Monitor system of vehicle outside and the method thereof
First Claim
1. A monitor system of a vehicle outside, comprising:
- image-measured distance detecting means for detecting a distance between a vehicle and a three-dimensional object existing in front of the vehicle based on informations of an image in front of the vehicle;
laser-measured distance detecting means for detecting the distance between the vehicle and the three-dimensional object existing in front of the vehicle on the basis of the information of a laser radar by projecting a laser beam from the vehicle;
three-dimensional object recognizing means for recognizing the three-dimensional object existing in front of the vehicle based on the distance detected by the image-measured distance detecting means and the distance detected by the laser-measured distance detecting means; and
distance detecting capability diagnosing means for determining a deterioration of a distance detecting capability of the image-measured distance detecting means based on the distance of the three-dimensional object as well as determining the deterioration of a distance detecting capability of the laser-measured distance detecting means based on the distance.
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Accused Products
Abstract
When a vehicle travels on an approximately straight lane, a distance data diagnosing section determines a distance measuring capability in a survey area in which the field of view of a laser radar overlaps that of an image as to a three-dimensional object. Then, the distance data diagnosing section determines whether or not the image-measured (laser-measured) distance data of the three-dimensional object exists, and when the image-measured (laser-measured) distance data thereof does not exist, the three-dimensional object is counted to the number of three-dimensional objects without image (without laser radar) and calculates three-dimensional object non-detecting ratios of image (laser radar) from the total number of three-dimensional objects to be determined and the number of three-dimensional objects without image (without laser radar).
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Citations
19 Claims
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1. A monitor system of a vehicle outside, comprising:
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image-measured distance detecting means for detecting a distance between a vehicle and a three-dimensional object existing in front of the vehicle based on informations of an image in front of the vehicle;
laser-measured distance detecting means for detecting the distance between the vehicle and the three-dimensional object existing in front of the vehicle on the basis of the information of a laser radar by projecting a laser beam from the vehicle;
three-dimensional object recognizing means for recognizing the three-dimensional object existing in front of the vehicle based on the distance detected by the image-measured distance detecting means and the distance detected by the laser-measured distance detecting means; and
distance detecting capability diagnosing means for determining a deterioration of a distance detecting capability of the image-measured distance detecting means based on the distance of the three-dimensional object as well as determining the deterioration of a distance detecting capability of the laser-measured distance detecting means based on the distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for monitoring of a vehicle outside comprising the steps of:
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detecting a distance between a vehicle and a three-dimensional object existing in front of the vehicle based on informations of an image in front of the vehicle;
measuring a distance between the vehicle and the three-dimensional object existing in front of the vehicle on the basis of the information of a laser radar by projecting a laser beam from the vehicle;
recognizing the three-dimensional object existing in front of the vehicle based on the distance calculated by the image and the distance detected by the laser; and
diagnosing a deterioration of a distance detecting capability based on the distance.
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Specification