Cruise control system and vehicle loaded with the same
First Claim
1. A cruise control system loaded on a vehicle, comprising:
- a camera device for successively photographing a leading vehicle in front of the vehicle;
an image processor for successively extracting geometric feature values of image patterns of the leading vehicle from images photographed by the camera device;
a detector for detecting a start of a travel of the vehicle;
a vehicle controller for controlling the vehicle based on a control command supplied thereto; and
a computer for setting a geometric feature value extracted by the image processor as a reference parameter value, when the start of the travel of the vehicle is detected by the detector, and for calculating the control command to be supplied to the vehicle controller based on a difference between the geometric feature value extracted after the reference parameter value is set and the reference feature value.
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Accused Products
Abstract
It is an object of the invention to provide a more practical ACC system,
During a travel of a vehicle, an image processor successively extracts geometric feature values of image patterns of a leading vehicle from image data successively outputted from a camera device mounted at the front of the vehicle. When a travel start detector detects a travel of the vehicle, a reference parameter value setting process section of a microcomputer sets a geometric feature value of an image pattern of the leading vehicle extracted at appropriate timing as a reference parameter value. Thereafter, each time a geometric feature value of the image pattern of the leading vehicle is extracted, a target driving force calculation process section calculates a target driving force Ttar for reducing any difference between the geometric feature value and the value set as the reference parameter value. A vehicle controller supplies to controllers a control command in accordance with the target driving force.
28 Citations
13 Claims
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1. A cruise control system loaded on a vehicle, comprising:
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a camera device for successively photographing a leading vehicle in front of the vehicle;
an image processor for successively extracting geometric feature values of image patterns of the leading vehicle from images photographed by the camera device;
a detector for detecting a start of a travel of the vehicle;
a vehicle controller for controlling the vehicle based on a control command supplied thereto; and
a computer for setting a geometric feature value extracted by the image processor as a reference parameter value, when the start of the travel of the vehicle is detected by the detector, and for calculating the control command to be supplied to the vehicle controller based on a difference between the geometric feature value extracted after the reference parameter value is set and the reference feature value. - View Dependent Claims (2, 4, 6, 8, 10)
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3. A cruise control system loaded on a vehicle, comprising:
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a camera device for successively photographing a leading vehicle in front of the vehicle;
an image processor for successively extracting geometric feature values of image patterns of the leading vehicle from images photographed by the camera device;
a vehicle speed sensor for detecting a speed of the vehicle;
a vehicle controller for controlling the vehicle based on a control command supplied thereto; and
a computer for calculating a reference parameter value for the geometric feature values of the image patterns of the leading vehicle based on a value detected by the vehicle speed, sensor, and for calculating the control command to be supplied to the vehicle controller based on a difference between the reference parameter value and the geometric feature value extracted after the reference parameter value is calculated. - View Dependent Claims (5, 7, 9, 11)
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12. A cruise control unit for calculating a control command to be supplied to a vehicle controller for controlling a vehicles comprising:
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an image processor for successively extracting geometric feature values of image patterns of a leading vehicle in front of the vehicle from images inputted thereto; and
a computer for setting a geometric feature value extracted by the image processor as a reference parameter value for the geometric feature values of the image patterns of the leading vehicle, when the vehicle starts traveling, and for calculating the control command to be supplied to the vehicle controller based on a difference between the geometric feature value extracted after the reference parameter value is set and the reference feature value.
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13. A cruise control unit for calculating a control command to be supplied to a vehicle controller for controlling a vehicle, comprising:
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an image processor for successively extracting geometric feature values of image patterns of a leading vehicle in front of the vehicle from images inputted thereto; and
a computer for calculating a reference parameter value for the geometric feature value of the image patterns of the leading vehicle based on the speed of the vehicle and for calculating the control command to be supplied to the vehicle controller based on a difference between the reference parameter value and the geometric feature value extracted after the reference parameter value is calculated.
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Specification