Abstract: A distance and a relative velocity between a vehicle and a vehicle in front are detected, and the minimum braking force required to avert a collision is calculated. A vehicle braking force based on the depression angle of the brake pedal and the minimum vehicle braking force are compared, and the larger of these two forces is applied for braking. Collision of the vehicles is thereby prevented. Preferably, the braking force is distributed to each of wheel brakes according to the dynamic loads acting on each wheel so that braking force is optimized and the wheels do not easily lock. More preferably, an alarm is issued when the vehicle braking force based on the brake pedal depression angle is less than the minimum vehicle braking force so that the driver is alerted to this fact.

Abstract: A laser range finding apparatus comprises a pulse laser (11), a light deflecting device, a photodetector arrangement (22) having an opto-electronic photodetector (23) and also an electronic control and evaluation system (10) in which a sensing signal representative for the range of an object is determined in accordance with the pulse transit time method from the time between the transmission and reception of a light pulse taking account of the speed of light. The electronic control and evaluation system (10) includes means for measuring the total electrical charge which has flowed via the photodetector (23) during the reception of a light pulse and/or for the measurement of the pulse width of the received light pulse.

Abstract: An industrial truck, in particular a counterbalanced front-forklift truck, is provided which can be operated both manually and automatically and has a fork to handle pallets and loads located thereon. The forklift truck is equipped for automatic operation with a control system which can be brought into active connection with the vehicle drive system, the vehicle steering system, the vehicle braking system or the movement control system for the fork.

Abstract: A rear and side object detection system for a vehicle based on monolithic millimeter wave integrated circuit technology. A multiple antenna configuration is employed that defines six sensing regions to the right, left and the rear of the vehicle. A first sensing region is defined at the right side of the vehicle, a second sensing region is defined at the right side and rear of the vehicle and overlaps the first sensing region, a third sensing region and a fourth sensing region extend from the rear on both sides of the vehicle in the adjacent lanes, a fifth sensing region is defined at the left side of the vehicle and a sixth sensing region is defined at the left side and rear of the vehicle and overlaps the second and fifth sensing regions. A right side warning signal is issued if an object is detected in a right side detection zone defined by the first sensing region or a portion of the second sensing region that does not overlap the third or sixth sensing regions.

Abstract: A distance control apparatus includes a distance detecting device which detects a distance between a vehicle and a preceding vehicle. A vehicle speed control device controls the distance between the vehicle and the preceding vehicle by adjusting a speed of the vehicle based on the detected distance, so that the vehicle is kept away from the preceding vehicle at a target distance. A distance control start/stop determination device determines one of execution and cancellation of the control of the distance by the vehicle speed control device in response to an operating condition of the vehicle.

Abstract: An automatic steering system which reduces formation of a wheel track by changing a relative position of a vehicle with respect to a road. A reference line is provided along a road so that a vehicle moves along the reference line. The vehicle moves on the road while an amount of shift from the reference line is controlled to be equal to a target amount of shift. The amount of shift is a distance between a predetermined position of the vehicle and the reference line. A moving line of the vehicle is fluctuated with respect to time in a direction substantially perpendicular to an extending direction of the reference line. Alternatively, the reference line may be shifted in a direction substantially perpendicular to the extending direction of the reference line.

Abstract: An automatically driven motor vehicle is controlled to automatically follow a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle. A speed of the motor vehicle and an intervehicular distance up to the front motor vehicle are recognized, and acceleration/deceleration correcting data for the motor vehicle to adjust the recognized intervehicular distance depending on the recognized speed of the motor vehicle are generated. The acceleration/deceleration correcting data are generated based on a first correlation determined between the speed of the motor vehicle and the intervehicular distance such that the intervehicular distance increases as the speed of the motor vehicle increases when the speed of the following motor vehicle is greater than a predetermined speed.

