Vehicle driving assist system
First Claim
1. A vehicle driving assist system for assisting a driver in driving a vehicle by recognizing an external environment of the vehicle, comprising:
- imaging means for imaging the external environment of the vehicle;
3-D obstacle detection means for detecting a 3-D obstacle inhibiting the driving direction of the vehicle based on an image of the external environment captured by the imaging means;
visual perception difficulty determination means for determining, based on the captured image of the external environment, whether the external environment is in a condition that makes visual perception of the 3-D obstacle difficult;
activating collision avoiding means for controlling the vehicle so as to avoid the collision with the 3-D obstacle; and
control means for, upon detection of the 3-D obstacle by the 3-D obstacle detection means, controlling the operation of the activating collision avoiding means based on the determination result of the visual perception difficulty determination means.
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Accused Products
Abstract
In a vehicle driving assist system, an external environment recognition unit detects a 3-D obstacle inhibiting the driving direction of the vehicle based on an image captured by a stereo camera and determines whether the image ahead of the vehicle is in a condition that makes visual perception of the 3-D obstacle difficult. A controller calculates a required alarm working distance between the vehicle and the 3D obstacle, at which an alarm unit is worked when the vehicle approaches the 3D obstacle, and a required brake operating distance, at which a brake is operated by a brake applying unit, based on a vehicle traveling speed. If it is determined that an external environment is in a condition that makes visual perception difficult, the required working and operating distances are extended by predetermined values to set the working and operating timings earlier.
44 Citations
20 Claims
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1. A vehicle driving assist system for assisting a driver in driving a vehicle by recognizing an external environment of the vehicle, comprising:
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imaging means for imaging the external environment of the vehicle;
3-D obstacle detection means for detecting a 3-D obstacle inhibiting the driving direction of the vehicle based on an image of the external environment captured by the imaging means;
visual perception difficulty determination means for determining, based on the captured image of the external environment, whether the external environment is in a condition that makes visual perception of the 3-D obstacle difficult;
activating collision avoiding means for controlling the vehicle so as to avoid the collision with the 3-D obstacle; and
control means for, upon detection of the 3-D obstacle by the 3-D obstacle detection means, controlling the operation of the activating collision avoiding means based on the determination result of the visual perception difficulty determination means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A vehicle driving assist system for estimating perception ability of a driver with respect to a 3-D obstacle inhibiting the driving direction of a vehicle driven by the driver, the system comprising:
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imaging means for imaging the external environment ahead of the vehicle; and
visual perception difficulty determination means for extracting a luminance edge from an image of the external environment captured by the imaging means and determining, based on the extracted luminance edge, whether the external environment is in a condition that makes visual perception of the 3-D obstacle difficult. - View Dependent Claims (19, 20)
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Specification