the respective controlled at least one transducer to be reflected back to the respective at least one controlled transducer. The control circuit generates the mirror control signal based on the determined angle.

Abstract: An object detection device for detecting objects in a rear lateral area of a vehicle includes zero-contact radiation-based scanners for scanning such area, and an evaluation unit connected to the scanners. According to the invention, the evaluation unit evaluates the time sequence of the scanning information from two or more strip-shaped portions of the area under observation, with horizontal components that are differently inclined to the lengthwise direction of the vehicle or are offset from one another in the lengthwise direction of the vehicle. The evaluation unit distinguishes objects moving in the travel direction of the vehicle from standing and oncoming objects, based on the response sequence for the portion under observation.

Abstract: A steering control apparatus prevents interference between a steering operation of a driver and a steering control operation of the steering control apparatus by detecting a steering operation so as to decrease an amount of the steering control operation when the steering operation is performed by the driver. A guide line provided on a vehicle moving lane on which the vehicle is moving is recognized so as to set a target position on the vehicle moving lane based on a result of recognition of the guide line. A steering control operation is performed so that the vehicle moves to trace the target position. An amount of each component of a steering operation applied to a steering wheel is detected by a steering angle sensor and a steering torque sensor. An amount of the steering control operation is corrected so that the amount of the steering control operation is decreased in accordance with the amount of each component of the steering operation.

Abstract: A relative lateral deviation calculating device calculates a relative lateral deviation between a vehicle and an on-coming vehicle, based on the state of the on-coming vehicle detected by an object detecting device and a future locus of movement for the vehicle estimated by a movement locus estimating device. When the relative lateral deviation is in a predetermined range, a contact-possibility determining device determines that there is a possibility that the vehicle will come into contact with the on-coming vehicle. Even when the relative lateral deviation is not in the predetermined range, if a steering-state detecting device has detected an involuntary steering operation by a driver, a contact avoiding device increases the steering reaction force of the steering wheel to inhibit the steering operation by the driver in a direction for the vehicle to approach the on-coming vehicle.

Abstract: Interference prediction apparatus is applied when an unmanned vehicle is guided within a course area based on travel position and course data, and comprises a device for inputting the form of the course area, a device for preparing course data, device for estimating error of travel position when the unmanned vehicle is operated according to course data, and a device for predicting interference between the unmanned vehicle and areas outside the course area on the basis of estimated error so that interference can be prevented when unmanned vehicles pass by each other.

Abstract: A longitudinal driving/braking force control system for controlling the vehicle speed and/or the headway vehicle-to-vehicle distance is arranged to bring a vehicle to a stop and to hold the vehicle in a stop condition with a stop holding braking force in a predetermined situation. When an accelerator pedal is depressed by a driver in the stop condition, a controller decreases the braking force from the stop holding braking force to zero according to a predetermined brake releasing characteristic to allow a start of the vehicle. In response to a driver's accelerator operation, the controller calculates a driver's input driving force, estimates a grade resistance of the vehicle and further calculates a brake actuation quantity corresponding to the grade resistance. Then, the controller modifies the brake releasing characteristic to ensure a smooth start in accordance with the calculated driver's input driving force, the estimated grade resistance and the calculated brake actuation quantity.

Abstract: The vehicle deceleration control apparatus according to the invention controls deceleration given to a vehicle according to a distance from a vehicle ahead, which is directly measured or estimated based on an accelerator operating condition, so that the smaller the distance from a vehicle ahead, the greater is an assist deceleration. The vehicle deceleration control apparatus is capable of giving an appropriate deceleration according to traffic conditions.

Abstract: In apparatus and method for controlling a vehicular velocity for an automotive vehicle, when a controller carries out a preceding vehicle follow-up control to follow up a preceding vehicle which is traveling ahead of the vehicle and is decelerated and a vehicular velocity of the vehicle becomes reduced and has crossed a set lower limit value of the vehicular velocity in a vehicular velocity controllable range, the controller releases the preceding vehicle follow-up control but continues a braking operation through a vehicular brake system using a function generator (Pbrk*=f(t)MPa) to prevent a sudden G drop from occurring.

Abstract: A satellite vehicle for moving pallet units (P) in and out of storage with transportation vehicles (F) is configured as a motor-driven lift-truck (1) with several parallel, adjacent and height adjustable fork arms (2). The position of said fork arms (2) in relation to the pallet can also be adjusted. At least two fork arms (2) are mounted on the lift-truck (1) in such a way that they can be displaced laterally, crosswise to the longitudinal direction of the arms. All of the fork arms (2) have pallet-receiving elements (3) which float crosswise to the longitudinal direction of the arms. The lift-truck (1) and the fork arms (2) are provided with ultrasound sensors (17, 18) for measuring and correcting the direction of travel and the lift-truck (1) is equipped with a rotation rate sensor (19) for measuring the angle and a cable drum (5) with a power and signal cable (6) for supplying propulsive power and for exchanging signals for measuring displacement.

Abstract: In a path planning method is disclosed for surface processing machines such as, for example, cleaning machines in a supermarket first, potential sub-paths are produced that, proceeding from boundary lines of obstacles or the work area parallel to these boundary lines shifted by the width of the processing device are erected in the form of concentric circles. These potential sub-paths are then sub-divided by maneuvering marks according to an heuristics, for example on the basis of the maneuverability of the mobile unit, and are connected to one another by sub-paths. The respective sub-paths are subsequently evaluated with a cost function that considers the distances, the area already covered, and the maneuverability of the unit, and the most cost-beneficial path is combined to form a planned path for the mobile unit.