Abstract: Vehicular optical radar apparatus adapted to enhance actual operating efficiency in causing emitted light to continuously scan in a horizontal direction with a diffusing-angle setting device (44) for setting a diffusion angle (.alpha.) to be used for diffusing the emitted light in a vertical direction. This vehicular optical radar apparatus further comprises light receiving devices (60 to 90) that is held in such a manner as to be placed at a horizontally predetermined relative position and that is used to receive reflected light (L2) from an object, a distance computing device for computing a distance from the vehicle to the object according to a delay time between a moment, at which the emitted light is generated, and a moment at which the reflected light is received, and a direction detecting device for detecting a direction of the object according to a direction in which the emitted light is outputted when the reflected light is obtained.

Abstract: Vehicular radar apparatus which enhances the accuracy of detection of a preceding vehicle and the reliability in tracking, by performing operations that use a normal distribution. For the purpose of obtaining a distance between one's own vehicle, on which the radar apparatus is mounted, and a target object, and obtaining a relative velocity from input data based on transmission and reception electromagnetic waves, this radar apparatus provided with a signal processing unit which has operation devices for performing an operation by applying normal distributions to frequencies of detection of the distance and the relative velocity and a target object recognition device for recognizing a target object on the basis of results of an operation to which the normal distributions are applied.

Abstract: An improved method for the orientation of autonomous mobile units is provided. Collision distances to obstacles are thereby calculated on the basis of the steering and drive geometry of the movable unit. On the basis of these distances, allowed steering angle ranges for the unit are defined. Additionally, a defined observation horizon is prescribed for the sensor equipment of the unit. The obstacles to be evaluated are within this horizon. Moreover, a safety zone is defined around the unit in which no obstacles can be located; otherwise, travel in reverse is triggered. For route optimization of the unit, steering angle ranges that derive from different observation horizons and safety zones are combined on a case-by-case basis. By reducing the safety margin only in narrow passages down to the housing contour of the unit in the extreme case, the maximum steering angle can be utilized.

Abstract: A new object sensing device for a vehicle for alerting a driver of a vehicle while backing up of an object or obstruction that is close to the vehicle. The inventive device includes a mounting frame which is mountable to a license plate of a vehicle. A transmitter for transmitting a signal is provided on the mounting frame. Also provided on the mounting frame is a receiver for receiving a signal transmitted from the transmitter and reflected off of an object towards the receiver. A control panel is operatively connected to the receiver. The control panel has a plurality of indicators for indicating to a user a reflect signal received by the receiver. The control panel is mountable in the interior of a vehicle.

Abstract: An automatic brake control system brakes a driving vehicle according to a target brake control amount calculated by a neural network. The system detects vehicle speed of the driving vehicle, and detects the actual distance between the driving vehicle and a vehicle ahead of the driving vehicle. The system calculates a reference distance defined as a physically preferred distance between the driving vehicle and the vehicle ahead of the driving vehicle according to the vehicle speed, and normalizes the actual distance with the reference distance in order to obtain a normalized distance in a dimensionless quantity. The neural network calculates target brake control amount according to the vehicle speed and the normalized distance, and the automatic brake control system brakes the driving vehicle according to the target brake control amount.

Abstract: An automatically driven motor vehicle automatically follows a front motor vehicle while controlling an intervehicular distance up to the front motor vehicle. A speed of the following motor vehicle, and a speed of the front motor vehicle are recognized. The difference between the speed of the following motor vehicle and the speed of the front motor vehicle is compared with a predetermined value, and acceleration/deceleration correcting data to adjust an intervehicular distance between the following motor vehicle and the front motor vehicle are adjusted depending on the speed of the following motor vehicle or the speed of the front motor vehicle based on a result of comparison. The acceleration/deceleration correcting data are generated based on the speed of the front motor vehicle if the difference is smaller than the predetermined value, and the acceleration/deceleration correcting data are generated based on the speed of the following motor vehicle if the difference is greater than the predetermined value.

Abstract: An optical radar apparatus, having a structure such that light generated by a laser generating means 1 is emitted to an object 100 while scanning the same, light reflected by the object 100 is reflected by a reflected-light reflecting means 10, and then a parabolic mirror or a concave mirror 19 receives reflected light above, is arranged to have a light receiving device 20 disposed at the position of the focal point of the parabolic mirror or the concave mirror 19 so as to obtain the distance to the object 100 and the direction of the same in accordance with propagation delay time taking from light emission by the light generating means 1 to receipt of reflected light by the light receiving device 20.

