Inter-vehicle distance measuring device

• US 5,303,019 A
• Filed: 12/09/1992
• Issued: 04/12/1994
• Est. Priority Date: 12/09/1991
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Irie, Tatsuji
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US07/987,780
• Time in Patent Office: 489 Days
• Field of Search: 356/1, 358/107, 354/402, 250/201.6, 250/201.8, 180/167
• US Class Current: 356/3.14
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

An inter-vehicle distance measuring device which can automatically set a tracing window for tracing an image of a fore-running vehicle to be measured for distance. A window setting unit sets plural numbers of windows at given locations on one of the images. An estimate member calculates a distance up to objects caught by those windows, detects the symmetry of the image, and estimates presence of a fore-running vehicle and its position on one of images, and the detected distance data as well. A tracing window is automatically set at the position.

Claims

1. A device installed on a first vehicle for measuring a distance to a second vehicle running ahead of said first vehicle, said device comprising:

first and second image sensors arranged vertically, each for picking up an image, including said second vehicle and background images;

window setting means, coupled to said first and second image sensors, for setting a plurality of distance measuring windows arranged perpendicularly with said arrangement of said first and second image sensors, respectively, on the image picked up by said first image sensor;

corresponding area setting means, coupled to said second image sensor, for setting a plurality of window areas corresponding to said distance measuring windows, respectively, on an image picked up by said second image sensor;

first distance determining means for comparing the image signals contained within said distance measuring windows with the image signals contained within said window areas corresponding to said distance measuring windows, respectively, to determine distances to objects contained within each of said distance measuring windows from said first vehicle, and for selecting adjoining windows from said distance measuring windows which include a portion of said image that is a substantially equal distance away from said first vehicle, indicating the presence of image data corresponding to said second vehicle;

comparison window setting means for setting a comparison window corresponding to said selected adjoining windows in said area of said plurality of distance measuring windows corresponding to image data of said second vehicle on the image picked up by said first image sensor;

symmetry detecting means for shifting said comparison window within an area defined by said plurality of distance measuring windows in a direction of said plurality of distance measuring windows to detect symmetry of said image in said comparison window with every shift; and

estimating means for estimating presence and position of said second vehicle in said image picked up by said first image sensor based on data obtained by said symmetry detecting means and said first distance detecting means.

2. A device according to claim 1, wherein said estimating means determines the position of said second vehicle in said image picked up by said first image sensor on the basis of a stability of the symmetry and the detected distance.

3. A device according to claim 1, further comprising:

tracing window setting means for automatically setting a tracing window for tracing said second vehicle and having a size corresponding to the distance to said second vehicle;

tracing means for tracing said second vehicle in said image picked up by said first image sensor by said tracing window; and

second distance detecting means for detecting a distance to said second vehicle included in said tracing window from said first vehicle.

4. A device according to claim 3, wherein the size of said tracing window corresponding to the distance to said second vehicle is the same as a size of a single region corresponding to the plurality of adjoining windows used for symmetry detection.

5. A device according to claim 1, further comprising display means for displaying said image picked up by said first image sensor and said distance measuring windows.