VEHICLE ENVIRONMENT MONITORING APPARATUS
First Claim
1. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
- an object extracting unit which extracts from the image an image area of an object in the real space;
a first distance calculating unit which calculates a distance between the vehicle and the object; and
a monitored object detecting unit which detects an object having a possibility of coming into contact with the vehicle using an object detecting algorithm for short range, when the distance calculated by the first distance calculating unit is equal to or less than a predetermined distance, and which detects the object having the possibility of coming into contact with the vehicle using an object detecting algorithm for long range, when the distance calculated by the first distance calculating unit is longer than the predetermined distance.
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Accused Products
Abstract
A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
33 Citations
8 Claims
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1. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
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an object extracting unit which extracts from the image an image area of an object in the real space; a first distance calculating unit which calculates a distance between the vehicle and the object; and a monitored object detecting unit which detects an object having a possibility of coming into contact with the vehicle using an object detecting algorithm for short range, when the distance calculated by the first distance calculating unit is equal to or less than a predetermined distance, and which detects the object having the possibility of coming into contact with the vehicle using an object detecting algorithm for long range, when the distance calculated by the first distance calculating unit is longer than the predetermined distance. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A vehicle environment monitoring apparatus which monitors an environment around a vehicle, using images obtained from at least one imaging unit mounted on the vehicle, comprising:
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an object extracting unit which extracts from the image an image area of an object in the real space; a velocity detecting unit which detects a velocity of the vehicle; and a monitored object detecting unit which detects an object having a possibility of coming into contact with the vehicle using an object detecting algorithm for short range, when the distance calculated by the first distance calculating unit is equal to or less than a predetermined distance, and which detects the object having the possibility of coming into contact with the vehicle using an object detecting algorithm for long range, when the distance calculated by the first distance calculating unit is longer than the predetermined distance.
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Specification