Abstract: A method of reducing the travelling speed of a vehicle which has a multi-cylinder, piston-type internal-combustion engine, a variably controllable valve drive and a collision avoidance system includes the following steps: continuously determining, by the collision avoidance system, an actual distance between the vehicle and a vehicle ahead and comparing the actual distance with a speed-dependent minimum safe distance; and braking the vehicle by switching over at least one of the engine cylinders to a compressor operation when the actual distance falls below a minimum safe distance.

Abstract: A method of controlling interlinked vehicles in mining and tunnelling operations with at least one of the vehicles having a travelling mechanism is disclosed. Distance measurements to adjacent wall surfaces which define a path of movement are taken on opposite sides of the vehicles, and on each side at least two ultrasonic sensors are arranged to be offset in the direction of movement in determining the distances. Signalling lines of the sensors are fed to an evaluation and control circuit via vehicle couplings. The control circuit is formed by an autoadaptive learning microcomputer.

Abstract: A vehicle position recognition apparatus comprising one or a plurality of magnetic field formation means 1-1 installed at predetermined positions on a road for forming a predetermined magnetic field, magnetic field strength detection means 1-4 for detecting the magnetic field formed by the magnetic field formation means 1-1, vehicle position computation suitability judgment means 1-5 for judging whether the magnetic field strength, obtained by the magnetic field detection means 1-4, is suitable or not for computing a position of the vehicle, and vehicle position computation means 1-6 for receiving a result of the judgment of the vehicle position computation suitability judgment means 1-5 and for detecting the position of the vehicle by the magnetic field strength detected by the magnetic field strength detection means 1-4.

Abstract: An automated vehicle guidance system for guiding a movable vehicle along a predetermined desired path over a surface that is provided with at least one reference marking includes a laser radar for emitting laser pulses towards the reference marking and for receiving laser pulses reflected from the reference marking, a steering actuator for steering the vehicle, and a computer connected to the laser radar and the steering actuator. The laser radar is designed to determine the distance between the vehicle and the reference marking and that distance is used by the computer to determine the lateral position of the vehicle relative to the desired path of vehicle travel. The computer then controls the steering actuator in the manner necessary to effect guidance of the vehicle along the desired path.

Abstract: A method and a device for controlling the speed of a motor vehicle and its distance from a vehicle travelling in front are provided. The speed is controlled as long as no vehicle travelling in front is located within a prescribed detection area in front of the vehicle and the distance from the vehicle travelling in front is controlled if a vehicle is located in the detection area. The desired distance for the distance control is set after an instruction for a lane change to the left has been triggered, to a value which is smaller than the value before this instruction was triggered, but is at least as large as a prescribed minimum distance. Alternatively, the actual acceleration of the vehicle is limited to a prescribed maximum value if a vehicle travelling in front moves out of the prescribed detection area in front of the vehicle during the time that an instruction for a lane change to the right is set.

Abstract: A vehicle travel aiding device for sensing running conditions of the vehicle and outputting vehicle travel supporting information, which is featured by detecting ambient circumstances and road conditions on which the vehicle is and operating driver's brake operation response on accelerator release response and changing the outputting timing or the content of the supporting information according to the detection results.

Abstract: An optical path degradation detecting device having a laser distance detector which uses a laser beam to detect the distance between two objects and which generates distance signals representative of the distance between the two objects. A first predetermined point signal is generated upon the distance signals being in a distance representative of a first predetermined distance or less, and a second predetermined point signal is generated upon the distance signals being in a distance representative of a second predetermined distance or less, wherein the second predetermined distance is less than the first predetermined distance. A fault signal is generated if the second predetermined point signal is generated within a predetermined time interval relative to the generation of the first predetermined point signal.

Abstract: A traveling-path temporary-setting unit 21 sets a plurality of temporary traveling paths with different curvatures, and a calculation unit 22 calculates distances between the temporary traveling paths and preceding vehicles detected by a radar unit 1. In case of a properly-set temporary traveling path, the path and running loci of the preceding vehicles are on a concentric circle. In this case, the preceding vehicles are running along this temporary traveling path, and a time change amount of calculated distances is approximately "0". A traveling-path determination unit 23 determines, one temporary traveling path having the minimum time change amount in the distances, as a traveling path of the vehicle.

