The present invention includes an anti-collision vehicular radar system which incorporates a microprocessor. The system provides a warning of a potential collision of the vehicle with other vehicles or objects in the path of the vehicle and automatic braking. More particularly, the present invention utilizes a pulsed radar system with overlapped antenna beams for off-axis object discrimination which determines the pattern of the change in relative velocity of the vehicle and the object which is detected by its radar to provide signals which are processed by a microprocessor and associated digital circuitry to determine whether the detected object is a potential obstruction which must be avoided by braking or maneuvering of the vehicle.

In estimating the relative speed between a vehicle and an objective obstacle, a plurality of objective obstacle data are labeled, and an objective obstacle data preestimated on the basis of the past objective data is compared with an objective obstacle newly provided, thereby judging whether or not there is the same obstacle for every label. With regard to the objective obstacle data decided as being the same, the amount of variation in distance is determined for every label by comparison of the last data and the now data and divided by a sampling time to provide a relative speed. Thus, noise data can be eliminated to reliably provide a relative speed between a subject vehicle and an existent objective obstacle.

Disclosed is an automatic safety driving distance control device for vehicle. The device includes a microcomputer which, within the range of 0-120 km/hr, can adjust the safety distance between the vehicle and the front vehicle according to the speed data transmitted from the speedometer and can automatically control the speed of the vehicle to maintain a safety distance from the front vehicle so as to avoid collision. When the vehicle is moving, the microcomputer calculates the safety distance between both vehicles according to the speed of the vehicle and the actual distance from the front vehicle according to the data from the distance detector. If the distance is too short, it will automatically motivate the brake motor to cause the vehicle to decelerate and the brake lights to turn on; if the distance is too great, it will automatically motivate the accelertion/deceleration motor to cause the vehicle to accelerate so that a safety distance is kept between both vehicles. If the front vehicle stops, then the brake motor and acceleration/deceleration motor will be motivated to stop the vehicle. If the front vehicle moves forward, the acceleration/deceleration motor will also be motivated, and the vehicle moves forward, keeping a safety distance from the front vehicle and maintaining a safety speed according to the value set by the speed limit device.

A vehicle collision control system has a distance measuring sensor, a collision predictive device for outputting a collision predictive signal, a deceleration calculating device for calculating a first limit deceleration allowing the vehicle to run while braking without losing its stability and a second limit deceleration for making the collision speed lower than a survival space ensuring speed, an arithmetic processing device for outputting a braking start signal upon comparing the aforementioned limit decelerations which change according to the running of the vehicle after the collision predictive signal is outputted, a braking command device for commanding a predetermined braking force to a braking device upon receiving the braking start signal, an impact sensor for sensing, and a collision signal generating device for outputting a collision occurrence signal to the logic circuit when the impact sensor senses the collision, so that an ignition signal is outputted to the inflator of the air bag device according to a logical product between the collision predictive signal and collision occurrence signal.

A scan-type radar apparatus for a vehicle which determines whether an object detected by the radar exists in the lane in which the radar equipped vehicle is moving with a high accuracy while restricting an increase of the manufacturing cost of the radar apparatus. A scan-type radar detects objects existing in a detectable range, the scan-type radar apparatus assuming a vehicle moving lane area corresponding to a vehicle moving lane in which the vehicle is moving based on an operating condition of the vehicle, the vehicle moving lane area being assumed within the detectable range. An actual direction of each of the objects is detected by the scan-type radar with respect to the radar equipped vehicle. A delay direction is calculated when the actual direction detected by an object direction detecting arrangement is changed with respect to time, the delay direction indicating a direction of a virtual position of each object with respect to the vehicle by being provided with a predetermined time delay with respect to a change in the actual direction. It is determined whether each object exists within the vehicle moving lane based on the delay direction.