Vehicle following apparatus with a distance measuring function

• US 5,139,327 A
• Filed: 09/06/1991
• Issued: 08/18/1992
• Est. Priority Date: 09/10/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Tanaka, Shoichi
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US07/755,947
• Time in Patent Office: 347 Days
• Field of Search: 356/1, 356/4, 358/105, 358/126
• US Class Current: 356/3.14
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

A vehicle following apparatus with a distance measuring function is provided in which once the driver roughly sets a vehicle following window on a display screen, the exact position and size of the window can be automatically adjusted so as to locate the image of a target preceding vehicle as sensed in the center of the window, and in which the distance to the target preceding vehicle can be successively measured in an exact manner while following the target vehicle. A pair of image sensors sense an object from two different points to form a pair of first and second images thereof. A window forming means defines a vehicle-following window of a variable size within the first images. A memory successively stores an image in the vehicle-following window. An image processor finds, from the first images at a current time, a new image which is the most similar to the image stored in the memory at a previous time. The image processor defines a provisional window containing therein the thus found new image. A controller not only calculates the distance to the preceding vehicle, but also adjusts the location of the provisional window to form a new window so that the new window thus formed contains the most number of horizontal lines. To this end, using the provisional window, differences between vertically adjacent image signals within the provisional window are summed up over the horizontal length of the provisional window to extract horizontal lines in the provisional window, so that the new window is defined based on a vertical position maximimizing the sum of the differences.

Claims

1. A vehicle following apparatus with a distance measuring function comprising:

image sensor means for imaging an object from two different points to form a pair of first and second images thereof;

window forming means for defining a vehicle-following window of a variable size within said first images;

a memory for successively storing an image in said vehicle-following window;

an image processor for finding, from said first images at a current time, a new image which is the most similar to the image stored in said memory at a previous time, said image processor being operable to define a provisional window containing therein the thus found new image; and

a controller for calculating the distance to the preceding vehicle based on the distance of shift by which the new image in said first images is shifted relative to a corresponding image in said second images to obtain the best match therebetween, said controller being operable to adjust the location of said provisional window to form a new window so that the new window thus formed contains the most number of horizontal lines.

2. A vehicle following apparatus according to claim 1, wherein said image processor finds the new image using a total sum S_k, _l of absolute values of differences between the image signals SII_i, _j stored in said memory at a previous time t₀ and the corresponding image signals S_i, _j in said first images at the current time t₁, the new image being determined by a minimum value for the total sum.

3. A vehicle following apparatus according to claim 2, wherein said total sum S_k, _l is expressed by the following equation:

##EQU7## where S_i, _j is an image signal at a location (i, j) in said first images at time t₁ [i.e., i varies from p to (p+r), and j varies from q to (q+s)], and SII_i, _j is an image signal at a location (i, j) within said window at time t₀.

4. A vehicle following apparatus according to claim 3, wherein said image processor sets said provisional window of a rectangular configuration such that the lower left-hand corner of said window is a point (p+k, q+l) and the upper right-hand corner thereof is a point (p+k+r, q+l+s).

5. A vehicle following apparatus according to claim 1, wherein using said provisional window, differences between vertically adjacent image signals within said provisional window are summed up over the horizontal length of said provisional window to extract horizontal lines in said provisional window, so that said new window is defined based on a vertical position maximizing the sum of the differences.

6. A vehicle following apparatus according to claim 5, wherein a total sum S_a of differences between vertically adjacent image signals S_n, _a, S_n, _a-1 within an upper half of said provisional window and a total sum S_b of differences between vertically adjacent images S_n, _b, S_n, _b-1 within a lower half of said provisional window are calculated based on the following equations:

##EQU8## where q+l+s/2<

a<

q+l+s;

##EQU9## where q+l<

b<

q+l+s2; and

based on the difference between the value of a, which maximizes S_a, and the value of b, which maximizes S_b, the vertical length sI and the horizontal length rI of said new window are determined as follows;

space="preserve" listing-type="equation">sI=a-b+o

space="preserve" listing-type="equation">rI=r+(sI-s)

where o is an offset of said new window from said provisional window; and

said new window of this size is freshly defined with the lower left-hand corner and the upper right-hand corner thereof being located at points (p+k, b-o/2) and (p+k+rI, a+o/2), respectively.