Abstract: When carrying out automatic braking in order to avoid contact of a vehicle with an object, the behavior of the vehicle is prevented from becoming unstable due to abnormal road surface conditions in which the coefficients of friction of the road surface are different for the right and left wheels. An object which is present in the direction in which the vehicle is advancing is sensed by a radar device, and based on the sensing results if it is determined that there is a possibility of the vehicle making contact with the object, the automatic braking system operates the braking device at time t0 so as to carry out automatic braking.

Abstract: A method and arrangement for controlling vehicle spacing produces driver-specific characteristic diagrams for vehicle speed and following time from which a mean target following time is determined. The characteristic diagrams are used to control the spacing of the vehicle from a vehicle in front of it.

Abstract: In control apparatus and method for controlling an inter-vehicle distance to another vehicle traveling ahead of the vehicle, an inter-vehicle distance from the vehicle to another vehicle running on a traffic lane at the detected inter-vehicle distance from the vehicle is detected through an inter-vehicle distance detector; a follow-up running control for the vehicle is performed by a vehicular running controller such that the vehicle runs behind the other vehicle, maintaining a predetermined inter-vehicle distance to the other vehicle; and a vehicular velocity variation inhibit command is generated and outputted to the vehicular running controller to maintain a vehicular running state immediately before the inter-vehicle distance detector changes from a first state in which the inter-vehicle distance to the other vehicle is being detected into a second state in which the inter-vehicle distance becomes indetectable is continued for a duration of time until the vehicle passes the traffic lane by the inter-vehic

Abstract: Disclosed herein is a headway control for an adaptive cruise control system based on a basic headway control law derived from feedback linearization techniques. The usefulness of the linear approximations is demonstrated, and basic attributes of data which are believed important to system response are introduced. Certain modifications to a basic headway controller for enabling system performance to better meet driver expectations under real road conditions are made as a result of empirical information.

Abstract: An area is divided by a plurality of parallel lines parallel to a vehicle body axis CL of a vehicle V, into fifteen detection areas K1 to K15 each having a width of 1.6 m, and each of the detection areas K1 to K15 is divided by a distance address at a distance of every 0.5 m to define a large number of measure-shaped regions. It is determined whether a target T exists in any of the regions, by adding together received reception level signals of laser beams reflected in the regions and comparing a value resulting from the adding with a threshold value. The widths of the detection areas K1 to K15 assume a constant value irrespective of distance to the target and hence, even when the target T exists at a point closer to the vehicle, the reception level signals of waves reflected from a wider area of the target T can be added together, leading to an enhanced detecting ability.

Abstract: An automatic warning signal system for a leading vehicle (e.g., an automobile, car, truck, tanker, van, bus, motor home, motorcycle, or other vehicles, etc., as well as trailers of all kinds in-tow, etc.) including a detector for detecting when a following vehicle comes within a target area too close to the rear of the leading vehicle, and a circuit for coupling a signal device and an energy source to cause the signal device to produce a warning signal which includes activating the brake light or lights of the leading vehicle without the actual application of the brakes to caution the driver of the following vehicle when the detector detects the following vehicle within the target area too close to the rear of the leading vehicle, causing the driver of the following vehicle to slow down and thus increase the distance between the two vehicles and prevent rear end collision in case of an emergency.

Abstract: A vehicle having an adaptive cruise control system with active deceleration control responds to capture of new in-path vehicles which violate a predetermined inter-vehicle spacing to attenuate unnecessarily aggressive deceleration responses. New in-path vehicles may be identified by inordinate changes in inter-vehicle spacing. Deceleration response of the system to controlled vehicle closing rate and new in-path vehicle deceleration preferably remain unattenuated.

Abstract: A vehicle borne transmitter transmits a spread spectrum transmit signal which is pseudo (PN) encoded. The transmitted signal is reflected off of a reflector on known position which may be a highway guardrail, tunnel wall, or the like. The reflected signal is detected by a receiver in the vehicle and a pseudo noise code (PN code) is synchronized to the reflected signal to accomplish maximum correlation. The phase delay between the transmitted PN code and received PN code is thereby utilized to determine the distance between the vehicle and reflector to maintain the vehicle in the center of a roadway lane. Roadway transponders may be periodically located adjacent the roadway and will be responsive to the vehicle borne interrogation signal.

Abstract: A laser scanner recognizes reflectors arranged along a travelling path. A reflector having an angle or a distance falling within an allowable range relative to the last specified reflector is determined to be the same as the previous specified reflector. Based on the locational relationship between such reflectors and those having an angle or a distance outside the allowable range, the reflectors are specified by referencing a reflector map. The reflectors can be specified without assuming the present position of an automatic guided vehicle.

Abstract: According to the present invention, when the traveling of an automatic guided vehicle is optically controlled, a traveling controlling means containing a luminescent compound satisfying the following formula (1) is placed in a predetermined range for traveling of the automatic guided vehicle: A−B≧150 nm  (1) wherein, A represents the minimum wavelength end (nm) of the luminescent compound, and B represents the maximum wavelength end (nm) of an irradiation light used for the traveling controlling.

Abstract: The entry and the deletion of the degree of occupancy values in cellularly structured environment maps of autonomous mobile units is improved with the method. Dependent on the measuring directions of ultrasound sensors, different sectors in which the degrees of occupancy value are separately incremented are defined for each cell of the cellularly structured environment map. This has the advantage that an obstacle measured by different sensors only leads to an incrementation or a de-incrementation of the occupancy degree of a respective cell when this measurement ensued from the same measuring direction with respect to the cellularly structured environment map. Dynamic objects in the measurement area of the autonomous mobile unit can thus be more quickly deleted from the map and timeout measurements that have arisen due to reflections of echos do not lead to really existing objects being deleted from the map.