Abstract: A system and method for implementing an intelligent cruise control using standard engine control modes includes a distance sensor to determine the distance and closing rate relative to a forward vehicle and use this information to implement a distance control mode and a speed control mode. The distance control mode maintains a selectable headway range relative to a forward vehicle and may include accelerating the vehicle or decelerating the vehicle by defueling, engaging an engine brake, or downshifting the transmission when engine speed permits. The speed control mode maintains a selectable cruising speed if no target vehicle is detected. This cruising speed set point also functions as an upper limit while in the distance control mode. The system and method effect the intelligent cruise control functions utilizing control logic external to the electronic engine control module utilizing the engine speed control mode or engine speed and torque limiting control mode of SAE J1922 or SAE J1939 standards.

Abstract: A vacuum cleaner is selectively operable in one of three modes, namely: an automatic self-directing mode, a remotely controlled mode, or a manual mode. The vacuum carries ultrasonic object detectors for detecting walls of a room being cleaned, as well as obstacles in the room. When in a self-directing mode, the vacuum selects a path of travel based upon a detected wall of the room as a reference, and steers itself to avoid obstacles in its path. An electric cord is automatically payed-out and retracted as the vacuum travels. A constant tension is imposed on the cord as it is payed-out or retracted by an appropriate manipulation of a spiral spring connected to the cord.

Abstract: An obstacle detecting apparatus for ensuring that the transmitted light power is sufficient to detect an obstacle at a long distance, but yet not be harmful to human eyes. The apparatus comprises a light transmitting device for transmitting a pulsed light in a plurality of angular directions, and a light receiving device for receiving the light reflected from an object. The distance to the object is based on the time difference between transmission of the light and reception of the reflected light, and the power of the transmitted light is controlled in each angular direction such that reception intensity of the reflected light in every angular direction can be within a predetermined range.

Abstract: The invention concerns traffic information acquisition systems for vehicles, which systems have a first opto-electrical transceiver on the vehicle side and a second opto-electrical transceiver provided at predetermined locations in traffic lanes. The first transceiver emits a first signal and receives and decodes a second signal from the second transceiver. The second transceiver receives the first signal from the first transceiver and sends back a coded, second signal to the first transceiver. The first transceiver is in the form of a reflection-operating time-distance measuring device. The emitted optical distance-measuring pulse signal is simultaneously the signal received by the second transceiver. The second transceiver emits the second signal after a delay time following reception of the first signal. The delay time should be longer than the maximum amount of time required for a distance measurement.

Abstract: A vehicle steering device has a steering inhibition portion that enables the steering device to be switched between a steering inhibition application mode and a steering inhibition release mode--regardless of whether or not the vehicle is being steered by a driver. This arrangement avoids the need to determine whether or not the vehicle is being steered before determining whether or not to inhibit steering.

Abstract: A mobile communication device can perform direct communication with another mobile communication device without providing a new communication circuit. The mobile device moves by driving wheels rotated by a motor. A pressure sensor is provided on an outer surface of the body of the communication device to detect contact pressure with another mobile communication device. A control circuit maintains a constant level of driving force of the motor when the communication device is in contact with another mobile communication device and receives data by determining changes in the detected contact pressure which correspond to the predetermined transmission data. Alternately, data exchanges maybe performed using the relative distance between the communication devices.

Abstract: A vehicle running guidance system using magnetic markers for the purpose of reducing the number of magnetic markers to be laid on a road surface. The magnetic nails are laid as magnetic markers on a road. The radio wave generator tags are also laid. The radio wave generator tags transmit road curve data for a distance of about 100 m in the running direction. Power for the radio wave generator tags is supplied from a magnetic generator on a vehicle. On the vehicle, the relative displacement from a magnetic nail is detected by a magnetic sensor, and at the same time the road curve data from radio wave generator tags is received by a radio wave receiving device. The controller determines the amount of steering, based on relative displacement with respect to magnetic nails and road curve data, and supplies it to the actuator. Transmission of road curve data contributes to reducing the number of magnetic nails.

