Apparatus for detecting distance between cars

• US 5,168,355 A
• Filed: 07/31/1991
• Issued: 12/01/1992
• Est. Priority Date: 09/04/1990
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Asayama, Yoshiaki
• Primary Examiner(s): Peng, John K.
• Application Number:
  US07/738,649
• Time in Patent Office: 489 Days
• Field of Search: 358/105, 358/125, 358/126, 358/103, 356/385
• US Class Current: 348/118
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

An apparatus is provided for detecting a distance between cars, which apparatus is capable of continuously measuring the distance between one'"'"'s own car and a preceding car even if the preceding car is moving as far as possible within the visual field of the apparatus. The apparatus is also capable of distinguishing which one of a plurality of preceding cars is being measured for distance, and of simultaneously measuring the distance to another car traveling in parallel to one of the preceding cars.

Claims

1. An apparatus for detecting a distance between one'"'"'s own car and a preceding car, comprising:

a pair of first and second image sensors for outputting image signals of a preceding car image, said preceding car image being formed on said first and second image sensors by a pair of vertically arranged first and second optical systems;

display means for displaying said preceding car image outputted by said first image sensor;

an image tracking device for tracking said preceding car image in a first window to be displayed on said display means; and

distance computing means for detecting a displacement between the image signals displayed in said first window and another set of image signals outputted by said second image sensor so as to compute the distance between said one'"'"'s own car and said preceding car, and likewise for detecting a displacement between image signals of a different object which is displayed in a second window adjacent to said first window, and another corresponding set of image signals outputted by said second image sensor to compute a distance to the different object displayed in the second window.

2. An apparatus as claimed in claim 1, further comprising:

a pair of first and second analog-to-digital converters for digitalizing the image signals outputted by said image sensors; and

a pair of first and second memories for storing outputs of said converters, said distance computing means controlling steps of writing to and reading from said first and second memories.

3. An apparatus as claimed in claim 1, wherein said distance between one'"'"'s own car and a preceding car is obtained from the following equation;

##EQU3## wherein R represents said distance, f represents a focal length of said optical systems, L represents a base length between said optical systems, and d represents the displacement.

4. An apparatus as claimed in claim 1, wherein said second window comprises a plurality of windows.