Distance detecting apparatus and method for a vehicle

• US 5,159,557 A
• Filed: 06/11/1991
• Issued: 10/27/1992
• Est. Priority Date: 06/13/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Ogawa, Kenji
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/713,204
• Time in Patent Office: 504 Days
• Field of Search: 364/443, 364/444, 364/460, 364/461, 364/561, 364/424.02, 364/426.04, 358/103, 318/587, 180/167, 180/168, 180/169, 340/937
• US Class Current: 701/300
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle

Abstract

A distance detecting apparatus and method for a vehicle are disclosed which are suitable for use in making a vehicle to automatically follow a preceding vehicle, and which can not only perform accurate detection of the distance to an object in the form of a preceding vehicle, and but also accurately follow a target image with a rather simple window setting operation. An object such as a preceding vehicle is imaged by an image-sensing means at two different points to generate first and second image signals representative of the object. A specific window for one of the first and second image signals is formed on a screen of a display. A comparison is made between the first and second image signals in the specific window so as to measure the perpendicular distance from the two points to the object. The image signals are successively sampled at a predetermined time interval and compared with the last sampled image signals in the window to find the most similar ones. A provisional window is set up based on the most similar image signals thus found. In one form of the invention, the provisional window is successively shifted little by little so as to find the best position for providing the best symmetry of the image signals therein, and then a new window is set, as reference image signals, at the best position of the provisional window. In another form, the axis of symmetry of the image signals within the provisional window is determined, and a new window is set, as reference image signals, which has a prescribed center line positioned at the location of the axis of symmetry of the image signals therein.

Claims

1. A distance detecting apparatus for a vehicle comprising:

a pair of optical systems including image-sensing means for imaging an object at two different points and generating first and second image signals representative of the object;

window forming means for forming a specific window for one of the first and second image signals on a screen of a display;

distance measuring means for making a comparison between the first and second image signals in the specific window so as to measure the distance from the optical systems to the object;

provisional window setting means for successively sampling image signals at a predetermined time interval, making a comparison between the sampled image signals in the specific window at two successive points in time, detecting the most similar of the sampled image signals between the two time points, and setting up a provisional window based on the most similar sampled image signals;

symmetry evaluating means for evaluating the symmetry of said image signals within the provisional window, said symmetry evaluating means being operable to shift the provisional window little by little so as to find the best position thereof which provides the best symmetry of the image signals therein; and

reference image setting means for setting, as reference image signals, a new window at the best position of the provisional window.

2. A distance detecting apparatus according to claim 1, further comprising means for calculating the direction and quantity of movement of the object on the basis of a change between two successively set reference image signals.

3. A distance detecting apparatus for a vehicle comprising:

a pair of optical systems including image-sensing means for imaging an object at two different points and generating first and second image signals representative of the object;

window forming means for forming a specific window for one of the first and second image signals on a screen of a display;

distance measuring means for making a comparison between the first and second image signals in the specific window so as to measure the distance from said optical systems to the object;

provisional window setting means for successively sampling image signals at a predetermined time interval, making a comparison between the sampled image signals in the specific window at two successive points in time, detecting the most similar of the sampled image signals between the two time points, and setting up a provisional window based on the most similar sampled image signals;

symmetry axis determining means for determining the axis of symmetry of said image signals within the provisional window; and

reference image setting means for setting, as reference image signals, a new window having a prescribed center line positioned at the location of the axis of symmetry of image signals therein.

4. A distance detecting apparatus according to claim 3, further comprising means for calculating the direction and quantity of movement of the object on the basis of a change between two successively set reference image signals.

5. A method for detecting the distance to an object comprising the steps of:

imaging an object at two different points to generate first and second image signals representative of the object;

forming a specific window for one of the first and second image signals on a screen of a display;

making a comparison between the first and second image signals in the specific window so as to measure the perpendicular distance from the two points to the object;

successively sampling the image signals at a predetermined time interval;

making a comparison between the sampled image signals in the specific window at two successive points in time;

detecting the most similar of the sampled image signals between the two time points;

setting up a provisional window based on the most similar sampled image signals;

shifting the provisional window little by little so as to find the best position thereof which provides the best symmetry of the image signals therein; and

setting, as reference image signals, a new window at the best position of the provisional window.

6. A method according to claim 5, further comprising calculating the direction and quantity of movement of the object on the basis of a change between two successively set reference image signals.

7. A method for detecting the distance to an object comprising the steps of:

imaging an object at two different points to generate first and second image signals representative of the object;

forming a specific window for one of the first and second image signals on a screen of a display;

making a comparison between the first and second image signals in the specific window so as to measure the perpendicular distance from the two points to the object;

successively sampling the image signals at a predetermined time interval;

making a comparison between the sampled image signals in the specific window at two successive points in time;

detecting the most similar of the sampled image signals between the two time points;

setting up a provisional window based on the most similar sampled image signals;

determining the axis of symmetry of image signals within the provisional window; and

setting, as reference image signals, a new window having a prescribed center line positioned at the location of the axis of symmetry of image signals therein.

8. A distance detecting apparatus according to claim 7, further comprising calculating the direction and quantity of movement of the object on the basis of a change between two successively set reference image signals.