Abstract: The ultrasonic tracking control effects that a pacemaker going ahead is automatically tracked by an automotive vehicle at a predetermined distance. To this end, a control unit (13) of the vehicle (10) is equipped with two ultrasonic units (F1,F2) comprising a transceiver device for ultrasonic signals each. The pacemaker going ahead carries a second control unit (14) with a transponder (S) responding to the signals of the ultrasonic units (F1,F2). Upon reception of an ultrasonic signal, the transponder (S) outputs a response signal which is received by the respective ultrasonic unit. The distance of the vehicle from the pacemaker and the tracking angle (.alpha.) are determined in the first control unit (13) from the signals received by the ultrasonic units (F1,F2), and traveling and steering signals are generated such that the vehicle tracks the pacemaker at a predetermined distance.

Abstract: An optically based position location system, comprises multiple reflectors ositioned at known locations in an environment; a vehicle for traveling along a path in the environment; a first sensor for generating and detecting a collimated and polarized first light signal reflected from one of the reflectors, and for generating a first output signal in response to detecting the first light signal; a second sensor for generating and detecting a collimated and polarized second light signal reflected from the reflector reflecting the first light signal, and for generating a second output signal in response to detecting the second light signal; and a data processor which uses the first and second output signals for determining the distance between a reference coordinate on the vehicle and the reflector.

Abstract: In a drive assist system of a vehicle having a function of detecting an inter-vehicle distance between vehicles and a warning is given to a driver for preventing a collision, disclosed are an apparatus for detecting a deceleration of a preceding vehicle based on a vehicle speed of the preceding vehicle, an apparatus for establishing a safe inter-vehicle distance between the vehicle and the preceding vehicle based on the deceleration of the preceding vehicle, and an apparatus for comparing the inter-vehicle distance with the safe inter-vehicle distance and for outputting a warning signal when the inter-vehicle distance is smaller than the safe inter-vehicle distance. Thus, when the deceleration of the preceding vehicle is small, the warning is not issued until the inter-vehicle distance becomes small, whereby the driver's intention can be reflected on the drive assist system.

Abstract: A vehicle environment monitoring system is capable of monitoring the nearly entire region around a vehicle on which the system is installed, and is protected from staining or damaging. The system includes an optical radar apparatus comprising a light transmitter for generating and irradiating a beam of light; a scanner with a reflective mirror rotatably disposed on a support shaft in an inclined manner for scanning the light beam in the surroundings of the vehicle; and a light receiver for receiving the light beam reflected from an object. The apparatus is disposed on the ceiling inside or outside the subject vehicle, or on a bumper at a front or rear corner of the vehicle.

Abstract: A device for supplying and receiving to and from a plurality of automatic teller machines installed side by side on an installation surface has a carrier station for transmitting, over a wireless channel, an instruction signal for designating an automatic teller machine for cash receipt and delivery, and a cassette carrier capable of running to the designated automatic teller machine. The cassette carrier has a carrier body equipped with a power source and a running mechanism, and a transport cassette placed on the carrier for holding the cash therein. In accordance with the instruction signal and a result of detection by a position sensor, the cassette carrier runs to a predetermined position facing the designated automatic teller machine and is positioned with respect to the designated automatic teller machine. In this state, cash are transferred between the transport cassette and the designated automatic teller machine by a transfer mechanism provided on the movable carrier.

Abstract: A method and a system for controlling an AGV for route selection upon transfer between different spaces within which the AGV is movable. The spaces are not fixedly related to each other with reference to their relative positions and are restricted from each other by the inclusion of area boarder lines. When an AGV is present within a first of the spaces, it detects for the purpose of transfer of the spaces, the relative position of the space by two reference instruments belonging to the second space. Each of the reference instruments is fixedly related to the present space. The AGV will move over the area border lines between the two spaces selecting route depending on calculating relative position.

