Method and system of monitoring around a vehicle
First Claim
1. A method of monitoring around a vehicle by using plural cameras with a range measurement function, comprising the steps of capturing range images from the cameras which are provided on plural positions of the vehicle, creating a location-allocation model of an object found in the range images, inputting vehicle speed, acceleration, and steering angle values, calculating a running path of the vehicle, checking whether the running path of the vehicle crosses the object of the location-allocation model, and displaying the object and a part of the vehicle which may hit the object if the running path of the vehicle crosses the object.
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Abstract
Integrated processing unit captures range images shot by CCD cameras which are respectively provided on front, rear, left and right sides of a vehicle and image processor. Location-allocation unit creates a location-allocation model of an obstacle from the range images and road surface images (heights of images above road surface). Vehicular swept path calculating unit calculates a swept path of each representative point. Collision decision calculates intersection of the obstacle of the location-allocation model with the swept paths of the representative points and judges whether the points cross the obstacle. When a representative point may possibly cross the obstacle, the point is enhanced and displayed together with the obstacle (object) on monitor.
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Citations
7 Claims
- 1. A method of monitoring around a vehicle by using plural cameras with a range measurement function, comprising the steps of capturing range images from the cameras which are provided on plural positions of the vehicle, creating a location-allocation model of an object found in the range images, inputting vehicle speed, acceleration, and steering angle values, calculating a running path of the vehicle, checking whether the running path of the vehicle crosses the object of the location-allocation model, and displaying the object and a part of the vehicle which may hit the object if the running path of the vehicle crosses the object.
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4. A system of monitoring around a vehicle which is equipped with on-board equipment and plural cameras with a range measurement function, comprising
an input unit which captures range images from the cameras which are provided on plural positions of the vehicle, a location-allocation model creating unit which creates a location-allocation model of an object found in the range images, a path calculating unit which inputs vehicle speed, acceleration, and steering angle values and calculates running paths of plural predetermined representative points of the vehicle, a collision judging unit which checks whether the running path of the vehicle crosses the object of the location-allocation model, and a monitor unit which displays the object and enhanced representative points if the running path of the vehicle crosses the object.
Specification