Abstract: A vehicle blind spot detection display system displays indications from a blind spot detector. The system includes a first indicator assembly positioned on the vehicle in the vicinity of an exterior mirror and adapted to producing an indication at least of the presence of an object adjacent the corresponding side of the vehicle. A second indicator assembly is provided on the vehicle interior mirror assembly and adapted to producing an indication at least of the presence of an object adjacent the same corresponding side of the vehicle. In this manner, redundant indications are provided at both the interior and exterior mirrors in order to assist the driver in a premaneuver evaluation of conditions surrounding the vehicle.

Abstract: A cruise control system for a road vehicle having apparatus which, when cruise control is engaged, is arranged to inform the driver of the vehicle when a maximum braking force allowed by the cruise control system is being applied, so that the driver can make a decision as to whether or not to take over control of the vehicle from the cruise control system.

Abstract: The present invention features a universal, manned, material handling vehicle. The material handling vehicle is capable of operating in a manned mode, a wire guidance mode, and a rail guidance mode. This manned material handling vehicle contains a steering management control system having a logic program which allows the vehicle to adapt itself to different wire control systems. That is, particular parameters, frequency and amplitude of the underlying wire guidance system can be determined. In this manner, the manned vehicle is universally adaptive to a wide variety of wire guidance systems. When in manned operation mode, should the vehicle receive a wire guidance signal, the system controller will be duly informed. When in wire guidance operation mode, should the vehicle lose or fail to receive a clear wire guidance signal appropriate to guide on, it will automatically revert to the manned operation mode. The steering management control system also monitors the weight and height of the vehicle's load.

Abstract: A frontmost vehicle and a plurality of following vehicles are driven together in a line as a group. A virtual cell is set for each vehicle, allowing a predetermined distance in front of and behind the vehicle, and a virtual cell front end position of the frontmost vehicle is indicated from outside. A value obtained by adding the length of the virtual cell to the virtual cell front end position is transmitted to the following vehicle as the virtual cell front end position of the following vehicle. A relative position in the virtual cell of each vehicle is detected, and by controlling this relative position to a preset target position, the inter-vehicle distance is reduced and the generation of dilatational waves between the vehicles is prevented.

Abstract: In an auto-cruise system for a vehicle, when a distance detected by a distance detecting device becomes shorter than a reference distance based on a value detected by a vehicle speed detecting device, a speed reducing command signal is output from a distance regulating device. A travel speed control device is capable of being switched over among a cruise speed control mode for controlling the vehicle speed such that a vehicle speed is equalized to a vehicle speed set by a speed setting device upon non-outputting of a speed reducing command signal, a speed reducing control mode for reducing the vehicle speed upon outputting of the speed reducing command signal, and a speed increasing control mode for increasing the vehicle speed until it is restored to the set vehicle speed in response to the disappearing of the speed reducing command signal.

Abstract: A vehicle radar emits four groups of single-frequency stepped radar pulses. In group A, the frequency of each pulse is a fixed amount higher than that of the preceding pulse. In group B, the frequency of each pulse is a fixed amount lower than that of the preceding pulse. In group C, the frequency of each pulse is the same as that of the preceding pulse. In group D, the frequency of each pulse depends on a modulo algorithm. The signals reflected from other vehicles may readily be processed with inexpensive equipment to discriminate among such other vehicles, and to determine the distance to, and relative speed of, each such vehicle.

Abstract: A rear and side object detection system for a vehicle based on monolithic millimeter wave integrated circuit technology. A multiple antenna configuration is employed that defines six sensing regions to the right, left and the rear of the vehicle. A sixth sensing region is defined at the right side of the vehicle, a second sensing region is defined at the right side and rear of the vehicle and overlaps the sixth sensing region, a fourth sensing region and a first sensing region extend from the rear on both sides of the vehicle in the adjacent lanes, a third sensing region is defined at the left side of the vehicle and a fifth sensing region is defined at the left side and rear of the vehicle and overlaps the second and third sensing regions. A right side warning signal is issued if an object is detected in a right side detection zone defined by the sixth sensing region or a portion of the second sensing region that does not overlap the fourth or fifth sensing regions.

Abstract: A power steering device uses a control value set in accordance with a vehicle's detected steering torque to control an actuator, which generates steering assistance power. When the vehicle appears to be on a collision course with an obstacle detected in its steering direction, the control value is modified so as to inhibit the steering. The control value after the modification for the steering inhibition is a function of the control value prior to the modification. When the detected value of the steering torque is greater than the preset value, the function is modified such that the degree of steering inhibition is increased by comparison with a situation in which the detected torque is less than the preset value.

Abstract: A device and method to avoid collisions is described. The device and method is primarily directed to preventing tail-gating by motorists and the avoidance of otherwise resultant collisions. The method and device may also be utilized to detect stationary objects and to alert the driver of a vehicle of an imminent collision.

Abstract: A cruise control system arranged to determine whether the closest targeted vehicle ahead of a vehicle being controlled is running in its lane or an adjacent lane and if it is determined that the closest vehicle is running in an adjacent slower lane, allowing the controlled vehicle to overtake the closest vehicle if the way ahead is clear, and if it is determined that the closest vehicle is running in an adjacent faster lane, selecting that closest vehicle as a prime target to control the acceleration of the controlled vehicle unless there is another vehicle running in the same lane as the controlled vehicle which requires deceleration of the controlled vehicle, in which case the vehicle running in the same lane is selected as the prime target.

Abstract: A scanning-type distance measurement device is responsive to selected signals to reduce interference due to stray light. An emitted beam of light is aimed to be reflected from an object and to a photodetector among a plurality of photodetectors which are positioned linearly or in two-dimensions. The outputs of the photodetectors are selected based on the position of the emitted beam of light, so that photodetectors which should not contribute to the reflected beam, based on the geometry of the emitted beam and the reflecting object, are ignored. This approach reduces the effects of stray noise from other light sources. The selection of the photodetectors is synchronized with a scanning light emitter generating the beam of light by a position signal and an angular signal so that the noise component in the output signal which is due to stray light can be kept to a minimum.

Abstract: An apparatus for optically sensing obstacles in front of vehicles within a monitored sector, comprising a scanner disposed on the vehicle, which moves a narrowly focused beam of light pulses as well as the viewing direction of a light receiver in a rotation plane that is essentially horizontal, and an analyzing device which measures the profile of obstacles in the rotation plane from the angle and transit time of the pulses, is characterized in that the beam is moved in a 360.degree. circle and in that at least one planar mirror is disposed next to the scanner, in the rotation plane, outside the monitored sector, so as to reflect the beam into the monitored sector.

Abstract: As provided here, an obstacle warning system for a vehicle is capable of issuing an alarm accurately according to the curved state of a road. When the road is curved, the system sets the correction time counter on the basis of the following conditions: whether or not the curvature radius of the curved road is small; whether or not a guardrail is detected immediately ahead of the vehicle; whether or not an erroneously-recognized object, such as a set of guardrail reflectors exhibiting large relative acceleration is immediately ahead of the vehicle; and whether or not the number of obstacles recognized reaches a value indicating that the vehicle is approaching a curved section of the road. When a stationary object enters the field of view indicating that there is a possibility of a collision, the obstacle warning system corrects the warning distance in response to the value of the correction time counter, thus making it possible to avoid a false alarm during cornering.

Abstract: Disclosed herein is an optical-axis adjusting device for a vehicle light radar device where a light-transmitting window for irradiating a beam of light to an object of measurement and a light-receiving window for receiving reflected light from the object are disposed. The optical-axis adjusting device comprises an adjusting unit provided at the front of the light radar device for adjusting the irradiating direction of the beam of light.

Abstract: An obstacle detecting apparatus including a light projecting assembly for projecting the laser light generated in a laser light emitting element through a light emitting path, a light introducing assembly for introducing the laser light reflected by an obstacle into a light receiving element through a light receiving path, and a driving motor for driving the light emitting assembly and at least a portion of the light introducing assembly. The light path in the light projecting assembly is different from the light introducing path, and a distance to the obstacle is obtained based on a propagating delay time from emitting the laser light by the laser light emitting element until receiving the laser light by the laser light receiving element.